From 947e46ac81db92b9091e54c65c7246b7b73b2b4c Mon Sep 17 00:00:00 2001 From: Git bot Date: Sat, 16 Nov 2024 00:57:09 +0000 Subject: [PATCH] Update metadata --- Copter-4.6/Parameters.html | 56167 ++++++++++++++ Copter-4.6/Parameters.md | 44261 +++++++++++ Copter-4.6/Parameters.rst | 118471 ++++++++++++++++++++++++++++++ Copter-4.6/ParametersLatex.rst | 115597 +++++++++++++++++++++++++++++ Copter-4.6/apm.pdef.json | 54027 ++++++++++++++ Copter-4.6/apm.pdef.xml | 36104 +++++++++ Plane-4.6/Parameters.html | 56207 ++++++++++++++ Plane-4.6/Parameters.md | 44107 +++++++++++ Plane-4.6/Parameters.rst | 118411 +++++++++++++++++++++++++++++ Plane-4.6/ParametersLatex.rst | 115710 +++++++++++++++++++++++++++++ Plane-4.6/apm.pdef.json | 54639 ++++++++++++++ Plane-4.6/apm.pdef.xml | 36125 +++++++++ Rover-4.6/Parameters.html | 52090 +++++++++++++ Rover-4.6/Parameters.md | 41130 +++++++++++ Rover-4.6/Parameters.rst | 109731 +++++++++++++++++++++++++++ Rover-4.6/ParametersLatex.rst | 107209 +++++++++++++++++++++++++++ Rover-4.6/apm.pdef.json | 50325 +++++++++++++ Rover-4.6/apm.pdef.xml | 33108 +++++++++ 18 files changed, 1243419 insertions(+) create mode 100644 Copter-4.6/Parameters.html create mode 100644 Copter-4.6/Parameters.md create mode 100644 Copter-4.6/Parameters.rst create mode 100644 Copter-4.6/ParametersLatex.rst create mode 100644 Copter-4.6/apm.pdef.json create mode 100644 Copter-4.6/apm.pdef.xml create mode 100644 Plane-4.6/Parameters.html create mode 100644 Plane-4.6/Parameters.md create mode 100644 Plane-4.6/Parameters.rst create mode 100644 Plane-4.6/ParametersLatex.rst create mode 100644 Plane-4.6/apm.pdef.json create mode 100644 Plane-4.6/apm.pdef.xml create mode 100644 Rover-4.6/Parameters.html create mode 100644 Rover-4.6/Parameters.md create mode 100644 Rover-4.6/Parameters.rst create mode 100644 Rover-4.6/ParametersLatex.rst create mode 100644 Rover-4.6/apm.pdef.json create mode 100644 Rover-4.6/apm.pdef.xml diff --git a/Copter-4.6/Parameters.html b/Copter-4.6/Parameters.html new file mode 100644 index 0000000..6b3479f --- /dev/null +++ b/Copter-4.6/Parameters.html @@ -0,0 +1,56167 @@ + + + +

Complete Parameter List

+
+ +

This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

+ + +[toc exclude="Complete Parameter List"] + + + +

ArduCopter Parameters

+ + +

Eeprom format version number (ArduCopter:FORMAT_VERSION)

Note: This parameter is for advanced users
+ +

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

+ + + +

MAVLink system ID of this vehicle (ArduCopter:SYSID_THISMAV)

Note: This parameter is for advanced users
+ +

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

+ + + +

My ground station number (ArduCopter:SYSID_MYGCS)

Note: This parameter is for advanced users
+ +

Allows restricting radio overrides to only come from my ground station

+ + + +

Throttle filter cutoff (ArduCopter:PILOT_THR_FILT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Pilot takeoff altitude (ArduCopter:PILOT_TKOFF_ALT)

+ +

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

+ + + +

Throttle stick behavior (ArduCopter:PILOT_THR_BHV)

+ +

Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.

+ + + +

Telemetry startup delay (ArduCopter:TELEM_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

GCS PID tuning mask (ArduCopter:GCS_PID_MASK)

Note: This parameter is for advanced users
+ +

bitmask of PIDs to send MAVLink PID_TUNING messages for

+ + + +

RTL Altitude (ArduCopter:RTL_ALT)

+ +

The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.

+ + + +

RTL cone slope (ArduCopter:RTL_CONE_SLOPE)

+ +

Defines a cone above home which determines maximum climb

+ + + +

RTL speed (ArduCopter:RTL_SPEED)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.

+ + + +

RTL Final Altitude (ArduCopter:RTL_ALT_FINAL)

+ +

This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.

+ + + +

RTL minimum climb (ArduCopter:RTL_CLIMB_MIN)

+ +

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

+ + + +

RTL loiter time (ArduCopter:RTL_LOIT_TIME)

+ +

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

+ + + +

RTL mode altitude type (ArduCopter:RTL_ALT_TYPE)

+ +

RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database

+ + + +

Ground Station Failsafe Enable (ArduCopter:FS_GCS_ENABLE)

+ +

Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.

+ + + +

GPS Hdop Good (ArduCopter:GPS_HDOP_GOOD)

Note: This parameter is for advanced users
+ +

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

+ + + +

Super Simple Mode (ArduCopter:SUPER_SIMPLE)

+ +

Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions

+ + + +

Yaw behaviour during missions (ArduCopter:WP_YAW_BEHAVIOR)

+ +

Determines how the autopilot controls the yaw during missions and RTL

+ + + +

Land speed (ArduCopter:LAND_SPEED)

+ +

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

+ + + +

Land speed high (ArduCopter:LAND_SPEED_HIGH)

+ +

The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used

+ + + +

Pilot maximum vertical speed ascending (ArduCopter:PILOT_SPEED_UP)

+ +

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

+ + + +

Pilot vertical acceleration (ArduCopter:PILOT_ACCEL_Z)

+ +

The vertical acceleration used when pilot is controlling the altitude

+ + + +

Throttle Failsafe Enable (ArduCopter:FS_THR_ENABLE)

+ +

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

+ + + +

Throttle Failsafe Value (ArduCopter:FS_THR_VALUE)

+ +

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

+ + + +

Throttle deadzone (ArduCopter:THR_DZ)

+ +

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

+ + + +

Flight Mode 1 (ArduCopter:FLTMODE1)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230

+ + + +

Flight Mode 2 (ArduCopter:FLTMODE2)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360

+ + + +

Flight Mode 3 (ArduCopter:FLTMODE3)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490

+ + + +

Flight Mode 4 (ArduCopter:FLTMODE4)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620

+ + + +

Flight Mode 5 (ArduCopter:FLTMODE5)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749

+ + + +

Flight Mode 6 (ArduCopter:FLTMODE6)

+ +

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750

+ + + +

Flightmode channel (ArduCopter:FLTMODE_CH)

Note: This parameter is for advanced users
+ +

RC Channel to use for flight mode control

+ + + +

Initial flight mode (ArduCopter:INITIAL_MODE)

Note: This parameter is for advanced users
+ +

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.

+ + + +

Simple mode bitmask (ArduCopter:SIMPLE)

Note: This parameter is for advanced users
+ +

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.

+ + + +

Log bitmask (ArduCopter:LOG_BITMASK)

+ +

Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535.

+ + + +

ESC Calibration (ArduCopter:ESC_CALIBRATION)

Note: This parameter is for advanced users
+ +

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

+ + + +

Channel 6 Tuning (ArduCopter:TUNE)

+ +

Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob

+ + + +

Frame Type (+, X, V, etc) (ArduCopter:FRAME_TYPE)

+ +

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

+ + + +

Disarm delay (ArduCopter:DISARM_DELAY)

Note: This parameter is for advanced users
+ +

Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.

+ + + +

Angle Max (ArduCopter:ANGLE_MAX)

Note: This parameter is for advanced users
+ +

Maximum lean angle in all flight modes

+ + + +

PosHold braking rate (ArduCopter:PHLD_BRAKE_RATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

PosHold braking angle max (ArduCopter:PHLD_BRAKE_ANGLE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Land repositioning (ArduCopter:LAND_REPOSITION)

Note: This parameter is for advanced users
+ +

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

+ + + +

EKF Failsafe Action (ArduCopter:FS_EKF_ACTION)

Note: This parameter is for advanced users
+ +

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

+ + + +

EKF failsafe variance threshold (ArduCopter:FS_EKF_THRESH)

Note: This parameter is for advanced users
+ +

Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.

+ + + +

Crash check enable (ArduCopter:FS_CRASH_CHECK)

Note: This parameter is for advanced users
+ +

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

+ + + +

ESC Update Speed (ArduCopter:RC_SPEED)

Note: This parameter is for advanced users
+ +

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

+ + + +

Acro Balance Roll (ArduCopter:ACRO_BAL_ROLL)

Note: This parameter is for advanced users
+ +

rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.

+ + + +

Acro Balance Pitch (ArduCopter:ACRO_BAL_PITCH)

Note: This parameter is for advanced users
+ +

rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.

+ + + +

Acro Trainer (ArduCopter:ACRO_TRAINER)

Note: This parameter is for advanced users
+ +

Type of trainer used in acro mode

+ + + +

Start motors before throwing is detected (ArduCopter:THROW_MOT_START)

+ +

Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.

+ + + +

Throw mode minimum altitude (ArduCopter:THROW_ALT_MIN)

Note: This parameter is for advanced users
+ +

Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check

+ + + +

Throw mode maximum altitude (ArduCopter:THROW_ALT_MAX)

Note: This parameter is for advanced users
+ +

Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check

+ + + +

Minimum navigation altitude (ArduCopter:WP_NAVALT_MIN)

+ +

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

+ + + +

Throw mode's follow up mode (ArduCopter:THROW_NEXTMODE)

+ +

Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)

+ + + +

Type of Type (ArduCopter:THROW_TYPE)

+ +

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

+ + + +

Ground Effect Compensation Enable/Disable (ArduCopter:GND_EFFECT_COMP)

Note: This parameter is for advanced users
+ +

Ground Effect Compensation Enable/Disable

+ + + +

Development options (ArduCopter:DEV_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning

+ + + +

Acro Thr Mid (ArduCopter:ACRO_THR_MID)

Note: This parameter is for advanced users
+ +

Acro Throttle Mid

+ + + +

GCS sysid enforcement (ArduCopter:SYSID_ENFORCE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Frame Class (ArduCopter:FRAME_CLASS)

+ +

Controls major frame class for multicopter component

+ + + +

Pilot maximum vertical speed descending (ArduCopter:PILOT_SPEED_DN)

+ +

The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used.

+ + + +

Land alt low (ArduCopter:LAND_ALT_LOW)

Note: This parameter is for advanced users
+ +

Altitude during Landing at which vehicle slows to LAND_SPEED

+ + + +

Tuning minimum (ArduCopter:TUNE_MIN)

+ +

Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to

+ + + +

Tuning maximum (ArduCopter:TUNE_MAX)

+ +

Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to

+ + + +

Vibration Failsafe enable (ArduCopter:FS_VIBE_ENABLE)

+ +

This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations

+ + + +

Failsafe options bitmask (ArduCopter:FS_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.

+ + + +

Acro mode options (ArduCopter:ACRO_OPTIONS)

Note: This parameter is for advanced users
+ +

A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.

+ + + +

Auto mode options (ArduCopter:AUTO_OPTIONS)

Note: This parameter is for advanced users
+ +

A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.

+ + + +

Guided mode options (ArduCopter:GUID_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change guided mode behaviour

+ + + +

GCS failsafe timeout (ArduCopter:FS_GCS_TIMEOUT)

+ +

Timeout before triggering the GCS failsafe

+ + + +

RTL mode options (ArduCopter:RTL_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change RTL mode behaviour

+ + + +

Flight mode options (ArduCopter:FLIGHT_OPTIONS)

Note: This parameter is for advanced users
+ +

Flight mode specific options

+ + + +

Rangefinder filter (ArduCopter:RNGFND_FILT)

+ +

Rangefinder filter to smooth distance. Set to zero to disable filtering

+ + + +

Guided mode timeout (ArduCopter:GUID_TIMEOUT)

Note: This parameter is for advanced users
+ +

Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control

+ + + +

Surface Tracking Mode (ArduCopter:SURFTRAK_MODE)

Note: This parameter is for advanced users
+ +

set which surface to track in surface tracking

+ + + +

DeadReckon Failsafe Action (ArduCopter:FS_DR_ENABLE)

+ +

Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates

+ + + +

DeadReckon Failsafe Timeout (ArduCopter:FS_DR_TIMEOUT)

+ +

DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate

+ + + +

Acro Roll and Pitch Rate (ArduCopter:ACRO_RP_RATE)

+ +

Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation

+ + + +

Acro Roll/Pitch Expo (ArduCopter:ACRO_RP_EXPO)

Note: This parameter is for advanced users
+ +

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

+ + + +

Acro roll/pitch rate control input time constant (ArduCopter:ACRO_RP_RATE_TC)

+ +

Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

+ + + +

Acro Yaw Rate (ArduCopter:ACRO_Y_RATE)

+ +

Acro mode maximum yaw rate. Higher value means faster rate of rotation

+ + + +

Acro Yaw Expo (ArduCopter:ACRO_Y_EXPO)

Note: This parameter is for advanced users
+ +

Acro yaw expo to allow faster rotation when stick at edges

+ + + +

Acro yaw rate control input time constant (ArduCopter:ACRO_Y_RATE_TC)

+ +

Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

+ + + +

Pilot controlled yaw rate (ArduCopter:PILOT_Y_RATE)

+ +

Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro

+ + + +

Pilot controlled yaw expo (ArduCopter:PILOT_Y_EXPO)

Note: This parameter is for advanced users
+ +

Pilot controlled yaw expo to allow faster rotation when stick at edges

+ + + +

Pilot yaw rate control input time constant (ArduCopter:PILOT_Y_RATE_TC)

+ +

Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

+ + + +

Slew time of throttle during take-off (ArduCopter:TKOFF_SLEW_TIME)

+ +

Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff.

+ + + +

Takeoff Check RPM minimum (ArduCopter:TKOFF_RPM_MIN)

+ +

Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check

+ + + +

Payload Place thrust ratio threshold (ArduCopter:PLDP_THRESH)

+ +

Ratio of vertical thrust during decent below which payload touchdown will trigger.

+ + + +

Payload Place maximum range finder altitude (ArduCopter:PLDP_RNG_MAX)

+ +

Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.

+ + + +

Payload Place climb delay (ArduCopter:PLDP_DELAY)

+ +

Delay after release, in seconds, before aircraft starts to climb back to starting altitude.

+ + + +

Payload Place decent speed (ArduCopter:PLDP_SPEED_DN)

+ +

The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used.

+ + + +

Surface Tracking Filter Time Constant (ArduCopter:SURFTRAK_TC)

Note: This parameter is for advanced users
+ +

Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled

+ + + +

Takeoff maximum throttle during take-off ramp up (ArduCopter:TKOFF_THR_MAX)

Note: This parameter is for advanced users
+ +

Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process.

+ + + +

Takeoff Check RPM maximum (ArduCopter:TKOFF_RPM_MAX)

+ +

Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check

+ + + +

EKF Failsafe filter cutoff (ArduCopter:FS_EKF_FILT)

Note: This parameter is for advanced users
+ +

EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.

+ + + +

VEHICLE Parameters

+ + +

Flight mode block from GCS (FLTMODE_GCSBLOCK)

+ +

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

+ + + +

Lua Script Parameters

+ + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + + +

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

+ + + +

param reversion RC function (PREV_RC_FUNC)

+ +

RCn_OPTION number to used to trigger parameter reversion

+ + + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+ + + +

Camera1 Thermal Palette (CAM1_THERM_PAL)

+ +

thermal image colour palette

+ + + +

Camera1 Thermal Gain (CAM1_THERM_GAIN)

+ +

thermal image temperature range

+ + + +

Camera1 Thermal Raw Data (CAM1_THERM_RAW)

+ +

save images with raw temperatures

+ + + +

terrain brake enable (TERR_BRK_ENABLE)

+ +

terrain brake enable

+ + + +

terrain brake altitude (TERR_BRK_ALT)

+ +

terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.

+ + + +

terrain brake home distance (TERR_BRK_HDIST)

+ +

terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate

+ + + +

terrain brake speed threshold (TERR_BRK_SPD)

+ +

terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

+ + + +

Quicktune axes (QUIK_AXES)

+ +

axes to tune

+ + + +

Quicktune doubling time (QUIK_DOUBLE_TIME)

+ +

Time to double a tuning parameter. Raise this for a slower tune.

+ + + +

Quicktune gain margin (QUIK_GAIN_MARGIN)

+ +

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+ + + +

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+ +

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+ + + +

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+ +

Maximum value for yaw P gain

+ + + +

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+ +

Maximum value for yaw D gain

+ + + +

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+ +

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+ + + +

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+ +

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+ + + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Quicktune auto save (QUIK_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Quicktune RC function (QUIK_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+ +

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+ + + +

Quicktune options (QUIK_OPTIONS)

+ +

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+ + + +

Ship landing enable (SHIP_ENABLE)

+ +

Enable ship landing system

+ + + +

Ship landing angle (SHIP_LAND_ANGLE)

+ +

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

+ + + +

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+ + + +

CoG adjustment ratio (CGA_RATIO)

Note: This parameter is for advanced users
+ +

The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).

+ + + +

enable web server (WEB_ENABLE)

+ +

enable web server

+ + + +

web server TCP port (WEB_BIND_PORT)

+ +

web server TCP port

+ + + +

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+ +

web server debugging

+ + + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+ + + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

+ + + +

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+ +

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+ + + +

Slung Payload enable (SLUP_ENABLE)

+ +

Slung Payload enable

+ + + +

Slung Payload Velocity P gain (SLUP_VEL_P)

+ +

Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload

+ + + +

Slung Payload horizontal distance max (SLUP_DIST_MAX)

+ +

Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress

+ + + +

Slung Payload mavlink system id (SLUP_SYSID)

+ +

Slung Payload mavlink system id. 0 to use any/all system ids

+ + + +

Slung Payload return to WP position P gain (SLUP_WP_POS_P)

+ +

WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint

+ + + +

Slung Payload resting offset estimate filter time constant (SLUP_RESTOFS_TC)

+ +

payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response

+ + + +

Slung Payload debug output (SLUP_DEBUG)

+ +

Slung payload debug output, set to 1 to enable debug

+ + + +

Rover Quicktune enable (RTUN_ENABLE)

+ +

Enable quicktune system

+ + + +

Rover Quicktune axes (RTUN_AXES)

+ +

axes to tune

+ + + +

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+ +

Ratio between measured response and FF gain. Raise this to get a higher FF gain

+ + + +

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+ +

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+ +

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+ +

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

+ + + +

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+ +

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+ +

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

WinchControl Rate Up (WINCH_RATE_UP)

+ +

Maximum rate when retracting line

+ + + +

WinchControl Rate Down (WINCH_RATE_DN)

+ +

Maximum rate when releasing line

+ + + +

Winch Rate Control RC function (WINCH_RC_FUNC)

+ +

RCn_OPTION number to use to control winch rate

+ + + +

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+ +

ExternalNav may be used if innovations are below this threshold

+ + + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

Count of SOC estimators (BATT_SOC_COUNT)

+ +

Number of battery SOC estimators

+ + + +

Battery estimator index (BATT_SOC1_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC1_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC1_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC1_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC1_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC2_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC2_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC2_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC2_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC2_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC3_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC3_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC3_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC3_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC3_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC4_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC4_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC4_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC4_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC4_C3)

+ +

Battery estimator coefficient3

+ + + +

Deadreckoning Enable (DR_ENABLE)

+ +

Deadreckoning Enable

+ + + +

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+ +

Distance from home (in meters) beyond which the dead reckoning will be enabled

+ + + +

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+ +

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+ + + +

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+ +

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+ + + +

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+ +

GPS checks must fail for this many seconds before dead reckoning will be triggered

+ + + +

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+ +

lean angle (in degrees) during deadreckoning

+ + + +

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+ +

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+ + + +

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+ +

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+ + + +

Deadreckoning Next Mode (DR_NEXT_MODE)

+ +

Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered

+ + + +

Angular acceleration limit (AEROM_ANG_ACCEL)

+ +

Maximum angular acceleration in maneuvers

+ + + +

Roll control filtertime constant (AEROM_ANG_TC)

+ +

This is the time over which we filter the desired roll to smooth it

+ + + +

Throttle feed forward from pitch (AEROM_THR_PIT_FF)

+ +

This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch

+ + + +

P gain for speed controller (AEROM_SPD_P)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

I gain for speed controller (AEROM_SPD_I)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

Roll control time constant (AEROM_ROL_COR_TC)

+ +

This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections

+ + + +

Time constant for correction of our distance along the path (AEROM_TIME_COR_P)

+ +

This is the time constant for correcting path position errors

+ + + +

P gain for path error corrections (AEROM_ERR_COR_P)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

D gain for path error corrections (AEROM_ERR_COR_D)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

The roll rate to use when entering a roll maneuver (AEROM_ENTRY_RATE)

+ +

This controls how rapidly we roll into a new orientation

+ + + +

The lookahead for throttle control (AEROM_THR_LKAHD)

+ +

This controls how far ahead we look in time along the path for the target throttle

+ + + +

Debug control (AEROM_DEBUG)

+ +

This controls the printing of extra debug information on paths

+ + + +

Minimum Throttle (AEROM_THR_MIN)

+ +

Lowest throttle used during maneuvers

+ + + +

Throttle boost (AEROM_THR_BOOST)

+ +

This is the extra throttle added in schedule elements marked as needing a throttle boost

+ + + +

Yaw acceleration (AEROM_YAW_ACCEL)

+ +

This is maximum yaw acceleration to use

+ + + +

Lookahead (AEROM_LKAHD)

+ +

This is how much time to look ahead in the path for calculating path rates

+ + + +

Path Scale (AEROM_PATH_SCALE)

+ +

Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.

+ + + +

Box Width (AEROM_BOX_WIDTH)

+ +

Length of aerobatic "box"

+ + + +

Stall turn throttle (AEROM_STALL_THR)

+ +

Amount of throttle to reduce to for a stall turn

+ + + +

Stall turn pitch threshold (AEROM_STALL_PIT)

+ +

Pitch threashold for moving to final stage of stall turn

+ + + +

KnifeEdge Rudder (AEROM_KE_RUDD)

+ +

Percent of rudder normally uses to sustain knife-edge at trick speed

+ + + +

KnifeEdge Rudder lookahead (AEROM_KE_RUDD_LK)

+ +

Time to look ahead in the path to calculate rudder correction for bank angle

+ + + +

Altitude Abort (AEROM_ALT_ABORT)

+ +

Maximum allowable loss in altitude during a trick or sequence from its starting altitude.

+ + + +

Timesync P gain (AEROM_TS_P)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync I gain (AEROM_TS_I)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync speed max (AEROM_TS_SPDMAX)

+ +

This sets the maximum speed adjustment for time sync between aircraft

+ + + +

Timesync rate of send of NAMED_VALUE_FLOAT data (AEROM_TS_RATE)

+ +

This sets the rate we send data for time sync between aircraft

+ + + +

Mission angle (AEROM_MIS_ANGLE)

+ +

When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used

+ + + +

Aerobatic options (AEROM_OPTIONS)

+ +

Options to control aerobatic behavior

+ + + +

Tricks on Switch Enable (TRIK_ENABLE)

+ +

Enables Tricks on Switch. TRIK params hidden until enabled

+ + + +

Trik Selection Scripting Function (TRIK_SEL_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick selection

+ + + +

Trik Action Scripting Function (TRIK_ACT_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

+ + + +

Trik Count (TRIK_COUNT)

+ +

Number of tricks which can be selected over the range of the trik selection RC channel

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+ +

Camera selection when switch is in high position

+ + + +

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

+ +

ViewPro Zoom Speed. Higher numbers result in faster zooming

+ + + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

EFI INF-Inject options (EFI_INF_OPTIONS)

+ +

EFI INF driver options

+ + + +

EFI INF-Inject throttle rate (EFI_INF_THR_HZ)

+ +

EFI INF throttle output rate

+ + + +

EFI INF-Inject ignition aux function (EFI_INF_IGN_AUX)

+ +

EFI INF throttle ignition aux function

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

Enable ANX battery support (BATT_ANX_ENABLE)

+ +

Enable ANX battery support

+ + + +

Set ANX CAN driver (BATT_ANX_CANDRV)

+ +

Set ANX CAN driver

+ + + +

ANX CAN battery index (BATT_ANX_INDEX)

+ +

ANX CAN battery index

+ + + +

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+ +

ANX CAN battery options

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

+ + + +

Hobbywing ESC Enable (ESC_HW_ENABLE)

+ +

Enable Hobbywing ESC telemetry

+ + + +

Hobbywing ESC motor poles (ESC_HW_POLES)

+ +

Number of motor poles for eRPM scaling

+ + + +

Hobbywing ESC motor offset (ESC_HW_OFS)

+ +

Motor number offset of first ESC

+ + + +

Enable NMEA 2000 EFI driver (EFI_2K_ENABLE)

+ +

Enable NMEA 2000 EFI driver

+ + + +

NMEA 2000 CAN driver (EFI_2K_CANDRV)

+ +

NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

NMEA 2000 options (EFI_2K_OPTIONS)

+ +

NMEA 2000 driver options

+ + + +

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+ +

Enable DJIRS2 debug

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

Enable SkyPower EFI support (EFI_SP_ENABLE)

+ +

Enable SkyPower EFI support

+ + + +

Set SkyPower EFI CAN driver (EFI_SP_CANDRV)

+ +

Set SkyPower EFI CAN driver

+ + + +

SkyPower EFI update rate (EFI_SP_UPDATE_HZ)

Note: This parameter is for advanced users
+ +

SkyPower EFI update rate

+ + + +

SkyPower EFI throttle function (EFI_SP_THR_FN)

+ +

SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control

+ + + +

SkyPower EFI throttle rate (EFI_SP_THR_RATE)

Note: This parameter is for advanced users
+ +

SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine

+ + + +

SkyPower EFI start function (EFI_SP_START_FN)

+ +

SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start

+ + + +

SkyPower EFI generator control function (EFI_SP_GEN_FN)

+ +

SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop

+ + + +

SkyPower EFI minimum RPM (EFI_SP_MIN_RPM)

Note: This parameter is for advanced users
+ +

SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped

+ + + +

SkyPower EFI telemetry rate (EFI_SP_TLM_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS

+ + + +

SkyPower EFI log rate (EFI_SP_LOG_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed

+ + + +

SkyPower EFI allow start disarmed (EFI_SP_ST_DISARM)

+ +

SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed

+ + + +

SkyPower EFI ECU model (EFI_SP_MODEL)

+ +

SkyPower EFI ECU model

+ + + +

SkyPower EFI enable generator control (EFI_SP_GEN_CTRL)

+ +

SkyPower EFI enable generator control

+ + + +

SkyPower EFI restart time (EFI_SP_RST_TIME)

+ +

SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.

+ + + +

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

+ +

Enable Halo6000 EFI driver

+ + + +

Halo6000 CAN driver (EFI_H6K_CANDRV)

+ +

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+ +

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+ + + +

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

+ +

The rate that additional generator telemetry is sent

+ + + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ + + +

Halo6000 options (EFI_H6K_OPTIONS)

+ +

Halo6000 options

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M Connected (TOFSENSE_NO)

+ +

Number of TOFSENSE-M CAN sensors connected

+ + + +

TOFSENSE-M mode to be used (TOFSENSE_MODE)

+ +

TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode

+ + + +

TOFSENSE-M First Instance (TOFSENSE_INST1)

+ +

First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M First ID (TOFSENSE_ID1)

+ +

First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Second Instance (TOFSENSE_INST2)

+ +

Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Second ID (TOFSENSE_ID2)

+ +

Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Third Instance (TOFSENSE_INST3)

+ +

Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+ +

Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+ + + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+ + + +

ADSB_ Parameters

+ + +

ADSB Type (ADSB_TYPE)

+ +

Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled

+ + + +

ADSB vehicle list size (ADSB_LIST_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

ADSB vehicle list radius filter (ADSB_LIST_RADIUS)

Note: This parameter is for advanced users
+ +

ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

+ + + +

ICAO_ID vehicle identification number (ADSB_ICAO_ID)

Note: This parameter is for advanced users
+ +

ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.

+ + + +

Emitter type (ADSB_EMIT_TYPE)

Note: This parameter is for advanced users
+ +

ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).

+ + + +

Aircraft length and width (ADSB_LEN_WIDTH)

Note: This parameter is for advanced users
+ +

Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.

+ + + +

GPS antenna lateral offset (ADSB_OFFSET_LAT)

Note: This parameter is for advanced users
+ +

GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.

+ + + +

GPS antenna longitudinal offset (ADSB_OFFSET_LON)

Note: This parameter is for advanced users
+ +

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

+ + + +

Transceiver RF selection (ADSB_RF_SELECT)

Note: This parameter is for advanced users
+ +

Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.

+ + + +

Squawk code (ADSB_SQUAWK)

Note: This parameter is for advanced users
+ +

VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.

+ + + +

RF capabilities (ADSB_RF_CAPABLE)

Note: This parameter is for advanced users
+ +

Describes your hardware RF In/Out capabilities.

+ + + +

ADSB vehicle list altitude filter (ADSB_LIST_ALT)

Note: This parameter is for advanced users
+ +

ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

+ + + +

ICAO_ID of special vehicle (ADSB_ICAO_SPECL)

Note: This parameter is for advanced users
+ +

ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.

+ + + +

ADS-B logging (ADSB_LOG)

Note: This parameter is for advanced users
+ +

0: no logging, 1: log only special ID, 2:log all

+ + + +

ADS-B Options (ADSB_OPTIONS)

Note: This parameter is for advanced users
+ +

Options for emergency failsafe codes and device capabilities

+ + + +

AFS_ Parameters

+ + +

Enable Advanced Failsafe (AFS_ENABLE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Manual Pin (AFS_MAN_PIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Heartbeat Pin (AFS_HB_PIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Comms Waypoint (AFS_WP_COMMS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on comms loss

+ + + +

GPS Loss Waypoint (AFS_WP_GPS_LOSS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on GPS lock loss

+ + + +

Force Terminate (AFS_TERMINATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Terminate action (AFS_TERM_ACTION)

Note: This parameter is for advanced users
+ +

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

+ + + +

Terminate Pin (AFS_TERM_PIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

AMSL limit (AFS_AMSL_LIMIT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

QNH pressure (AFS_QNH_PRESSURE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Maximum number of comms loss events (AFS_MAX_COM_LOSS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Enable geofence Advanced Failsafe (AFS_GEOFENCE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Enable RC Advanced Failsafe (AFS_RC)

Note: This parameter is for advanced users
+ +

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

+ + + +

Enable RC Termination only in manual control modes (AFS_RC_MAN_ONLY)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

RC failure time (AFS_RC_FAIL_TIME)

Note: This parameter is for advanced users
+ +

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

+ + + +

Max allowed range (AFS_MAX_RANGE)

Note: This parameter is for advanced users
+ +

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

+ + + +

AFS options (AFS_OPTIONS)

+ +

See description for each bitmask bit description

+ + + +

GCS timeout (AFS_GCS_TIMEOUT)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS_ Parameters

+ + +

AHRS GPS gain (AHRS_GPS_GAIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS use GPS for DCM navigation and position-down (AHRS_GPS_USE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw P (AHRS_YAW_P)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS RP_P (AHRS_RP_P)

Note: This parameter is for advanced users
+ +

This controls how fast the accelerometers correct the attitude

+ + + +

Maximum wind (AHRS_WIND_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS Trim Roll (AHRS_TRIM_X)

+ +

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

+ + + +

AHRS Trim Pitch (AHRS_TRIM_Y)

+ +

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

+ + + +

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users
+ +

Not Used

+ + + +

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users
+ +

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

+ + + +

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Board orientation roll offset (AHRS_CUSTOM_ROLL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Board orientation pitch offset (AHRS_CUSTOM_PIT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Board orientation yaw offset (AHRS_CUSTOM_YAW)

Note: This parameter is for advanced users
+ +

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

+ + + +

Optional AHRS behaviour (AHRS_OPTIONS)

Note: This parameter is for advanced users
+ +

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

+ + + +

AIS_ Parameters

+ + +

AIS receiver type (AIS_TYPE)

+ +

AIS receiver type

+ + + +

AIS vessel list size (AIS_LIST_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

AIS vessel time out (AIS_TIME_OUT)

Note: This parameter is for advanced users
+ +

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

+ + + +

AIS logging options (AIS_LOGGING)

Note: This parameter is for advanced users
+ +

Bitmask of AIS logging options

+ + + +

ARMING_ Parameters

+ + +

Accelerometer error threshold (ARMING_ACCTHRESH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Arming with Rudder enable/disable (ARMING_RUDDER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required mission items (ARMING_MIS_ITEMS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Arm Checks to Perform (bitmask) (ARMING_CHECK)

+ +

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

+ + + +

Arming options (ARMING_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change arming behaviour

+ + + +

Compass magnetic field strength error threshold vs earth magnetic model (ARMING_MAGTHRESH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Disable CrashDump Arming check (ARMING_CRSDP_IGN)

Note: This parameter is for advanced users
+ +

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

+ + + +

AROT_ Parameters

+ + +

Enable settings for RSC Setpoint (AROT_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the autonomous autorotation capability.

+ + + +

P gain for head speed controller (AROT_HS_P)

Note: This parameter is for advanced users
+ +

Increase value to increase sensitivity of head speed controller during autonomous autorotation.

+ + + +

Target Head Speed (AROT_HS_SET_PT)

Note: This parameter is for advanced users
+ +

The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.

+ + + +

Target Glide Ground Speed (AROT_TARG_SP)

Note: This parameter is for advanced users
+ +

Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.

+ + + +

Entry Phase Collective Filter (AROT_COL_FILT_E)

Note: This parameter is for advanced users
+ +

Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.

+ + + +

Glide Phase Collective Filter (AROT_COL_FILT_G)

Note: This parameter is for advanced users
+ +

Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.

+ + + +

Forward Acceleration Limit (AROT_AS_ACC_MAX)

Note: This parameter is for advanced users
+ +

Maximum forward acceleration to apply in speed controller.

+ + + +

Main Rotor RPM Sensor (AROT_HS_SENSOR)

Note: This parameter is for advanced users
+ +

Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.

+ + + +

Velocity (horizontal) P gain (AROT_FW_V_P)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error.

+ + + +

Velocity (horizontal) feed forward (AROT_FW_V_FF)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity.

+ + + +

ARSPD Parameters

+ + +

Airspeed Enable (ARSPD_ENABLE)

+ +

Enable airspeed sensor support

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Primary airspeed sensor (ARSPD_PRIMARY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed options bitmask (ARSPD_OPTIONS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Maximum airspeed and ground speed difference (ARSPD_WIND_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed and GPS speed difference that gives a warning (ARSPD_WIND_WARN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Re-enable Consistency Check Gate Size (ARSPD_WIND_GATE)

Note: This parameter is for advanced users
+ +

This parameter and function is not used by this vehicle.

+ + + +

Maximum offset cal speed error (ARSPD_OFF_PCNT)

Note: This parameter is for advanced users
+ +

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

+ + + +

ARSPD2_ Parameters

+ + +

Airspeed type (ARSPD2_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD2_USE)

+ +

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

+ + + +

Airspeed offset (ARSPD2_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed pin (ARSPD2_PIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Control pitot tube order (ARSPD2_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Skip airspeed offset calibration on startup (ARSPD2_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD2_PSI_RANGE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed I2C bus (ARSPD2_BUS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed ID (ARSPD2_DEVID)

Note: This parameter is for advanced users
+ +

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

+ + + +

ARSPD_ Parameters

+ + +

Airspeed type (ARSPD_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD_USE)

+ +

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

+ + + +

Airspeed offset (ARSPD_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed pin (ARSPD_PIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Skip airspeed offset calibration on startup (ARSPD_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD_PSI_RANGE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed I2C bus (ARSPD_BUS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed ID (ARSPD_DEVID)

Note: This parameter is for advanced users
+ +

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

+ + + +

ATC_ Parameters

+ + +

Yaw target slew rate (ATC_SLEW_YAW)

Note: This parameter is for advanced users
+ +

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

+ + + +

Acceleration Max for Yaw (ATC_ACCEL_Y_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in yaw axis

+ + + +

Rate Feedforward Enable (ATC_RATE_FF_ENAB)

Note: This parameter is for advanced users
+ +

Controls whether body-frame rate feedforward is enabled or disabled

+ + + +

Acceleration Max for Roll (ATC_ACCEL_R_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in roll axis

+ + + +

Acceleration Max for Pitch (ATC_ACCEL_P_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in pitch axis

+ + + +

Angle Boost (ATC_ANGLE_BOOST)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll axis angle controller P gain (ATC_ANG_RLL_P)

+ +

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

+ + + +

Pitch axis angle controller P gain (ATC_ANG_PIT_P)

+ +

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

+ + + +

Yaw axis angle controller P gain (ATC_ANG_YAW_P)

+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

Angle Limit (to maintain altitude) Time Constant

+ + + +

Angular Velocity Max for Roll (ATC_RATE_R_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in roll axis

+ + + +

Angular Velocity Max for Pitch (ATC_RATE_P_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in pitch axis

+ + + +

Angular Velocity Max for Yaw (ATC_RATE_Y_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in yaw axis

+ + + +

Attitude control input time constant (ATC_INPUT_TC)

+ +

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

+ + + +

Landed roll gain multiplier (ATC_LAND_R_MULT)

Note: This parameter is for advanced users
+ +

Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis.

+ + + +

Landed pitch gain multiplier (ATC_LAND_P_MULT)

Note: This parameter is for advanced users
+ +

Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis.

+ + + +

Landed yaw gain multiplier (ATC_LAND_Y_MULT)

Note: This parameter is for advanced users
+ +

Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis.

+ + + +

Roll axis rate controller P gain (ATC_RAT_RLL_P)

+ +

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain (ATC_RAT_RLL_I)

+ +

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

+ + + +

Roll axis rate controller I gain maximum (ATC_RAT_RLL_IMAX)

+ +

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

+ + + +

Roll axis rate controller D gain (ATC_RAT_RLL_D)

+ +

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

+ + + +

Roll axis rate controller feed forward (ATC_RAT_RLL_FF)

+ +

Roll axis rate controller feed forward

+ + + +

Roll axis rate controller target frequency in Hz (ATC_RAT_RLL_FLTT)

+ +

Roll axis rate controller target frequency in Hz

+ + + +

Roll axis rate controller error frequency in Hz (ATC_RAT_RLL_FLTE)

+ +

Roll axis rate controller error frequency in Hz

+ + + +

Roll axis rate controller derivative frequency in Hz (ATC_RAT_RLL_FLTD)

+ +

Roll axis rate controller derivative frequency in Hz

+ + + +

Roll slew rate limit (ATC_RAT_RLL_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll axis rate controller PD sum maximum (ATC_RAT_RLL_PDMX)

+ +

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Roll Derivative FeedForward Gain (ATC_RAT_RLL_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll Target notch filter index (ATC_RAT_RLL_NTF)

Note: This parameter is for advanced users
+ +

Roll Target notch filter index

+ + + +

Roll Error notch filter index (ATC_RAT_RLL_NEF)

Note: This parameter is for advanced users
+ +

Roll Error notch filter index

+ + + +

Pitch axis rate controller P gain (ATC_RAT_PIT_P)

+ +

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output

+ + + +

Pitch axis rate controller I gain (ATC_RAT_PIT_I)

+ +

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

+ + + +

Pitch axis rate controller I gain maximum (ATC_RAT_PIT_IMAX)

+ +

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

+ + + +

Pitch axis rate controller D gain (ATC_RAT_PIT_D)

+ +

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

+ + + +

Pitch axis rate controller feed forward (ATC_RAT_PIT_FF)

+ +

Pitch axis rate controller feed forward

+ + + +

Pitch axis rate controller target frequency in Hz (ATC_RAT_PIT_FLTT)

+ +

Pitch axis rate controller target frequency in Hz

+ + + +

Pitch axis rate controller error frequency in Hz (ATC_RAT_PIT_FLTE)

+ +

Pitch axis rate controller error frequency in Hz

+ + + +

Pitch axis rate controller derivative frequency in Hz (ATC_RAT_PIT_FLTD)

+ +

Pitch axis rate controller derivative frequency in Hz

+ + + +

Pitch slew rate limit (ATC_RAT_PIT_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Pitch axis rate controller PD sum maximum (ATC_RAT_PIT_PDMX)

+ +

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

+ + + +

Pitch Derivative FeedForward Gain (ATC_RAT_PIT_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Pitch Target notch filter index (ATC_RAT_PIT_NTF)

Note: This parameter is for advanced users
+ +

Pitch Target notch filter index

+ + + +

Pitch Error notch filter index (ATC_RAT_PIT_NEF)

Note: This parameter is for advanced users
+ +

Pitch Error notch filter index

+ + + +

Yaw axis rate controller P gain (ATC_RAT_YAW_P)

+ +

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain (ATC_RAT_YAW_I)

+ +

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

+ + + +

Yaw axis rate controller I gain maximum (ATC_RAT_YAW_IMAX)

+ +

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

+ + + +

Yaw axis rate controller D gain (ATC_RAT_YAW_D)

+ +

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

+ + + +

Yaw axis rate controller feed forward (ATC_RAT_YAW_FF)

+ +

Yaw axis rate controller feed forward

+ + + +

Yaw axis rate controller target frequency in Hz (ATC_RAT_YAW_FLTT)

+ +

Yaw axis rate controller target frequency in Hz

+ + + +

Yaw axis rate controller error frequency in Hz (ATC_RAT_YAW_FLTE)

+ +

Yaw axis rate controller error frequency in Hz

+ + + +

Yaw axis rate controller derivative frequency in Hz (ATC_RAT_YAW_FLTD)

+ +

Yaw axis rate controller derivative frequency in Hz

+ + + +

Yaw slew rate limit (ATC_RAT_YAW_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw axis rate controller PD sum maximum (ATC_RAT_YAW_PDMX)

+ +

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Yaw Derivative FeedForward Gain (ATC_RAT_YAW_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw Target notch filter index (ATC_RAT_YAW_NTF)

Note: This parameter is for advanced users
+ +

Yaw Target notch filter index

+ + + +

Yaw Error notch filter index (ATC_RAT_YAW_NEF)

Note: This parameter is for advanced users
+ +

Yaw Error notch filter index

+ + + +

Throttle Mix Minimum (ATC_THR_MIX_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Throttle Mix Maximum (ATC_THR_MIX_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Throttle Mix Manual (ATC_THR_MIX_MAN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Throttle-gain boost (ATC_THR_G_BOOST)

Note: This parameter is for advanced users
+ +

Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.

+ + + +

Hover Roll Trim (ATC_HOVR_ROL_TRM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll axis rate controller P gain (ATC_RAT_RLL_P)

+ +

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain (ATC_RAT_RLL_I)

+ +

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

+ + + +

Roll axis rate controller I gain maximum (ATC_RAT_RLL_IMAX)

+ +

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

+ + + +

Roll axis rate controller I-term leak minimum (ATC_RAT_RLL_ILMI)

Note: This parameter is for advanced users
+ +

Point below which I-term will not leak down

+ + + +

Roll axis rate controller D gain (ATC_RAT_RLL_D)

+ +

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

+ + + +

Roll axis rate controller feed forward (ATC_RAT_RLL_FF)

+ +

Roll axis rate controller feed forward

+ + + +

Roll axis rate controller target frequency in Hz (ATC_RAT_RLL_FLTT)

+ +

Roll axis rate controller target frequency in Hz

+ + + +

Roll axis rate controller error frequency in Hz (ATC_RAT_RLL_FLTE)

+ +

Roll axis rate controller error frequency in Hz

+ + + +

Roll axis rate controller derivative frequency in Hz (ATC_RAT_RLL_FLTD)

+ +

Roll axis rate controller derivative frequency in Hz

+ + + +

Roll slew rate limit (ATC_RAT_RLL_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll Derivative FeedForward Gain (ATC_RAT_RLL_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Roll Target notch filter index (ATC_RAT_RLL_NTF)

Note: This parameter is for advanced users
+ +

Roll Target notch filter index

+ + + +

Roll Error notch filter index (ATC_RAT_RLL_NEF)

Note: This parameter is for advanced users
+ +

Roll Error notch filter index

+ + + +

Pitch axis rate controller P gain (ATC_RAT_PIT_P)

+ +

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate

+ + + +

Pitch axis rate controller I gain (ATC_RAT_PIT_I)

+ +

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

+ + + +

Pitch axis rate controller I gain maximum (ATC_RAT_PIT_IMAX)

+ +

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

+ + + +

Pitch axis rate controller I-term leak minimum (ATC_RAT_PIT_ILMI)

Note: This parameter is for advanced users
+ +

Point below which I-term will not leak down

+ + + +

Pitch axis rate controller D gain (ATC_RAT_PIT_D)

+ +

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

+ + + +

Pitch axis rate controller feed forward (ATC_RAT_PIT_FF)

+ +

Pitch axis rate controller feed forward

+ + + +

Pitch axis rate controller target frequency in Hz (ATC_RAT_PIT_FLTT)

+ +

Pitch axis rate controller target frequency in Hz

+ + + +

Pitch axis rate controller error frequency in Hz (ATC_RAT_PIT_FLTE)

+ +

Pitch axis rate controller error frequency in Hz

+ + + +

Pitch axis rate controller derivative frequency in Hz (ATC_RAT_PIT_FLTD)

+ +

Pitch axis rate controller derivative frequency in Hz

+ + + +

Pitch slew rate limit (ATC_RAT_PIT_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Pitch Derivative FeedForward Gain (ATC_RAT_PIT_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Pitch Target notch filter index (ATC_RAT_PIT_NTF)

Note: This parameter is for advanced users
+ +

Pitch Target notch filter index

+ + + +

Pitch Error notch filter index (ATC_RAT_PIT_NEF)

Note: This parameter is for advanced users
+ +

Pitch Error notch filter index

+ + + +

Yaw axis rate controller P gain (ATC_RAT_YAW_P)

+ +

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain (ATC_RAT_YAW_I)

+ +

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

+ + + +

Yaw axis rate controller I gain maximum (ATC_RAT_YAW_IMAX)

+ +

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

+ + + +

Yaw axis rate controller I-term leak minimum (ATC_RAT_YAW_ILMI)

Note: This parameter is for advanced users
+ +

Point below which I-term will not leak down

+ + + +

Yaw axis rate controller D gain (ATC_RAT_YAW_D)

+ +

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

+ + + +

Yaw axis rate controller feed forward (ATC_RAT_YAW_FF)

+ +

Yaw axis rate controller feed forward

+ + + +

Yaw axis rate controller target frequency in Hz (ATC_RAT_YAW_FLTT)

+ +

Yaw axis rate controller target frequency in Hz

+ + + +

Yaw axis rate controller error frequency in Hz (ATC_RAT_YAW_FLTE)

+ +

Yaw axis rate controller error frequency in Hz

+ + + +

Yaw axis rate controller derivative frequency in Hz (ATC_RAT_YAW_FLTD)

+ +

Yaw axis rate controller derivative frequency in Hz

+ + + +

Yaw slew rate limit (ATC_RAT_YAW_SMAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw Derivative FeedForward Gain (ATC_RAT_YAW_D_FF)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw Target notch filter index (ATC_RAT_YAW_NTF)

Note: This parameter is for advanced users
+ +

Yaw Target notch filter index

+ + + +

Yaw Error notch filter index (ATC_RAT_YAW_NEF)

Note: This parameter is for advanced users
+ +

Yaw Error notch filter index

+ + + +

Piro Comp Enable (ATC_PIRO_COMP)

Note: This parameter is for advanced users
+ +

Pirouette compensation enabled

+ + + +

AUTOTUNE_ Parameters

+ + +

Autotune axis bitmask (AUTOTUNE_AXES)

+ +

1-byte bitmap of axes to autotune

+ + + +

Autotune aggressiveness (AUTOTUNE_AGGR)

+ +

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

+ + + +

AutoTune minimum D (AUTOTUNE_MIN_D)

+ +

Defines the minimum D gain

+ + + +

Autotune axis bitmask (AUTOTUNE_AXES)

+ +

1-byte bitmap of axes to autotune

+ + + +

AutoTune Sequence Bitmask (AUTOTUNE_SEQ)

+ +

2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P

+ + + +

AutoTune minimum sweep frequency (AUTOTUNE_FRQ_MIN)

+ +

Defines the start frequency for sweeps and dwells

+ + + +

AutoTune maximum sweep frequency (AUTOTUNE_FRQ_MAX)

+ +

Defines the end frequency for sweeps and dwells

+ + + +

AutoTune maximum response gain (AUTOTUNE_GN_MAX)

+ +

Defines the response gain (output/input) to tune

+ + + +

AutoTune velocity xy P gain (AUTOTUNE_VELXY_P)

+ +

Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps

+ + + +

AutoTune maximum allowable angular acceleration (AUTOTUNE_ACC_MAX)

+ +

maximum angular acceleration in deg/s/s allowed during autotune maneuvers

+ + + +

Autotune maximum allowable angular rate (AUTOTUNE_RAT_MAX)

+ +

maximum angular rate in deg/s allowed during autotune maneuvers

+ + + +

AVD_ Parameters

+ + +

Enable Avoidance using ADSB (AVD_ENABLE)

Note: This parameter is for advanced users
+ +

Enable Avoidance using ADSB

+ + + +

Collision Avoidance Behavior (AVD_F_ACTION)

Note: This parameter is for advanced users
+ +

Specifies aircraft behaviour when a collision is imminent

+ + + +

Collision Avoidance Behavior - Warn (AVD_W_ACTION)

Note: This parameter is for advanced users
+ +

Specifies aircraft behaviour when a collision may occur

+ + + +

Recovery behaviour after a fail event (AVD_F_RCVRY)

Note: This parameter is for advanced users
+ +

Determines what the aircraft will do after a fail event is resolved

+ + + +

Maximum number of obstacles to track (AVD_OBS_MAX)

Note: This parameter is for advanced users
+ +

Maximum number of obstacles to track

+ + + +

Time Horizon Warn (AVD_W_TIME)

Note: This parameter is for advanced users
+ +

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)

+ + + +

Time Horizon Fail (AVD_F_TIME)

Note: This parameter is for advanced users
+ +

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken

+ + + +

Distance Warn XY (AVD_W_DIST_XY)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before W_ACTION is undertaken

+ + + +

Distance Fail XY (AVD_F_DIST_XY)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before F_ACTION is undertaken

+ + + +

Distance Warn Z (AVD_W_DIST_Z)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before BEHAVIOUR_W is undertaken

+ + + +

Distance Fail Z (AVD_F_DIST_Z)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before BEHAVIOUR_F is undertaken

+ + + +

ADS-B avoidance minimum altitude (AVD_F_ALT_MIN)

Note: This parameter is for advanced users
+ +

Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.

+ + + +

AVOID_ Parameters

+ + +

Avoidance control enable/disable (AVOID_ENABLE)

+ +

Enabled/disable avoidance input sources

+ + + +

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

+ +

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

+ + + +

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

+ +

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

+ + + +

Avoidance distance margin in GPS modes (AVOID_MARGIN)

+ +

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

+ + + +

Avoidance behaviour (AVOID_BEHAVE)

+ +

Avoidance behaviour (slide or stop)

+ + + +

Avoidance maximum horizontal backup speed (AVOID_BACKUP_SPD)

+ +

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

+ + + +

Avoidance minimum altitude (AVOID_ALT_MIN)

+ +

Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable

+ + + +

Avoidance maximum acceleration (AVOID_ACCEL_MAX)

+ +

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

+ + + +

Avoidance deadzone between stopping and backing away from obstacle (AVOID_BACKUP_DZ)

+ +

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

+ + + +

Avoidance maximum vertical backup speed (AVOID_BACKZ_SPD)

+ +

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

+ + + +

BARO Parameters

+ + +

Ground Pressure (BARO1_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

ground temperature (BARO_GND_TEMP)

Note: This parameter is for advanced users
+ +

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

+ + + +

altitude offset (BARO_ALT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Primary barometer (BARO_PRIMARY)

Note: This parameter is for advanced users
+ +

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

+ + + +

External baro bus (BARO_EXT_BUS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Ground Pressure (BARO2_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Absolute Pressure (BARO3_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Range in which sample is accepted (BARO_FLTR_RNG)

+ +

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

+ + + +

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Baro ID (BARO1_DEVID)

Note: This parameter is for advanced users
+ +

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

+ + + +

Baro ID2 (BARO2_DEVID)

Note: This parameter is for advanced users
+ +

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

+ + + +

Baro ID3 (BARO3_DEVID)

Note: This parameter is for advanced users
+ +

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

+ + + +

field elevation (BARO_FIELD_ELV)

Note: This parameter is for advanced users
+ +

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

+ + + +

Altitude error maximum (BARO_ALTERR_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Barometer options (BARO_OPTIONS)

Note: This parameter is for advanced users
+ +

Barometer options

+ + + +

BARO1_WCF_ Parameters

+ + +

Wind coefficient enable (BARO1_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

BARO2_WCF_ Parameters

+ + +

Wind coefficient enable (BARO2_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

BARO3_WCF_ Parameters

+ + +

Wind coefficient enable (BARO3_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

BATT2_ Parameters

+ + +

Battery monitoring (BATT2_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT2_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT2_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT2_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT2_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT2_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT2_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT2_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT2_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT2_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT2_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT2_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT2_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT2_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT2_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT2_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT2_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT2_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT2_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT2_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT2_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT2_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT2_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT2_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT2_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT2_FL_PIN)

+ +

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

+ + + +

First order term (BATT2_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT2_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT2_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT2_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT2_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT2_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT2_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT2_ESC_MASK)

+ +

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

+ + + +

BATT3_ Parameters

+ + +

Battery monitoring (BATT3_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT3_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT3_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT3_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT3_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT3_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT3_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT3_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT3_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT3_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT3_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT3_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT3_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT3_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT3_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT3_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT3_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT3_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT3_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT3_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT3_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT3_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT3_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT3_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT3_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT3_FL_PIN)

+ +

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

+ + + +

First order term (BATT3_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT3_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT3_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT3_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT3_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT3_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT3_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT3_ESC_MASK)

+ +

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

+ + + +

BATT4_ Parameters

+ + +

Battery monitoring (BATT4_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT4_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT4_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT4_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT4_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT4_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT4_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT4_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT4_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT4_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT4_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT4_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT4_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT4_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT4_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT4_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT4_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT4_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT4_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT4_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT4_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT4_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT4_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT4_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT4_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT4_FL_PIN)

+ +

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

+ + + +

First order term (BATT4_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT4_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT4_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT4_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT4_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT4_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT4_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT4_ESC_MASK)

+ +

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

+ + + +

BATT5_ Parameters

+ + +

Battery monitoring (BATT5_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT5_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT5_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT5_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT5_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT5_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT5_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT5_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT5_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT5_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT5_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT5_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT5_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT5_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT5_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT5_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT5_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT5_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT5_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT5_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT5_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT5_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT5_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT5_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT5_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT5_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT5_FL_PIN)

+ +

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

+ + + +

First order term (BATT5_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT5_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT5_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT5_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT5_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT5_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT5_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT5_ESC_MASK)

+ +

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

+ + + +

BATT6_ Parameters

+ + +

Battery monitoring (BATT6_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT6_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT6_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT6_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT6_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT6_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT6_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT6_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT6_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT6_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT6_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT6_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT6_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT6_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT6_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT6_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT6_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT6_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT6_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT6_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT6_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT6_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT6_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT6_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT6_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT6_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT6_FL_PIN)

+ +

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

+ + + +

First order term (BATT6_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT6_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT6_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT6_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT6_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT6_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT6_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT6_ESC_MASK)

+ +

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

+ + + +

BATT7_ Parameters

+ + +

Battery monitoring (BATT7_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT7_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT7_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT7_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT7_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT7_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT7_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT7_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT7_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT7_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT7_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT7_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT7_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT7_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT7_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT7_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT7_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT7_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT7_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT7_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT7_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT7_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT7_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT7_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT7_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT7_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT7_FL_PIN)

+ +

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

+ + + +

First order term (BATT7_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT7_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT7_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT7_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT7_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT7_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT7_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT7_ESC_MASK)

+ +

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

+ + + +

BATT8_ Parameters

+ + +

Battery monitoring (BATT8_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT8_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT8_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT8_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT8_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT8_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT8_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT8_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT8_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT8_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT8_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT8_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT8_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT8_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT8_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT8_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT8_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT8_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT8_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT8_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT8_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT8_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT8_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT8_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT8_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT8_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT8_FL_PIN)

+ +

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

+ + + +

First order term (BATT8_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT8_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT8_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT8_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT8_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT8_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT8_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT8_ESC_MASK)

+ +

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

+ + + +

BATT9_ Parameters

+ + +

Battery monitoring (BATT9_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT9_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT9_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT9_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT9_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT9_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT9_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT9_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT9_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT9_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT9_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT9_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT9_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT9_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT9_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT9_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT9_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT9_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT9_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT9_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT9_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT9_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT9_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT9_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT9_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT9_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT9_FL_PIN)

+ +

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

+ + + +

First order term (BATT9_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT9_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT9_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT9_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT9_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT9_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT9_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT9_ESC_MASK)

+ +

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

+ + + +

BATTA_ Parameters

+ + +

Battery monitoring (BATTA_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTA_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTA_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTA_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTA_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTA_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTA_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTA_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTA_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTA_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTA_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTA_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTA_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTA_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTA_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTA_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTA_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTA_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTA_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTA_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTA_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTA_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTA_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTA_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTA_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTA_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTA_FL_PIN)

+ +

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

+ + + +

First order term (BATTA_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTA_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTA_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTA_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTA_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTA_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTA_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTA_ESC_MASK)

+ +

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

+ + + +

BATTB_ Parameters

+ + +

Battery monitoring (BATTB_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTB_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTB_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTB_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTB_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTB_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTB_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTB_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTB_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTB_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTB_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTB_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTB_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTB_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTB_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTB_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTB_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTB_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTB_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTB_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTB_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTB_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTB_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTB_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTB_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTB_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTB_FL_PIN)

+ +

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

+ + + +

First order term (BATTB_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTB_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTB_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTB_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTB_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTB_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTB_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTB_ESC_MASK)

+ +

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

+ + + +

BATTC_ Parameters

+ + +

Battery monitoring (BATTC_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTC_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTC_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTC_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTC_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTC_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTC_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTC_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTC_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTC_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTC_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTC_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTC_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTC_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTC_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTC_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTC_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTC_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTC_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTC_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTC_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTC_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTC_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTC_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTC_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTC_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTC_FL_PIN)

+ +

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

+ + + +

First order term (BATTC_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTC_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTC_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTC_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTC_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTC_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTC_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTC_ESC_MASK)

+ +

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

+ + + +

BATTD_ Parameters

+ + +

Battery monitoring (BATTD_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTD_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTD_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTD_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTD_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTD_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTD_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTD_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTD_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTD_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTD_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTD_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTD_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTD_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTD_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTD_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTD_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTD_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTD_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTD_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTD_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTD_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTD_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTD_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTD_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTD_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTD_FL_PIN)

+ +

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

+ + + +

First order term (BATTD_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTD_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTD_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTD_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTD_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTD_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTD_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTD_ESC_MASK)

+ +

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

+ + + +

BATTE_ Parameters

+ + +

Battery monitoring (BATTE_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTE_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTE_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTE_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTE_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTE_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTE_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTE_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTE_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTE_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTE_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTE_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTE_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTE_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTE_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTE_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTE_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTE_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTE_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTE_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTE_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTE_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTE_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTE_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTE_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTE_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTE_FL_PIN)

+ +

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

+ + + +

First order term (BATTE_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTE_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTE_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTE_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTE_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTE_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTE_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTE_ESC_MASK)

+ +

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

+ + + +

BATTF_ Parameters

+ + +

Battery monitoring (BATTF_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTF_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTF_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTF_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTF_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTF_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTF_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTF_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTF_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTF_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTF_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTF_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTF_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTF_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTF_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTF_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTF_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTF_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTF_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTF_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTF_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTF_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTF_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTF_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTF_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTF_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTF_FL_PIN)

+ +

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

+ + + +

First order term (BATTF_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTF_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTF_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTF_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTF_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTF_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTF_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTF_ESC_MASK)

+ +

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

+ + + +

BATTG_ Parameters

+ + +

Battery monitoring (BATTG_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTG_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTG_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATTG_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATTG_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTG_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATTG_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATTG_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATTG_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATTG_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATTG_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATTG_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATTG_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATTG_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTG_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATTG_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATTG_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTG_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATTG_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATTG_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATTG_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTG_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATTG_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATTG_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATTG_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATTG_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATTG_FL_PIN)

+ +

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

+ + + +

First order term (BATTG_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTG_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTG_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTG_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTG_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATTG_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATTG_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTG_ESC_MASK)

+ +

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

+ + + +

BATT_ Parameters

+ + +

Battery monitoring (BATT_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Low voltage timeout (BATT_LOW_TIMER)

Note: This parameter is for advanced users
+ +

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

+ + + +

Failsafe voltage source (BATT_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT_LOW_VOLT)

+ +

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

+ + + +

Low battery capacity (BATT_LOW_MAH)

+ +

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

+ + + +

Critical battery voltage (BATT_CRT_VOLT)

+ +

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

+ + + +

Battery critical capacity (BATT_CRT_MAH)

+ +

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

+ + + +

Low battery failsafe action (BATT_FS_LOW_ACT)

+ +

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

+ + + +

Critical battery failsafe action (BATT_FS_CRT_ACT)

+ +

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

+ + + +

Required arming voltage (BATT_ARM_VOLT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Required arming remaining capacity (BATT_ARM_MAH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor options (BATT_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT_ESC_INDEX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery Voltage sensing pin (BATT_VOLT_PIN)

+ +

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

+ + + +

Battery Current sensing pin (BATT_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Amps per volt (BATT_AMP_PERVLT)

+ +

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

+ + + +

AMP offset (BATT_AMP_OFFSET)

+ +

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

+ + + +

Voltage offset (BATT_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT_SUM_MASK)

+ +

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

+ + + +

Scales reported power monitor current (BATT_CURR_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Empty fuel level voltage (BATT_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level voltage multiplier (BATT_FL_V_MULT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level filter frequency (BATT_FL_FLTR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Fuel level analog pin number (BATT_FL_PIN)

+ +

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

+ + + +

First order term (BATT_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor max current (BATT_MAX_AMPS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Battery monitor shunt resistor (BATT_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT_ESC_MASK)

+ +

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

+ + + +

BCN Parameters

+ + +

Beacon based position estimation device type (BCN_TYPE)

Note: This parameter is for advanced users
+ +

What type of beacon based position estimation device is connected

+ + + +

Beacon origin's latitude (BCN_LATITUDE)

Note: This parameter is for advanced users
+ +

Beacon origin's latitude

+ + + +

Beacon origin's longitude (BCN_LONGITUDE)

Note: This parameter is for advanced users
+ +

Beacon origin's longitude

+ + + +

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

Note: This parameter is for advanced users
+ +

Beacon origin's altitude above sealevel in meters

+ + + +

Beacon systems rotation from north in degrees (BCN_ORIENT_YAW)

Note: This parameter is for advanced users
+ +

Beacon systems rotation from north in degrees

+ + + +

BRD_ Parameters

+ + +

Serial 1 flow control (BRD_SER1_RTSCTS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Serial 2 flow control (BRD_SER2_RTSCTS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Serial 3 flow control (BRD_SER3_RTSCTS)

Note: This parameter is for advanced users
+ +

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

+ + + +

Serial 4 flow control (BRD_SER4_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 5 flow control (BRD_SER5_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Sets default state of the safety switch (BRD_SAFETY_DEFLT)

+ +

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

+ + + +

SBUS output rate (BRD_SBUS_OUT)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz

+ + + +

User-defined serial number (BRD_SERIAL_NUM)

+ +

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

+ + + +

Outputs which ignore the safety switch state (BRD_SAFETY_MASK)

Note: This parameter is for advanced users
+ +

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

+ + + +

Board heater temperature target (BRD_HEAT_TARG)

Note: This parameter is for advanced users
+ +

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

+ + + +

Board type (BRD_TYPE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Enable IO co-processor (BRD_IO_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

+ + + +

Options for safety button behavior (BRD_SAFETYOPTION)

+ +

This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed

+ + + +

Autopilot board voltage requirement (BRD_VBUS_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

Servo voltage requirement (BRD_VSERVO_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

microSD slowdown (BRD_SD_SLOWDOWN)

Note: This parameter is for advanced users
+ +

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

+ + + +

Set PWM Out Voltage (BRD_PWM_VOLT_SEL)

Note: This parameter is for advanced users
+ +

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

+ + + +

Board options (BRD_OPTIONS)

Note: This parameter is for advanced users
+ +

Board specific option flags

+ + + +

Boot delay (BRD_BOOT_DELAY)

Note: This parameter is for advanced users
+ +

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

+ + + +

Board Heater P gain (BRD_HEAT_P)

Note: This parameter is for advanced users
+ +

Board Heater P gain

+ + + +

Board Heater I gain (BRD_HEAT_I)

Note: This parameter is for advanced users
+ +

Board Heater integrator gain

+ + + +

Board Heater IMAX (BRD_HEAT_IMAX)

Note: This parameter is for advanced users
+ +

Board Heater integrator maximum

+ + + +

Alternative HW config (BRD_ALT_CONFIG)

Note: This parameter is for advanced users
+ +

Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.

+ + + +

Board heater temp lower margin (BRD_HEAT_LOWMGN)

Note: This parameter is for advanced users
+ +

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

+ + + +

SDCard Mission size (BRD_SD_MISSION)

Note: This parameter is for advanced users
+ +

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

+ + + +

SDCard Fence size (BRD_SD_FENCE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Load DShot FW on IO (BRD_IO_DSHOT)

Note: This parameter is for advanced users
+ +

This loads the DShot firmware on the IO co-processor

+ + + +

BRD_RADIO Parameters

+ + +

Set type of direct attached radio (BRD_RADIO_TYPE)

+ +

This enables support for direct attached radio receivers

+ + + +

protocol (BRD_RADIO_PROT)

Note: This parameter is for advanced users
+ +

Select air protocol

+ + + +

debug level (BRD_RADIO_DEBUG)

Note: This parameter is for advanced users
+ +

radio debug level

+ + + +

disable receive CRC (BRD_RADIO_DISCRC)

Note: This parameter is for advanced users
+ +

disable receive CRC (for debug)

+ + + +

RSSI signal strength (BRD_RADIO_SIGCH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Packet rate channel (BRD_RADIO_PPSCH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Enable telemetry (BRD_RADIO_TELEM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Telemetry Transmit power (BRD_RADIO_TXPOW)

Note: This parameter is for advanced users
+ +

Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX

+ + + +

Put radio into FCC test mode (BRD_RADIO_FCCTST)

Note: This parameter is for advanced users
+ +

If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled

+ + + +

Stick input mode (BRD_RADIO_STKMD)

Note: This parameter is for advanced users
+ +

This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.

+ + + +

Set radio to factory test channel (BRD_RADIO_TESTCH)

Note: This parameter is for advanced users
+ +

This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.

+ + + +

RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH)

Note: This parameter is for advanced users
+ +

Channel to show telemetry RSSI value as received by TX

+ + + +

Telemetry PPS channel (BRD_RADIO_TPPSCH)

Note: This parameter is for advanced users
+ +

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

+ + + +

Transmitter transmit power (BRD_RADIO_TXMAX)

Note: This parameter is for advanced users
+ +

Set transmitter maximum transmit power (from 1 to 8)

+ + + +

Transmitter buzzer adjustment (BRD_RADIO_BZOFS)

Note: This parameter is for advanced users
+ +

Set transmitter buzzer note adjustment (adjust frequency up)

+ + + +

Auto-bind time (BRD_RADIO_ABTIME)

Note: This parameter is for advanced users
+ +

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

+ + + +

Auto-bind level (BRD_RADIO_ABLVL)

Note: This parameter is for advanced users
+ +

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

+ + + +

BRD_RTC Parameters

+ + +

Allowed sources of RTC time (BRD_RTC_TYPES)

Note: This parameter is for advanced users
+ +

Specifies which sources of UTC time will be accepted

+ + + +

Timezone offset from UTC (BRD_RTC_TZ_MIN)

Note: This parameter is for advanced users
+ +

Adds offset in +- minutes from UTC to calculate local time

+ + + +

BTN_ Parameters

+ + +

Enable button reporting (BTN_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

+ + + +

First button Pin (BTN_PIN1)

+ +

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

+ + + +

Second button Pin (BTN_PIN2)

+ +

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

+ + + +

Third button Pin (BTN_PIN3)

+ +

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

+ + + +

Fourth button Pin (BTN_PIN4)

+ +

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

+ + + +

Report send time (BTN_REPORT_SEND)

+ +

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

+ + + +

Button Pin 1 Options (BTN_OPTIONS1)

+ +

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

+ + + +

Button Pin 2 Options (BTN_OPTIONS2)

+ +

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 3 Options (BTN_OPTIONS3)

+ +

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 4 Options (BTN_OPTIONS4)

+ +

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 1 RC Channel function (BTN_FUNC1)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 2 RC Channel function (BTN_FUNC2)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 3 RC Channel function (BTN_FUNC3)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 4 RC Channel function (BTN_FUNC4)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

CAM Parameters

+ + +

Maximum photo roll angle. (CAM_MAX_ROLL)

+ +

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

+ + + +

Distance-trigging in AUTO mode only (CAM_AUTO_ONLY)

+ +

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

+ + + +

CAM1 Parameters

+ + +

Camera shutter (trigger) type (CAM1_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM1_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM1_SERVO_ON)

+ +

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

+ + + +

Camera servo OFF PWM value (CAM1_SERVO_OFF)

+ +

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

+ + + +

Camera trigger distance (CAM1_TRIGG_DIST)

+ +

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

+ + + +

Camera relay ON value (CAM1_RELAY_ON)

+ +

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

+ + + +

Camera minimum time interval between photos (CAM1_INTRVAL_MIN)

+ +

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

+ + + +

Camera feedback pin (CAM1_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM1_FEEDBAK_POL)

+ +

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

+ + + +

Camera options (CAM1_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM1_MNT_INST)

+ +

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

+ + + +

Camera horizontal field of view (CAM1_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM1_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM2 Parameters

+ + +

Camera shutter (trigger) type (CAM2_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM2_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM2_SERVO_ON)

+ +

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

+ + + +

Camera servo OFF PWM value (CAM2_SERVO_OFF)

+ +

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

+ + + +

Camera trigger distance (CAM2_TRIGG_DIST)

+ +

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

+ + + +

Camera relay ON value (CAM2_RELAY_ON)

+ +

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

+ + + +

Camera minimum time interval between photos (CAM2_INTRVAL_MIN)

+ +

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

+ + + +

Camera feedback pin (CAM2_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM2_FEEDBAK_POL)

+ +

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

+ + + +

Camera options (CAM2_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM2_MNT_INST)

+ +

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

+ + + +

Camera horizontal field of view (CAM2_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM2_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM_RC_ Parameters

+ + +

RunCam device type (CAM_RC_TYPE)

+ +

RunCam device type used to determine OSD menu structure and shutter options.

+ + + +

RunCam features available (CAM_RC_FEATURES)

Note: This parameter is for advanced users
+ +

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

+ + + +

RunCam boot delay before allowing updates (CAM_RC_BT_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam button delay before allowing further button presses (CAM_RC_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam mode delay before allowing further button presses (CAM_RC_MDE_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

+ + + +

RunCam control option (CAM_RC_CONTROL)

Note: This parameter is for advanced users
+ +

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

+ + + +

CAN_ Parameters

+ + +

Loglevel (CAN_LOGLEVEL)

Note: This parameter is for advanced users
+ +

Loglevel for recording initialisation and debug information from CAN Interface

+ + + +

CAN_D1_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D1_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D1_PC_ Parameters

+ + +

ESC channels (CAN_D1_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D1_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D1_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D1_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D1_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

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

+ + + +

ECU command output rate (CAN_D1_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D1_UC_ Parameters

+ + +

Own node ID (CAN_D1_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D1_UC_SRV_BM)

+ +

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

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D1_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Servo output rate (CAN_D1_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D1_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D1_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D1_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

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

+ + + +

CAN pool size (CAN_D1_UC_POOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D1_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN relay output rate (CAN_D1_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN Serial enable (CAN_D1_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D1_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D1_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D1_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D2_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D2_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D2_PC_ Parameters

+ + +

ESC channels (CAN_D2_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D2_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D2_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D2_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D2_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

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

+ + + +

ECU command output rate (CAN_D2_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D2_UC_ Parameters

+ + +

Own node ID (CAN_D2_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D2_UC_SRV_BM)

+ +

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

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D2_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Servo output rate (CAN_D2_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D2_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D2_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D2_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

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

+ + + +

CAN pool size (CAN_D2_UC_POOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D2_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN relay output rate (CAN_D2_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN Serial enable (CAN_D2_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D2_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D2_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D2_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D3_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D3_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D3_PC_ Parameters

+ + +

ESC channels (CAN_D3_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D3_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D3_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D3_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D3_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

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

+ + + +

ECU command output rate (CAN_D3_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D3_UC_ Parameters

+ + +

Own node ID (CAN_D3_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D3_UC_SRV_BM)

+ +

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

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D3_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

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

+ + + +

Servo output rate (CAN_D3_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D3_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D3_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D3_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

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

+ + + +

CAN pool size (CAN_D3_UC_POOL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D3_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN relay output rate (CAN_D3_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

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

+ + + +

DroneCAN Serial enable (CAN_D3_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D3_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D3_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D3_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_P1_ Parameters

+ + +

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

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P1_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P1_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P2_ Parameters

+ + +

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

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P2_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P2_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P3_ Parameters

+ + +

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

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P3_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P3_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_SLCAN_ Parameters

+ + +

SLCAN Route (CAN_SLCAN_CPORT)

+ +

CAN Interface ID to be routed to SLCAN, 0 means no routing

+ + + +

SLCAN Serial Port (CAN_SLCAN_SERNUM)

+ +

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

+ + + +

SLCAN Timeout (CAN_SLCAN_TIMOUT)

+ +

Duration of inactivity after which SLCAN is switched back to original driver in seconds.

+ + + +

SLCAN Start Delay (CAN_SLCAN_SDELAY)

+ +

Duration after which slcan starts after setting SERNUM in seconds.

+ + + +

CC Parameters

+ + +

Custom control type (CC_TYPE)

Note: This parameter is for advanced users
+ +

Custom control type to be used

+ + + +

Custom Controller bitmask (CC_AXIS_MASK)

Note: This parameter is for advanced users
+ +

Custom Controller bitmask to chose which axis to run

+ + + +

CHUTE_ Parameters

+ + +

Parachute release enabled or disabled (CHUTE_ENABLED)

+ +

Parachute release enabled or disabled

+ + + +

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

+ +

Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later.

+ + + +

Parachute Servo ON PWM value (CHUTE_SERVO_ON)

+ +

Parachute Servo PWM value in microseconds when parachute is released

+ + + +

Servo OFF PWM value (CHUTE_SERVO_OFF)

+ +

Parachute Servo PWM value in microseconds when parachute is not released

+ + + +

Parachute min altitude in meters above home (CHUTE_ALT_MIN)

+ +

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

+ + + +

Parachute release delay (CHUTE_DELAY_MS)

+ +

Delay in millseconds between motor stop and chute release

+ + + +

Critical sink speed rate in m/s to trigger emergency parachute (CHUTE_CRT_SINK)

+ +

Release parachute when critical sink rate is reached

+ + + +

Parachute options (CHUTE_OPTIONS)

+ +

Optional behaviour for parachute

+ + + +

CIRCLE_ Parameters

+ + +

Circle Radius (CIRCLE_RADIUS)

+ +

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

+ + + +

Circle rate (CIRCLE_RATE)

+ +

Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.

+ + + +

Circle options (CIRCLE_OPTIONS)

+ +

0:Enable or disable using the pitch/roll stick control circle mode's radius and rate

+ + + +

COMPASS_ Parameters

+ + +

Compass offsets in milligauss on the X axis (COMPASS_OFS_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass declination (COMPASS_DEC)

+ +

An angle to compensate between the true north and magnetic north

+ + + +

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users
+ +

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

+ + + +

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users
+ +

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

+ + + +

Motor interference compensation type (COMPASS_MOTCT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass orientation (COMPASS_ORIENT)

Note: This parameter is for advanced users
+ +

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass is attached via an external cable (COMPASS_EXTERNAL)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass device id (COMPASS_DEV_ID)

Note: This parameter is for advanced users
+ +

Compass device id. Automatically detected, do not set manually

+ + + +

Compass2 device id (COMPASS_DEV_ID2)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 device id (COMPASS_DEV_ID3)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 used for yaw (COMPASS_USE2)

Note: This parameter is for advanced users
+ +

Enable or disable the secondary compass for determining heading.

+ + + +

Compass2 orientation (COMPASS_ORIENT2)

Note: This parameter is for advanced users
+ +

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass2 is attached via an external cable (COMPASS_EXTERN2)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 used for yaw (COMPASS_USE3)

Note: This parameter is for advanced users
+ +

Enable or disable the tertiary compass for determining heading.

+ + + +

Compass3 orientation (COMPASS_ORIENT3)

Note: This parameter is for advanced users
+ +

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass3 is attached via an external cable (COMPASS_EXTERN3)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass soft-iron diagonal X component (COMPASS_DIA_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass soft-iron diagonal Y component (COMPASS_DIA_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass soft-iron diagonal Z component (COMPASS_DIA_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 soft-iron diagonal X component (COMPASS_DIA2_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 soft-iron diagonal X component (COMPASS_DIA3_X)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass calibration fitness (COMPASS_CAL_FIT)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass maximum offset (COMPASS_OFFS_MAX)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass disable driver type mask (COMPASS_DISBLMSK)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range in which sample is accepted (COMPASS_FLTR_RNG)

+ +

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

+ + + +

Automatically check orientation (COMPASS_AUTO_ROT)

+ +

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

+ + + +

Compass device id with 1st order priority (COMPASS_PRIO1_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 2nd order priority (COMPASS_PRIO2_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 3rd order priority (COMPASS_PRIO3_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

+ + + +

Enable Compass (COMPASS_ENABLE)

+ +

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

+ + + +

Compass1 scale factor (COMPASS_SCALE)

+ +

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

+ + + +

Compass2 scale factor (COMPASS_SCALE2)

+ +

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

+ + + +

Compass3 scale factor (COMPASS_SCALE3)

+ +

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

+ + + +

Compass options (COMPASS_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the compass

+ + + +

Compass4 device id (COMPASS_DEV_ID4)

Note: This parameter is for advanced users
+ +

Extra 4th compass's device id. Automatically detected, do not set manually

+ + + +

Compass5 device id (COMPASS_DEV_ID5)

Note: This parameter is for advanced users
+ +

Extra 5th compass's device id. Automatically detected, do not set manually

+ + + +

Compass6 device id (COMPASS_DEV_ID6)

Note: This parameter is for advanced users
+ +

Extra 6th compass's device id. Automatically detected, do not set manually

+ + + +

Compass7 device id (COMPASS_DEV_ID7)

Note: This parameter is for advanced users
+ +

Extra 7th compass's device id. Automatically detected, do not set manually

+ + + +

Compass8 device id (COMPASS_DEV_ID8)

Note: This parameter is for advanced users
+ +

Extra 8th compass's device id. Automatically detected, do not set manually

+ + + +

Custom orientation roll offset (COMPASS_CUS_ROLL)

Note: This parameter is for advanced users
+ +

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation pitch offset (COMPASS_CUS_PIT)

Note: This parameter is for advanced users
+ +

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation yaw offset (COMPASS_CUS_YAW)

Note: This parameter is for advanced users
+ +

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

COMPASS_PMOT Parameters

+ + +

per-motor compass correction enable (COMPASS_PMOT_EN)

Note: This parameter is for advanced users
+ +

This enables per-motor compass corrections

+ + + +

per-motor exponential correction (COMPASS_PMOT_EXP)

Note: This parameter is for advanced users
+ +

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

+ + + +

Compass per-motor1 X (COMPASS_PMOT1_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor1

+ + + +

Compass per-motor1 Y (COMPASS_PMOT1_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor1

+ + + +

Compass per-motor1 Z (COMPASS_PMOT1_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor1

+ + + +

Compass per-motor2 X (COMPASS_PMOT2_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor2

+ + + +

Compass per-motor2 Y (COMPASS_PMOT2_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor2

+ + + +

Compass per-motor2 Z (COMPASS_PMOT2_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor2

+ + + +

Compass per-motor3 X (COMPASS_PMOT3_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor3

+ + + +

Compass per-motor3 Y (COMPASS_PMOT3_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor3

+ + + +

Compass per-motor3 Z (COMPASS_PMOT3_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor3

+ + + +

Compass per-motor4 X (COMPASS_PMOT4_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor4

+ + + +

Compass per-motor4 Y (COMPASS_PMOT4_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor4

+ + + +

Compass per-motor4 Z (COMPASS_PMOT4_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor4

+ + + +

CUST_ROT Parameters

+ + +

Enable Custom rotations (CUST_ROT_ENABLE)

+ +

This enables custom rotations

+ + + +

CUST_ROT1_ Parameters

+ + +

Custom roll (CUST_ROT1_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT1_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT1_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

CUST_ROT2_ Parameters

+ + +

Custom roll (CUST_ROT2_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT2_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT2_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

DDS Parameters

+ + +

DDS enable (DDS_ENABLE)

Note: This parameter is for advanced users
+ +

Enable DDS subsystem

+ + + +

DDS UDP port (DDS_UDP_PORT)

+ +

UDP port number for DDS

+ + + +

DDS DOMAIN ID (DDS_DOMAIN_ID)

+ +

Set the ROS_DOMAIN_ID

+ + + +

DDS ping timeout (DDS_TIMEOUT_MS)

+ +

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

+ + + +

DDS ping max attempts (DDS_MAX_RETRY)

+ +

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.

+ + + +

DDS_IP Parameters

+ + +

IPv4 Address 1st byte (DDS_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (DDS_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (DDS_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (DDS_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

DID_ Parameters

+ + +

Enable ODID subsystem (DID_ENABLE)

+ +

Enable ODID subsystem

+ + + +

MAVLink serial port (DID_MAVPORT)

+ +

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

+ + + +

DroneCAN driver number (DID_CANDRIVER)

+ +

DroneCAN driver index, 0 to disable DroneCAN

+ + + +

OpenDroneID options (DID_OPTIONS)

+ +

Options for OpenDroneID subsystem

+ + + +

Barometer vertical accuraacy (DID_BARO_ACC)

Note: This parameter is for advanced users
+ +

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

+ + + +

EAHRS Parameters

+ + +

AHRS type (EAHRS_TYPE)

+ +

Type of AHRS device

+ + + +

AHRS data rate (EAHRS_RATE)

+ +

Requested rate for AHRS device

+ + + +

External AHRS options (EAHRS_OPTIONS)

+ +

External AHRS options bitmask

+ + + +

External AHRS sensors (EAHRS_SENSORS)

Note: This parameter is for advanced users
+ +

External AHRS sensors bitmask

+ + + +

AHRS logging rate (EAHRS_LOG_RATE)

+ +

Logging rate for EARHS devices

+ + + +

EFI Parameters

+ + +

EFI communication type (EFI_TYPE)

Note: This parameter is for advanced users
+ +

What method of communication is used for EFI #1

+ + + +

EFI Calibration Coefficient 1 (EFI_COEF1)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

+ + + +

EFI Calibration Coefficient 2 (EFI_COEF2)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

+ + + +

ECU Fuel Density (EFI_FUEL_DENS)

Note: This parameter is for advanced users
+ +

Used to calculate fuel consumption

+ + + +

EFI_THRLIN Parameters

+ + +

Enable throttle linearisation (EFI_THRLIN_EN)

Note: This parameter is for advanced users
+ +

Enable EFI throttle linearisation

+ + + +

Throttle linearisation - First Order (EFI_THRLIN_COEF1)

Note: This parameter is for advanced users
+ +

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

+ + + +

Throttle linearisation - Second Order (EFI_THRLIN_COEF2)

Note: This parameter is for advanced users
+ +

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

+ + + +

Throttle linearisation - Third Order (EFI_THRLIN_COEF3)

Note: This parameter is for advanced users
+ +

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

+ + + +

throttle linearization offset (EFI_THRLIN_OFS)

Note: This parameter is for advanced users
+ +

Offset for throttle linearization

+ + + +

EK2_ Parameters

+ + +

Enable EKF2 (EK2_ENABLE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS mode control (EK2_GPS_TYPE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS velocity innovation gate size (EK2_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS position measurement gate size (EK2_POS_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS glitch radius gate size (m) (EK2_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

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

+ + + +

Primary altitude sensor source (EK2_ALT_SOURCE)

Note: This parameter is for advanced users
+ +

Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).

+ + + +

Altitude measurement noise (m) (EK2_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Height measurement gate size (EK2_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Height measurement delay (msec) (EK2_HGT_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Magnetometer default fusion mode (EK2_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

+ + + +

Magnetometer measurement gate size (EK2_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed measurement gate size (EK2_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder measurement noise (m) (EK2_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder measurement gate size (EK2_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Maximum valid optical flow rate (EK2_MAX_FLOW)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Optical Flow measurement gate size (EK2_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Optical Flow measurement delay (msec) (EK2_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Rate gyro noise (rad/s) (EK2_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Height rate to wind process noise scaler (EK2_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS preflight check (EK2_GPS_CHECK)

Note: This parameter is for advanced users
+ +

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

+ + + +

Bitmask of active IMUs (EK2_IMU_MASK)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS accuracy check scaler (%) (EK2_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw measurement noise (rad) (EK2_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Yaw measurement gate size (EK2_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder switch height percentage (EK2_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK2_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

+ + + +

Range beacon measurement noise (m) (EK2_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range beacon measurement gate size (EK2_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range beacon measurement delay (msec) (EK2_BCN_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder max ground speed (EK2_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

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

+ + + +

Optical flow use bitmask (EK2_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

EarthField error limit (EK2_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Height rate filter crossover frequency (EK2_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK2_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK2_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK2_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.

+ + + +

Optional EKF behaviour (EK2_OPTIONS)

Note: This parameter is for advanced users
+ +

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

+ + + +

EK3_ Parameters

+ + +

Enable EKF3 (EK3_ENABLE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS velocity innovation gate size (EK3_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

GPS position measurement gate size (EK3_POS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS glitch radius gate size (m) (EK3_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

+ + + +

Altitude measurement noise (m) (EK3_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

+ + + +

Height measurement gate size (EK3_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

+ + + +

Height measurement delay (msec) (EK3_HGT_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Magnetometer default fusion mode (EK3_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.

+ + + +

Magnetometer measurement gate size (EK3_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Airspeed measurement gate size (EK3_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder measurement noise (m) (EK3_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Range finder measurement gate size (EK3_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Maximum valid optical flow rate (EK3_MAX_FLOW)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Optical Flow measurement gate size (EK3_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

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

+ + + +

Optical Flow measurement delay (msec) (EK3_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

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

+ + + +

Rate gyro noise (rad/s) (EK3_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

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

Note: This parameter is for advanced users
+ +

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

+ + + +

Height rate to wind process noise scaler (EK3_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

+ + + +

GPS preflight check (EK3_GPS_CHECK)

Note: This parameter is for advanced users
+ +

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

+ + + +

Bitmask of active IMUs (EK3_IMU_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

+ + + +

GPS accuracy check scaler (%) (EK3_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

+ + + +

Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

+ + + +

Bitmask controlling sidelip angle fusion (EK3_BETA_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.

+ + + +

Yaw measurement noise (rad) (EK3_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

+ + + +

Yaw measurement gate size (EK3_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT)

Note: This parameter is for advanced users
+ +

Sets the time constant of the output complementary filter/predictor in centi-seconds.

+ + + +

Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

+ + + +

Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

+ + + +

Range finder switch height percentage (EK3_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK3_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

+ + + +

Range beacon measurement noise (m) (EK3_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range beacon measurement gate size (EK3_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range beacon measurement delay (msec) (EK3_BCN_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

+ + + +

Range finder max ground speed (EK3_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

+ + + +

Accelerometer bias limit (EK3_ACC_BIAS_LIM)

Note: This parameter is for advanced users
+ +

The accelerometer bias state will be limited to +- this value

+ + + +

Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

+ + + +

Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

+ + + +

Visual odometry minimum velocity error (EK3_VIS_VERR_MIN)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Visual odometry maximum velocity error (EK3_VIS_VERR_MAX)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Wheel odometry velocity error (EK3_WENC_VERR)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

+ + + +

Optical flow use bitmask (EK3_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

Height rate filter crossover frequency (EK3_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

EarthField error limit (EK3_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK3_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK3_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK3_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.

+ + + +

EKF3 Lane Relative Error Sensitivity Threshold (EK3_ERR_THRESH)

Note: This parameter is for advanced users
+ +

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

+ + + +

EKF3 Sensor Affinity Options (EK3_AFFINITY)

Note: This parameter is for advanced users
+ +

These options control the affinity between sensor instances and EKF cores

+ + + +

Ballistic coefficient for X axis drag (EK3_DRAG_BCOEF_X)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Ballistic coefficient for Y axis drag (EK3_DRAG_BCOEF_Y)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Observation noise for drag acceleration (EK3_DRAG_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

+ + + +

Momentum coefficient for propeller drag (EK3_DRAG_MCOEF)

Note: This parameter is for advanced users
+ +

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

+ + + +

On ground not moving test scale factor (EK3_OGNM_TEST_SF)

Note: This parameter is for advanced users
+ +

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

+ + + +

Baro height ground effect dead zone (EK3_GND_EFF_DZ)

Note: This parameter is for advanced users
+ +

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

+ + + +

Primary core number (EK3_PRIMARY)

Note: This parameter is for advanced users
+ +

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

+ + + +

Logging Level (EK3_LOG_LEVEL)

Note: This parameter is for advanced users
+ +

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

+ + + +

GPS vertical accuracy threshold (EK3_GPS_VACC_MAX)

Note: This parameter is for advanced users
+ +

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

+ + + +

Optional EKF behaviour (EK3_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad

+ + + +

EK3_SRC Parameters

+ + +

Position Horizontal Source (Primary) (EK3_SRC1_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Primary)

+ + + +

Velocity Horizontal Source (EK3_SRC1_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source

+ + + +

Position Vertical Source (EK3_SRC1_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source

+ + + +

Velocity Vertical Source (EK3_SRC1_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source

+ + + +

Yaw Source (EK3_SRC1_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source

+ + + +

Position Horizontal Source (Secondary) (EK3_SRC2_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Secondary)

+ + + +

Velocity Horizontal Source (Secondary) (EK3_SRC2_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Secondary)

+ + + +

Position Vertical Source (Secondary) (EK3_SRC2_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Secondary)

+ + + +

Velocity Vertical Source (Secondary) (EK3_SRC2_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Secondary)

+ + + +

Yaw Source (Secondary) (EK3_SRC2_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Secondary)

+ + + +

Position Horizontal Source (Tertiary) (EK3_SRC3_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Tertiary)

+ + + +

Velocity Horizontal Source (Tertiary) (EK3_SRC3_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Tertiary)

+ + + +

Position Vertical Source (Tertiary) (EK3_SRC3_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Tertiary)

+ + + +

Velocity Vertical Source (Tertiary) (EK3_SRC3_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Tertiary)

+ + + +

Yaw Source (Tertiary) (EK3_SRC3_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Tertiary)

+ + + +

EKF Source Options (EK3_SRC_OPTIONS)

Note: This parameter is for advanced users
+ +

EKF Source Options

+ + + +

ESC_TLM Parameters

+ + +

ESC Telemetry mavlink offset (ESC_TLM_MAV_OFS)

+ +

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

+ + + +

FENCE_ Parameters

+ + +

Fence enable/disable (FENCE_ENABLE)

+ +

Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.

+ + + +

Fence Type (FENCE_TYPE)

+ +

Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.

+ + + +

Fence Action (FENCE_ACTION)

+ +

What action should be taken when fence is breached

+ + + +

Fence Maximum Altitude (FENCE_ALT_MAX)

+ +

Maximum altitude allowed before geofence triggers

+ + + +

Circular Fence Radius (FENCE_RADIUS)

+ +

Circle fence radius which when breached will cause an RTL

+ + + +

Fence Margin (FENCE_MARGIN)

+ +

Distance that autopilot's should maintain from the fence to avoid a breach

+ + + +

Fence polygon point total (FENCE_TOTAL)

+ +

Number of polygon points saved in eeprom (do not update manually)

+ + + +

Fence Minimum Altitude (FENCE_ALT_MIN)

+ +

Minimum altitude allowed before geofence triggers

+ + + +

Fence Auto-Enable (FENCE_AUTOENABLE)

+ +

Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.

+ + + +

Fence options (FENCE_OPTIONS)

+ +

When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.

+ + + +

FFT_ Parameters

+ + +

Enable (FFT_ENABLE)

Note: This parameter is for advanced users
+ +

Enable Gyro FFT analyser

+ + + +

Minimum Frequency (FFT_MINHZ)

Note: This parameter is for advanced users
+ +

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

+ + + +

Maximum Frequency (FFT_MAXHZ)

Note: This parameter is for advanced users
+ +

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

+ + + +

Sample Mode (FFT_SAMPLE_MODE)

Note: This parameter is for advanced users
+ +

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

+ + + +

FFT window size (FFT_WINDOW_SIZE)

Note: This parameter is for advanced users
+ +

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

+ + + +

FFT window overlap (FFT_WINDOW_OLAP)

Note: This parameter is for advanced users
+ +

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

+ + + +

FFT learned hover frequency (FFT_FREQ_HOVER)

Note: This parameter is for advanced users
+ +

The learned hover noise frequency

+ + + +

FFT learned thrust reference (FFT_THR_REF)

Note: This parameter is for advanced users
+ +

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

+ + + +

FFT SNR reference threshold (FFT_SNR_REF)

Note: This parameter is for advanced users
+ +

FFT SNR reference threshold in dB at which a signal is determined to be present.

+ + + +

FFT attenuation for bandwidth calculation (FFT_ATT_REF)

Note: This parameter is for advanced users
+ +

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

+ + + +

FFT learned bandwidth at hover (FFT_BW_HOVER)

Note: This parameter is for advanced users
+ +

FFT learned bandwidth at hover for the attenuation frequencies.

+ + + +

FFT harmonic fit frequency threshold (FFT_HMNC_FIT)

Note: This parameter is for advanced users
+ +

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

+ + + +

FFT harmonic peak target (FFT_HMNC_PEAK)

Note: This parameter is for advanced users
+ +

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

+ + + +

FFT output frames to retain and average (FFT_NUM_FRAMES)

Note: This parameter is for advanced users
+ +

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

+ + + +

FFT options (FFT_OPTIONS)

Note: This parameter is for advanced users
+ +

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

+ + + +

FHLD Parameters

+ + +

FlowHold P gain (FHLD_XY_P)

Note: This parameter is for advanced users
+ +

FlowHold (horizontal) P gain.

+ + + +

FlowHold I gain (FHLD_XY_I)

Note: This parameter is for advanced users
+ +

FlowHold (horizontal) I gain

+ + + +

FlowHold Integrator Max (FHLD_XY_IMAX)

Note: This parameter is for advanced users
+ +

FlowHold (horizontal) integrator maximum

+ + + +

FlowHold filter on input to control (FHLD_XY_FILT_HZ)

Note: This parameter is for advanced users
+ +

FlowHold (horizontal) filter on input to control

+ + + +

FlowHold Flow Rate Max (FHLD_FLOW_MAX)

+ +

Controls maximum apparent flow rate in flowhold

+ + + +

FlowHold Filter Frequency (FHLD_FILT_HZ)

+ +

Filter frequency for flow data

+ + + +

FlowHold Flow quality minimum (FHLD_QUAL_MIN)

+ +

Minimum flow quality to use flow position hold

+ + + +

FlowHold Braking rate (FHLD_BRAKE_RATE)

+ +

Controls deceleration rate on stick release

+ + + +

FILT1_ Parameters

+ + +

Filter Type (FILT1_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT1_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT1_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT1_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT2_ Parameters

+ + +

Filter Type (FILT2_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT2_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT2_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT2_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT3_ Parameters

+ + +

Filter Type (FILT3_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT3_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT3_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT3_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT4_ Parameters

+ + +

Filter Type (FILT4_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT4_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT4_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT4_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT5_ Parameters

+ + +

Filter Type (FILT5_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT5_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT5_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT5_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT6_ Parameters

+ + +

Filter Type (FILT6_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT6_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT6_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT6_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT7_ Parameters

+ + +

Filter Type (FILT7_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT7_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT7_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT7_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT8_ Parameters

+ + +

Filter Type (FILT8_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT8_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT8_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT8_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FLOW Parameters

+ + +

Optical flow sensor type (FLOW_TYPE)

+ +

Optical flow sensor type

+ + + +

X axis optical flow scale factor correction (FLOW_FXSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Y axis optical flow scale factor correction (FLOW_FYSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Flow sensor yaw alignment (FLOW_ORIENT_YAW)

+ +

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

+ + + +

X position offset (FLOW_POS_X)

Note: This parameter is for advanced users
+ +

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

+ + + +

Y position offset (FLOW_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

+ + + +

Z position offset (FLOW_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

+ + + +

Address on the bus (FLOW_ADDR)

Note: This parameter is for advanced users
+ +

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

+ + + +

Height override of sensor above ground (FLOW_HGT_OVR)

Note: This parameter is for advanced users
+ +

This is used in rover vehicles, where the sensor is a fixed height above the ground

+ + + +

FOLL Parameters

+ + +

Follow enable/disable (FOLL_ENABLE)

+ +

Enabled/disable following a target

+ + + +

Follow target's mavlink system id (FOLL_SYSID)

+ +

Follow target's mavlink system id

+ + + +

Follow distance maximum (FOLL_DIST_MAX)

+ +

Follow distance maximum. targets further than this will be ignored

+ + + +

Follow offset type (FOLL_OFS_TYPE)

+ +

Follow offset type

+ + + +

Follow offsets in meters north/forward (FOLL_OFS_X)

+ +

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters east/right (FOLL_OFS_Y)

+ +

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters down (FOLL_OFS_Z)

+ +

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

+ + + +

Follow yaw behaviour (FOLL_YAW_BEHAVE)

+ +

Follow yaw behaviour

+ + + +

Follow position error P gain (FOLL_POS_P)

+ +

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

+ + + +

Follow altitude type (FOLL_ALT_TYPE)

+ +

Follow altitude type

+ + + +

Follow options (FOLL_OPTIONS)

+ +

Follow options bitmask

+ + + +

FRSKY_ Parameters

+ + +

Uplink sensor id (FRSKY_UPLINK_ID)

Note: This parameter is for advanced users
+ +

Change the uplink sensor id (SPort only)

+ + + +

First downlink sensor id (FRSKY_DNLINK1_ID)

Note: This parameter is for advanced users
+ +

Change the first extra downlink sensor id (SPort only)

+ + + +

Second downlink sensor id (FRSKY_DNLINK2_ID)

Note: This parameter is for advanced users
+ +

Change the second extra downlink sensor id (SPort only)

+ + + +

Default downlink sensor id (FRSKY_DNLINK_ID)

Note: This parameter is for advanced users
+ +

Change the default downlink sensor id (SPort only)

+ + + +

FRSky Telemetry Options (FRSKY_OPTIONS)

+ +

A bitmask to set some FRSky Telemetry specific options

+ + + +

GEN_ Parameters

+ + +

Generator type (GEN_TYPE)

+ +

Generator type

+ + + +

Generator Options (GEN_OPTIONS)

+ +

Bitmask of options for generators

+ + + +

GPS Parameters

+ + +

Navigation filter setting (GPS_NAVFILTER)

Note: This parameter is for advanced users
+ +

Navigation filter engine setting

+ + + +

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users
+ +

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary

+ + + +

SBAS Mode (GPS_SBAS_MODE)

Note: This parameter is for advanced users
+ +

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

+ + + +

Minimum elevation (GPS_MIN_ELEV)

Note: This parameter is for advanced users
+ +

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

+ + + +

Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO)

Note: This parameter is for advanced users
+ +

The GGS can send raw serial packets to inject data to multiple GPSes.

+ + + +

Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK)

Note: This parameter is for advanced users
+ +

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

+ + + +

Raw data logging (GPS_RAW_DATA)

Note: This parameter is for advanced users
+ +

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

+ + + +

Save GPS configuration (GPS_SAVE_CFG)

Note: This parameter is for advanced users
+ +

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

+ + + +

Automatic GPS configuration (GPS_AUTO_CONFIG)

Note: This parameter is for advanced users
+ +

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

+ + + +

Multi GPS Blending Mask (GPS_BLEND_MASK)

Note: This parameter is for advanced users
+ +

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

+ + + +

driver options (GPS_DRV_OPTIONS)

Note: This parameter is for advanced users
+ +

Additional backend specific options

+ + + +

Primary GPS (GPS_PRIMARY)

Note: This parameter is for advanced users
+ +

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

+ + + +

1st GPS type (GPS_TYPE)

Note: This parameter is for advanced users
+ +

GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE

+ + + +

2nd GPS type.Renamed in 4.6 to GPS2_TYPE (GPS_TYPE2)

Note: This parameter is for advanced users
+ +

GPS type of 2nd GPS

+ + + +

GNSS system configuration (GPS_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.

+ + + +

GNSS system configuration. (GPS_GNSS_MODE2)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE

+ + + +

GPS update rate in milliseconds (GPS_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS

+ + + +

GPS 2 update rate in milliseconds (GPS_RATE_MS2)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS

+ + + +

Antenna X position offset (GPS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.

+ + + +

Antenna Y position offset (GPS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.

+ + + +

Antenna X position offset (GPS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.

+ + + +

Antenna Y position offset (GPS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.

+ + + +

GPS delay in milliseconds (GPS_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.

+ + + +

GPS 2 delay in milliseconds (GPS_DELAY_MS2)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.

+ + + +

GPS physical COM port (GPS_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS physical COM port (GPS_COM_PORT2)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS Node ID 1 (GPS_CAN_NODEID1)

Note: This parameter is for advanced users
+ +

GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.

+ + + +

GPS Node ID 2 (GPS_CAN_NODEID2)

Note: This parameter is for advanced users
+ +

GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.

+ + + +

GPS1_ Parameters

+ + +

GPS type (GPS1_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS1_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS1_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS1_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS1_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS1_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS1_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS1_MB_ Parameters

+ + +

Moving base type (GPS1_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS1_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS1_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS1_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS2_ Parameters

+ + +

GPS type (GPS2_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS2_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS2_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS2_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS2_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS2_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS2_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS2_MB_ Parameters

+ + +

Moving base type (GPS2_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS2_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS2_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS2_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB1_ Parameters

+ + +

Moving base type (GPS_MB1_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB1_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB1_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB1_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB2_ Parameters

+ + +

Moving base type (GPS_MB2_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB2_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB2_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB2_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GRIP_ Parameters

+ + +

Gripper Enable/Disable (GRIP_ENABLE)

+ +

Gripper enable/disable

+ + + +

Gripper Type (GRIP_TYPE)

+ +

Gripper enable/disable

+ + + +

Gripper Grab PWM (GRIP_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (GRIP_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Neutral PWM (GRIP_NEUTRAL)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to grabber when not grabbing or releasing

+ + + +

EPM Gripper Regrab interval (GRIP_REGRAB)

Note: This parameter is for advanced users
+ +

Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

+ + + +

EPM UAVCAN Hardpoint ID (GRIP_CAN_ID)

+ +

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

+ + + +

Gripper Autoclose time (GRIP_AUTOCLOSE)

Note: This parameter is for advanced users
+ +

Time in seconds that gripper close the gripper after opening; 0 to disable

+ + + +

H_ Parameters

+ + +

Tail Type (H_TAIL_TYPE)

+ +

Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed.

+ + + +

External Gyro Gain (H_GYR_GAIN)

+ +

PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro

+ + + +

Flybar Mode Selector (H_FLYBAR_MODE)

+ +

Flybar present or not. Affects attitude controller used during ACRO flight mode

+ + + +

DDVP Tail ESC speed (H_TAIL_SPEED)

+ +

Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup.

+ + + +

ACRO External Gyro Gain (H_GYR_GAIN_ACRO)

+ +

PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN

+ + + +

Swashplate Type (H_SW_TYPE)

+ +

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

+ + + +

Collective Direction (H_SW_COL_DIR)

+ +

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

+ + + +

Linearize Swash Servos (H_SW_LIN_SVO)

+ +

This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

+ + + +

H3 Generic Enable (H_SW_H3_ENABLE)

Note: This parameter is for advanced users
+ +

Automatically set when H3 generic swash type is selected for swashplate. Do not set manually.

+ + + +

H3 Generic Servo 1 Position (H_SW_H3_SV1_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

+ + + +

H3 Generic Servo 2 Position (H_SW_H3_SV2_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg

+ + + +

H3 Generic Servo 3 Position (H_SW_H3_SV3_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg

+ + + +

H3 Generic Phase Angle Comp (H_SW_H3_PHANG)

Note: This parameter is for advanced users
+ +

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

+ + + +

Collective-Yaw Mixing (H_COL2YAW)

+ +

Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.

+ + + +

DDFP Tail Rotor Thrust Curve Expo (H_DDFP_THST_EXPO)

+ +

Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

+ + + +

DDFP Tail Rotor Motor Spin minimum (H_DDFP_SPIN_MIN)

+ +

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.

+ + + +

DDFP Tail Rotor Motor Spin maximum (H_DDFP_SPIN_MAX)

+ +

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

+ + + +

DDFP Tail Rotor Battery compensation index (H_DDFP_BAT_IDX)

+ +

Which battery monitor should be used for doing compensation

+ + + +

Battery voltage compensation maximum voltage (H_DDFP_BAT_V_MAX)

+ +

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

+ + + +

Battery voltage compensation minimum voltage (H_DDFP_BAT_V_MIN)

+ +

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

+ + + +

Tail Rotor Trim (H_YAW_TRIM)

+ +

Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover.

+ + + +

Dual Mode (H_DUAL_MODE)

+ +

Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial.

+ + + +

Differential-Collective-Pitch Scaler (H_DCP_SCALER)

+ +

Scaling factor applied to the differential-collective-pitch

+ + + +

Differential-Collective-Pitch Yaw Mixing (H_DCP_YAW)

+ +

Feed-forward compensation to automatically add yaw input when differential collective pitch is applied. Disabled for intermeshing mode.

+ + + +

Scaler for yaw mixing (H_YAW_SCALER)

+ +

Scaler for mixing yaw into roll or pitch.

+ + + +

Swash 2 Minimum Collective Pitch (H_COL2_MIN)

+ +

Lowest possible servo position in PWM microseconds for swashplate 2

+ + + +

Swash 2 Maximum Collective Pitch (H_COL2_MAX)

+ +

Highest possible servo position in PWM microseconds for swashplate 2

+ + + +

Swash 1 Type (H_SW_TYPE)

+ +

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

+ + + +

Swash 1 Collective Direction (H_SW_COL_DIR)

+ +

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

+ + + +

Linearize Swash 1 Servos (H_SW_LIN_SVO)

+ +

This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

+ + + +

Swash 1 H3 Generic Enable (H_SW_H3_ENABLE)

Note: This parameter is for advanced users
+ +

Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.

+ + + +

Swash 1 H3 Generic Servo 1 Position (H_SW_H3_SV1_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

+ + + +

Swash 1 H3 Generic Servo 2 Position (H_SW_H3_SV2_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg

+ + + +

Swash 1 H3 Generic Servo 3 Position (H_SW_H3_SV3_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg

+ + + +

Swash 1 H3 Generic Phase Angle Comp (H_SW_H3_PHANG)

Note: This parameter is for advanced users
+ +

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

+ + + +

Swash 2 Type (H_SW2_TYPE)

+ +

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

+ + + +

Swash 2 Collective Direction (H_SW2_COL_DIR)

+ +

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

+ + + +

Linearize Swash 2 Servos (H_SW2_LIN_SVO)

+ +

This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

+ + + +

Swash 2 H3 Generic Enable (H_SW2_H3_ENABLE)

Note: This parameter is for advanced users
+ +

Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.

+ + + +

Swash 2 H3 Generic Servo 1 Position (H_SW2_H3_SV1_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

+ + + +

Swash 2 H3 Generic Servo 2 Position (H_SW2_H3_SV2_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg

+ + + +

Swash 2 H3 Generic Servo 3 Position (H_SW2_H3_SV3_POS)

Note: This parameter is for advanced users
+ +

Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg

+ + + +

Swash 2 H3 Generic Phase Angle Comp (H_SW2_H3_PHANG)

Note: This parameter is for advanced users
+ +

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

+ + + +

Differential Collective Pitch Trim (H_DCP_TRIM)

+ +

Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.

+ + + +

Yaw reverser expo (H_YAW_REV_EXPO)

+ +

For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.

+ + + +

Minimum Collective Pitch (H_COL_MIN)

+ +

Lowest possible servo position in PWM microseconds for the swashplate

+ + + +

Maximum Collective Pitch (H_COL_MAX)

+ +

Highest possible servo position in PWM microseconds for the swashplate

+ + + +

Manual Servo Mode (H_SV_MAN)

+ +

Manual servo override for swash set-up. Must be 0 (Disabled) for flight!

+ + + +

Maximum Cyclic Pitch Angle (H_CYC_MAX)

+ +

Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.

+ + + +

Boot-up Servo Test Cycles (H_SV_TEST)

+ +

Number of cycles to run servo test on boot-up

+ + + +

Collective Hover Value (H_COL_HOVER)

Note: This parameter is for advanced users
+ +

Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX

+ + + +

Hover Value Learning (H_HOVER_LEARN)

Note: This parameter is for advanced users
+ +

Enable/Disable automatic learning of hover collective

+ + + +

Heli_Options (H_OPTIONS)

+ +

Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.

+ + + +

Collective Blade Pitch Angle Minimum (H_COL_ANG_MIN)

+ +

Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).

+ + + +

Collective Blade Pitch Angle Maximum (H_COL_ANG_MAX)

+ +

Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).

+ + + +

Collective Blade Pitch at Zero Thrust (H_COL_ZERO_THRST)

+ +

Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.

+ + + +

Collective Blade Pitch Minimum when Landed (H_COL_LAND_MIN)

+ +

Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).

+ + + +

H_RSC_ Parameters

+ + +

External Motor Governor Setpoint (H_RSC_SETPOINT)

+ +

Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).

+ + + +

Rotor Speed Control Mode (H_RSC_MODE)

+ +

Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle

+ + + +

Throttle Ramp Time (H_RSC_RAMP_TIME)

+ +

Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).

+ + + +

Rotor Runup Time (H_RSC_RUNUP_TIME)

+ +

Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control

+ + + +

Critical Rotor Speed (H_RSC_CRITICAL)

+ +

Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.

+ + + +

Throttle Output at Idle (H_RSC_IDLE)

+ +

Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose

+ + + +

Throttle Slew Rate (H_RSC_SLEWRATE)

+ +

This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.

+ + + +

Throttle Curve at 0% Coll (H_RSC_THRCRV_0)

+ +

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.

+ + + +

Throttle Curve at 25% Coll (H_RSC_THRCRV_25)

+ +

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.

+ + + +

Throttle Curve at 50% Coll (H_RSC_THRCRV_50)

+ +

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.

+ + + +

Throttle Curve at 75% Coll (H_RSC_THRCRV_75)

+ +

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.

+ + + +

Throttle Curve at 100% Coll (H_RSC_THRCRV_100)

+ +

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.

+ + + +

Governor Operational Range (H_RSC_GOV_RANGE)

+ +

RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100

+ + + +

Cooldown Time (H_RSC_CLDWN_TIME)

+ +

Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings.

+ + + +

Governor Torque Compensator (H_RSC_GOV_COMP)

+ +

Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle "hunting". Do not make large adjustments at one time

+ + + +

Governor Droop Compensator (H_RSC_GOV_DROOP)

+ +

AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system

+ + + +

Governor Feedforward (H_RSC_GOV_FF)

+ +

Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward.

+ + + +

Rotor RPM Setting (H_RSC_GOV_RPM)

+ +

Main rotor RPM that governor maintains when engaged

+ + + +

Governor Torque Limiter (H_RSC_GOV_TORQUE)

+ +

Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle

+ + + +

H_RSC_AROT_ Parameters

+ + +

Enable autorotation handling in RSC (H_RSC_AROT_ENBL)

+ +

Allows you to enable (1) or disable (0) the autorotation functionality within the Rotor Speed Controller.

+ + + +

Time for in-flight power re-engagement when exiting autorotations (H_RSC_AROT_RAMP)

+ +

When exiting an autorotation in a bailout manoeuvre, this is the time in seconds for the throttle output (HeliRSC servo) to ramp from idle (H_RSC_AROT_IDLE) to flight throttle setting when motor interlock is re-enabled. When using an ESC with an autorotation bailout function, this parameter should be set to 0.1 (minimum value).

+ + + +

Idle throttle percentage during autorotation (H_RSC_AROT_IDLE)

+ +

Idle throttle used for during autotoration. For external governors, this would be set to a value that is within the autorotation window of the governer/ESC to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable.

+ + + +

Time allowed for in-flight power re-engagement (H_RSC_AROT_RUNUP)

+ +

When exiting an autorotation in a bailout manoeuvre, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled. Must be at least one second longer than the H_RSC_AROT_RAMP time that is set. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power. Failure to heed this warning could result in early entry into autonomously controlled collective modes (e.g. alt hold, loiter, etc), whereby the collective could be raised before the engine has reached full power, with a subsequently dangerous slowing of head speed.

+ + + +

IM_ Parameters

+ + +

Acro Mode Collective Expo (IM_ACRO_COL_EXP)

Note: This parameter is for advanced users
+ +

Used to soften collective pitch inputs near center point in Acro mode.

+ + + +

Stabilize Collective Low (IM_STB_COL_1)

+ +

Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

+ + + +

Stabilize Collective Mid-Low (IM_STB_COL_2)

+ +

Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

+ + + +

Stabilize Collective Mid-High (IM_STB_COL_3)

+ +

Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

+ + + +

Stabilize Collective High (IM_STB_COL_4)

+ +

Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

+ + + +

INS Parameters

+ + +

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of X axis (INS_GYR2OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Y axis (INS_GYR2OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Z axis (INS_GYR2OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of X axis (INS_GYR3OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Y axis (INS_GYR3OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Z axis (INS_GYR3OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 scaling of X axis (INS_ACC2SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 offsets of X axis (INS_ACC2OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 scaling of X axis (INS_ACC3SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 offsets of X axis (INS_ACC3OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Gyro filter cutoff frequency (INS_GYRO_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Accel filter cutoff frequency (INS_ACCEL_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Use first IMU for attitude, velocity and position estimates (INS_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Use second IMU for attitude, velocity and position estimates (INS_USE2)

Note: This parameter is for advanced users
+ +

Use second IMU for attitude, velocity and position estimates

+ + + +

Use third IMU for attitude, velocity and position estimates (INS_USE3)

Note: This parameter is for advanced users
+ +

Use third IMU for attitude, velocity and position estimates

+ + + +

Stillness threshold for detecting if we are moving (INS_STILL_THRESH)

Note: This parameter is for advanced users
+ +

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

+ + + +

Gyro Calibration scheme (INS_GYR_CAL)

Note: This parameter is for advanced users
+ +

Conrols when automatic gyro calibration is performed

+ + + +

Accel cal trim option (INS_TRIM_OPTION)

Note: This parameter is for advanced users
+ +

Specifies how the accel cal routine determines the trims

+ + + +

Body-fixed accelerometer (INS_ACC_BODYFIX)

Note: This parameter is for advanced users
+ +

The body-fixed accelerometer to be used for trim calculation

+ + + +

IMU accelerometer X position (INS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS3_X)

Note: This parameter is for advanced users
+ +

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS3_Y)

Note: This parameter is for advanced users
+ +

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS3_Z)

Note: This parameter is for advanced users
+ +

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Gyro ID (INS_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro2 ID (INS_GYR2_ID)

Note: This parameter is for advanced users
+ +

Gyro2 sensor ID, taking into account its type, bus and instance

+ + + +

Gyro3 ID (INS_GYR3_ID)

Note: This parameter is for advanced users
+ +

Gyro3 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer ID (INS_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer2 ID (INS_ACC2_ID)

Note: This parameter is for advanced users
+ +

Accelerometer2 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer3 ID (INS_ACC3_ID)

Note: This parameter is for advanced users
+ +

Accelerometer3 sensor ID, taking into account its type, bus and instance

+ + + +

Fast sampling mask (INS_FAST_SAMPLE)

Note: This parameter is for advanced users
+ +

Mask of IMUs to enable fast sampling on, if available

+ + + +

IMU enable mask (INS_ENABLE_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

+ + + +

Gyro rate for IMUs with Fast Sampling enabled (INS_GYRO_RATE)

Note: This parameter is for advanced users
+ +

Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

+ + + +

Calibration temperature for 1st accelerometer (INS_ACC1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st accelerometer was calibrated at

+ + + +

Calibration temperature for 1st gyroscope (INS_GYR1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st gyroscope was calibrated at

+ + + +

Calibration temperature for 2nd accelerometer (INS_ACC2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd accelerometer was calibrated at

+ + + +

Calibration temperature for 2nd gyroscope (INS_GYR2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd gyroscope was calibrated at

+ + + +

Calibration temperature for 3rd accelerometer (INS_ACC3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd accelerometer was calibrated at

+ + + +

Calibration temperature for 3rd gyroscope (INS_GYR3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd gyroscope was calibrated at

+ + + +

Options for temperature calibration (INS_TCAL_OPTIONS)

Note: This parameter is for advanced users
+ +

This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

+ + + +

Raw logging options (INS_RAW_LOG_OPT)

Note: This parameter is for advanced users
+ +

Raw logging options bitmask

+ + + +

INS4_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS4_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS4_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS4_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS4_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS4_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS4_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS4_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS4_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS4_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS4_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS4_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS4_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS4_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS4_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS4_TCAL_ Parameters

+ + +

Enable temperature calibration (INS4_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS4_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS4_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS4_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS4_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS4_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS4_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS4_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS4_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS4_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS4_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS4_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS4_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS4_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS4_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS4_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS4_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS4_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS4_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS4_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS4_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS5_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS5_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS5_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS5_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS5_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS5_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS5_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS5_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS5_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS5_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS5_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS5_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS5_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS5_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS5_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS5_TCAL_ Parameters

+ + +

Enable temperature calibration (INS5_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS5_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS5_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS5_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS5_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS5_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS5_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS5_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS5_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS5_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS5_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS5_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS5_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS5_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS5_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS5_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS5_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS5_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS5_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS5_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS5_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_HNTC2_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTC2_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTC2_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTC2_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTC2_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTC2_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTC2_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTC2_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTC2_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTC2_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_HNTCH_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTCH_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTCH_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTCH_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTCH_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTCH_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTCH_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTCH_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTCH_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTCH_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_LOG_ Parameters

+ + +

sample count per batch (INS_LOG_BAT_CNT)

Note: This parameter is for advanced users
+ +

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

+ + + +

Sensor Bitmask (INS_LOG_BAT_MASK)

Note: This parameter is for advanced users
+ +

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

+ + + +

Batch Logging Options Mask (INS_LOG_BAT_OPT)

Note: This parameter is for advanced users
+ +

Options for the BatchSampler.

+ + + +

logging interval (INS_LOG_BAT_LGIN)

+ +

Interval between pushing samples to the AP_Logger log

+ + + +

logging count (INS_LOG_BAT_LGCT)

+ +

Number of samples to push to count every INS_LOG_BAT_LGIN

+ + + +

INS_TCAL1_ Parameters

+ + +

Enable temperature calibration (INS_TCAL1_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL1_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL1_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL1_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL1_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL1_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL1_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL1_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL1_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL1_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL1_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL1_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL1_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL1_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL1_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL1_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL1_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL1_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL1_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL1_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL1_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL2_ Parameters

+ + +

Enable temperature calibration (INS_TCAL2_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL2_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL2_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL2_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL2_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL2_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL2_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL2_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL2_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL2_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL2_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL2_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL2_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL2_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL2_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL2_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL2_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL2_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL2_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL2_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL2_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL3_ Parameters

+ + +

Enable temperature calibration (INS_TCAL3_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL3_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL3_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL3_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL3_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL3_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL3_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL3_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL3_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL3_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL3_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL3_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL3_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL3_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL3_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL3_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL3_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL3_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL3_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL3_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL3_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

KDE_ Parameters

+ + +

Number of motor poles (KDE_NPOLE)

+ +

Sets the number of motor poles to calculate the correct RPM value

+ + + +

LGR_ Parameters

+ + +

Enable landing gear (LGR_ENABLE)

+ +

Enable landing gear control

+ + + +

Landing Gear Startup position (LGR_STARTUP)

+ +

Landing Gear Startup behaviour control

+ + + +

Chassis deployment feedback pin (LGR_DEPLOY_PIN)

+ +

Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Chassis deployment feedback pin polarity (LGR_DEPLOY_POL)

+ +

Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.

+ + + +

Weight on wheels feedback pin (LGR_WOW_PIN)

+ +

Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Weight on wheels feedback pin polarity (LGR_WOW_POL)

+ +

Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.

+ + + +

Landing gear deployment altitude (LGR_DEPLOY_ALT)

+ +

Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.

+ + + +

Landing gear retract altitude (LGR_RETRACT_ALT)

+ +

Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.

+ + + +

Landing gear auto retract/deploy options (LGR_OPTIONS)

+ +

Options to retract or deploy landing gear in Auto or Guided mode

+ + + +

LOG Parameters

+ + +

AP_Logger Backend Storage type (LOG_BACKEND_TYPE)

+ +

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

+ + + +

Maximum AP_Logger File and Block Backend buffer size (in kilobytes) (LOG_FILE_BUFSIZE)

+ +

The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

+ + + +

Enable logging while disarmed (LOG_DISARMED)

+ +

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

+ + + +

Enable logging of information needed for Replay (LOG_REPLAY)

+ +

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

+ + + +

Stop logging to current file on disarm (LOG_FILE_DSRMROT)

+ +

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

+ + + +

Maximum AP_Logger MAVLink Backend buffer size (LOG_MAV_BUFSIZE)

Note: This parameter is for advanced users
+ +

Maximum amount of memory to allocate to AP_Logger-over-mavlink

+ + + +

Timeout before giving up on file writes (LOG_FILE_TIMEOUT)

+ +

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

+ + + +

Old logs on the SD card will be deleted to maintain this amount of free space (LOG_FILE_MB_FREE)

+ +

Set this such that the free space is larger than your largest typical flight log

+ + + +

Maximum logging rate for file backend (LOG_FILE_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for mavlink backend (LOG_MAV_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for block backend (LOG_BLK_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate when disarmed (LOG_DARM_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

+ + + +

Maximum number of log files (LOG_MAX_FILES)

Note: This parameter is for advanced users
+ +

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

+ + + +

LOIT_ Parameters

+ + +

Loiter pilot angle max (LOIT_ANG_MAX)

Note: This parameter is for advanced users
+ +

Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX

+ + + +

Loiter Horizontal Maximum Speed (LOIT_SPEED)

+ +

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

+ + + +

Loiter maximum correction acceleration (LOIT_ACC_MAX)

Note: This parameter is for advanced users
+ +

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

+ + + +

Loiter braking acceleration (LOIT_BRK_ACCEL)

Note: This parameter is for advanced users
+ +

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

+ + + +

Loiter braking jerk (LOIT_BRK_JERK)

Note: This parameter is for advanced users
+ +

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

+ + + +

Loiter brake start delay (in seconds) (LOIT_BRK_DELAY)

Note: This parameter is for advanced users
+ +

Loiter brake start delay (in seconds)

+ + + +

MIS_ Parameters

+ + +

Total mission commands (MIS_TOTAL)

Note: This parameter is for advanced users
+ +

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

+ + + +

Mission Restart when entering Auto mode (MIS_RESTART)

Note: This parameter is for advanced users
+ +

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

+ + + +

Mission options bitmask (MIS_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of what options to use in missions.

+ + + +

MNT1 Parameters

+ + +

Mount Type (MNT1_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT1_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT1_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT1_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT1_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT1_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT1_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT1_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT1_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT1_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT1_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT1_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT1_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT1_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT1_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT1_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT1_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT1_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT1_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT1_OPTIONS)

+ +

Mount options bitmask

+ + + +

MNT2 Parameters

+ + +

Mount Type (MNT2_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT2_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT2_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT2_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT2_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT2_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT2_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT2_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT2_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT2_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT2_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT2_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT2_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT2_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT2_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT2_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT2_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT2_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT2_OPTIONS)

+ +

Mount options bitmask

+ + + +

MOT_ Parameters

+ + +

Matrix Yaw Min (MOT_YAW_HEADROOM)

Note: This parameter is for advanced users
+ +

Yaw control is given at least this pwm in microseconds range

+ + + +

Thrust Curve Expo (MOT_THST_EXPO)

Note: This parameter is for advanced users
+ +

Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

+ + + +

Motor Spin maximum (MOT_SPIN_MAX)

Note: This parameter is for advanced users
+ +

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

+ + + +

Battery voltage compensation maximum voltage (MOT_BAT_VOLT_MAX)

Note: This parameter is for advanced users
+ +

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

+ + + +

Battery voltage compensation minimum voltage (MOT_BAT_VOLT_MIN)

Note: This parameter is for advanced users
+ +

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

+ + + +

Motor Current Max (MOT_BAT_CURR_MAX)

Note: This parameter is for advanced users
+ +

Maximum current over which maximum throttle is limited (0 = Disabled)

+ + + +

Output PWM type (MOT_PWM_TYPE)

Note: This parameter is for advanced users
+ +

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.

+ + + +

PWM output minimum (MOT_PWM_MIN)

Note: This parameter is for advanced users
+ +

This sets the min PWM output value in microseconds that will ever be output to the motors

+ + + +

PWM output maximum (MOT_PWM_MAX)

Note: This parameter is for advanced users
+ +

This sets the max PWM value in microseconds that will ever be output to the motors

+ + + +

Motor Spin minimum (MOT_SPIN_MIN)

Note: This parameter is for advanced users
+ +

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

+ + + +

Motor Spin armed (MOT_SPIN_ARM)

Note: This parameter is for advanced users
+ +

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

+ + + +

Motor Current Max Time Constant (MOT_BAT_CURR_TC)

Note: This parameter is for advanced users
+ +

Time constant used to limit the maximum current

+ + + +

Thrust Hover Value (MOT_THST_HOVER)

Note: This parameter is for advanced users
+ +

Motor thrust needed to hover expressed as a number from 0 to 1

+ + + +

Hover Value Learning (MOT_HOVER_LEARN)

Note: This parameter is for advanced users
+ +

Enable/Disable automatic learning of hover throttle

+ + + +

Motor PWM output disabled when disarmed (MOT_SAFE_DISARM)

Note: This parameter is for advanced users
+ +

Disables motor PWM output when disarmed

+ + + +

Yaw Servo Max Lean Angle (MOT_YAW_SV_ANGLE)

+ +

Yaw servo's maximum lean angle (Tricopter only)

+ + + +

Spool up time (MOT_SPOOL_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to spool up the motors from zero to min throttle.

+ + + +

Motor boost scale (MOT_BOOST_SCALE)

Note: This parameter is for advanced users
+ +

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

+ + + +

Battery compensation index (MOT_BAT_IDX)

Note: This parameter is for advanced users
+ +

Which battery monitor should be used for doing compensation

+ + + +

Output slew time for increasing throttle (MOT_SLEW_UP_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

+ + + +

Output slew time for decreasing throttle (MOT_SLEW_DN_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

+ + + +

Time taken to disable and enable the motor PWM output when disarmed and armed. (MOT_SAFE_TIME)

Note: This parameter is for advanced users
+ +

Time taken to disable and enable the motor PWM output when disarmed and armed.

+ + + +

Motor options (MOT_OPTIONS)

Note: This parameter is for advanced users
+ +

Motor options

+ + + +

Spool down time (MOT_SPOOL_TIM_DN)

Note: This parameter is for advanced users
+ +

Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.

+ + + +

MSP Parameters

+ + +

Cell count override (MSP_OSD_NCELLS)

+ +

Used for average cell voltage calculation

+ + + +

MSP OSD Options (MSP_OPTIONS)

+ +

A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.

+ + + +

NET_ Parameters

+ + +

Networking Enable (NET_ENABLE)

Note: This parameter is for advanced users
+ +

Networking Enable

+ + + +

IP Subnet mask (NET_NETMASK)

Note: This parameter is for advanced users
+ +

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

+ + + +

DHCP client (NET_DHCP)

Note: This parameter is for advanced users
+ +

Enable/Disable DHCP client

+ + + +

Test enable flags (NET_TESTS)

Note: This parameter is for advanced users
+ +

Enable/Disable networking tests

+ + + +

Networking options (NET_OPTIONS)

Note: This parameter is for advanced users
+ +

Networking options

+ + + +

NET_GWADDR Parameters

+ + +

IPv4 Address 1st byte (NET_GWADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_GWADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_GWADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_GWADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_IPADDR Parameters

+ + +

IPv4 Address 1st byte (NET_IPADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_IPADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_IPADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_IPADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_MACADDR Parameters

+ + +

MAC Address 1st byte (NET_MACADDR0)

Note: This parameter is for advanced users
+ +

MAC address 1st byte

+ + + +

MAC Address 2nd byte (NET_MACADDR1)

Note: This parameter is for advanced users
+ +

MAC address 2nd byte

+ + + +

MAC Address 3rd byte (NET_MACADDR2)

Note: This parameter is for advanced users
+ +

MAC address 3rd byte

+ + + +

MAC Address 4th byte (NET_MACADDR3)

Note: This parameter is for advanced users
+ +

MAC address 4th byte

+ + + +

MAC Address 5th byte (NET_MACADDR4)

Note: This parameter is for advanced users
+ +

MAC address 5th byte

+ + + +

MAC Address 6th byte (NET_MACADDR5)

Note: This parameter is for advanced users
+ +

MAC address 6th byte

+ + + +

NET_P1_ Parameters

+ + +

Port type (NET_P1_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P1_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P1_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P1_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P1_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P1_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P1_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P1_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P2_ Parameters

+ + +

Port type (NET_P2_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P2_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P2_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P2_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P2_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P2_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P2_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P2_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P3_ Parameters

+ + +

Port type (NET_P3_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P3_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P3_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P3_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P3_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P3_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P3_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P3_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P4_ Parameters

+ + +

Port type (NET_P4_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P4_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P4_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P4_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P4_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P4_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P4_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P4_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_REMPPP_IP Parameters

+ + +

IPv4 Address 1st byte (NET_REMPPP_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_REMPPP_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_REMPPP_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_REMPPP_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_TEST_IP Parameters

+ + +

IPv4 Address 1st byte (NET_TEST_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_TEST_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_TEST_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_TEST_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NMEA_ Parameters

+ + +

NMEA Output rate (NMEA_RATE_MS)

+ +

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

+ + + +

Messages Enable bitmask (NMEA_MSG_EN)

+ +

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

+ + + +

NTF_ Parameters

+ + +

LED Brightness (NTF_LED_BRIGHT)

Note: This parameter is for advanced users
+ +

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

+ + + +

Buzzer Driver Types (NTF_BUZZ_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of Buzzer will be enabled

+ + + +

Specifies colour source for the RGBLed (NTF_LED_OVERRIDE)

Note: This parameter is for advanced users
+ +

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

+ + + +

Type of on-board I2C display (NTF_DISPLAY_TYPE)

Note: This parameter is for advanced users
+ +

This sets up the type of on-board I2C display. Disabled by default.

+ + + +

OreoLED Theme (NTF_OREO_THEME)

Note: This parameter is for advanced users
+ +

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

+ + + +

Buzzer pin (NTF_BUZZ_PIN)

Note: This parameter is for advanced users
+ +

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

LED Driver Types (NTF_LED_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of LEDs will be enabled

+ + + +

Buzzer-on pin logic level (NTF_BUZZ_ON_LVL)

Note: This parameter is for advanced users
+ +

Specifies pin level that indicates buzzer should play

+ + + +

Buzzer volume (NTF_BUZZ_VOLUME)

+ +

Control the volume of the buzzer

+ + + +

Serial LED String Length (NTF_LED_LEN)

Note: This parameter is for advanced users
+ +

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

+ + + +

OA_ Parameters

+ + +

Object Avoidance Path Planning algorithm to use (OA_TYPE)

+ +

Enabled/disable path planning around obstacles

+ + + +

Object Avoidance wide margin distance (OA_MARGIN_MAX)

+ +

Object Avoidance will ignore objects more than this many meters from vehicle

+ + + +

Options while recovering from Object Avoidance (OA_OPTIONS)

+ +

Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).

+ + + +

OA_BR_ Parameters

+ + +

Object Avoidance look ahead distance maximum (OA_BR_LOOKAHEAD)

+ +

Object Avoidance will look this many meters ahead of vehicle

+ + + +

Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly (OA_BR_CONT_RATIO)

+ +

BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.

+ + + +

BendyRuler's bearing change resistance threshold angle (OA_BR_CONT_ANGLE)

+ +

BendyRuler will resist changing current bearing if the change in bearing is over this angle

+ + + +

Type of BendyRuler (OA_BR_TYPE)

+ +

BendyRuler will search for clear path along the direction defined by this parameter

+ + + +

OA_DB_ Parameters

+ + +

OADatabase maximum number of points (OA_DB_SIZE)

Note: This parameter is for advanced users
+ +

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

+ + + +

OADatabase item timeout (OA_DB_EXPIRE)

Note: This parameter is for advanced users
+ +

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

+ + + +

OADatabase queue maximum number of points (OA_DB_QUEUE_SIZE)

Note: This parameter is for advanced users
+ +

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

+ + + +

OADatabase output level (OA_DB_OUTPUT)

Note: This parameter is for advanced users
+ +

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

+ + + +

OADatabase beam width (OA_DB_BEAM_WIDTH)

Note: This parameter is for advanced users
+ +

Beam width of incoming lidar data

+ + + +

OADatabase Minimum radius (OA_DB_RADIUS_MIN)

Note: This parameter is for advanced users
+ +

Minimum radius of objects held in database

+ + + +

OADatabase Distance Maximum (OA_DB_DIST_MAX)

Note: This parameter is for advanced users
+ +

Maximum distance of objects held in database. Set to zero to disable the limits

+ + + +

OADatabase minimum altitude above home before storing obstacles (OA_DB_ALT_MIN)

Note: This parameter is for advanced users
+ +

OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.

+ + + +

OSD Parameters

+ + +

OSD type (OSD_TYPE)

+ +

OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

Screen switch transmitter channel (OSD_CHAN)

+ +

This sets the channel used to switch different OSD screens.

+ + + +

Screen switch method (OSD_SW_METHOD)

+ +

This sets the method used to switch different OSD screens.

+ + + +

OSD Options (OSD_OPTIONS)

+ +

This sets options that change the display

+ + + +

OSD Font (OSD_FONT)

+ +

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

+ + + +

OSD vertical offset (OSD_V_OFFSET)

+ +

Sets vertical offset of the osd inside image

+ + + +

OSD horizontal offset (OSD_H_OFFSET)

+ +

Sets horizontal offset of the osd inside image

+ + + +

RSSI warn level (in %) (OSD_W_RSSI)

+ +

Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.

+ + + +

NSAT warn level (OSD_W_NSAT)

+ +

Set level at which NSAT item will flash

+ + + +

BAT_VOLT warn level (OSD_W_BATVOLT)

+ +

Set level at which BAT_VOLT item will flash

+ + + +

Display Units (OSD_UNITS)

+ +

Sets the units to use in displaying items

+ + + +

Message display duration in seconds (OSD_MSG_TIME)

+ +

Sets message duration seconds

+ + + +

Arm screen (OSD_ARM_SCR)

+ +

Screen to be shown on Arm event. Zero to disable the feature.

+ + + +

Disarm screen (OSD_DSARM_SCR)

+ +

Screen to be shown on disarm event. Zero to disable the feature.

+ + + +

Failsafe screen (OSD_FS_SCR)

+ +

Screen to be shown on failsafe event. Zero to disable the feature.

+ + + +

Button delay (OSD_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Debounce time in ms for stick commanded parameter navigation.

+ + + +

Terrain warn level (OSD_W_TERR)

+ +

Set level below which TER_HGT item will flash. -1 disables.

+ + + +

AVGCELLV warn level (OSD_W_AVGCELLV)

+ +

Set level at which AVGCELLV item will flash

+ + + +

Battery cell count (OSD_CELL_COUNT)

Note: This parameter is for advanced users
+ +

Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.

+ + + +

RESTVOLT warn level (OSD_W_RESTVOLT)

+ +

Set level at which RESTVOLT item will flash

+ + + +

Avg Cell Resting Volt warn level (OSD_W_ACRVOLT)

+ +

Set level at which ACRVOLT item will flash

+ + + +

RC link quality warn level (in %) (OSD_W_LQ)

+ +

Set level at which RC_LQ item will flash (%)

+ + + +

RC link SNR warn level (in %) (OSD_W_SNR)

+ +

Set level at which RC_SNR item will flash (in db)

+ + + +

Sidebar horizontal offset (OSD_SB_H_OFS)

+ +

Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.

+ + + +

Sidebar vertical extension (OSD_SB_V_EXT)

+ +

Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.

+ + + +

OSD type 2 (OSD_TYPE2)

+ +

OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

OSD1_ Parameters

+ + +

Enable screen (OSD1_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD1_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD1_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD1_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD1_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD1_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD1_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD1_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD1_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD1_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD1_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD1_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD1_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD1_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD1_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD1_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD1_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD1_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD1_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD1_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD1_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD1_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD1_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD1_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD1_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD1_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD1_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD1_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD1_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD1_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD1_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD1_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD1_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD1_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD1_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD1_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD1_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD1_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD1_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD1_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD1_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD1_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD1_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD1_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD1_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD1_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD1_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD1_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD1_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD1_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD1_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD1_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD1_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD1_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD1_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD1_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD1_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD1_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD1_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD1_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD1_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD1_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD1_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD1_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD1_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD1_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD1_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD1_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD1_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD1_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD1_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD1_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD1_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD1_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD1_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD1_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD1_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD1_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD1_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD1_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD1_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD1_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD1_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD1_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD1_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD1_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD1_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD1_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD1_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD1_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD1_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD1_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD1_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD1_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD1_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD1_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD1_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD1_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD1_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD1_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD1_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD1_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD1_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD1_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD1_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD1_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD1_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD1_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD1_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD1_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD1_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD1_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD1_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD1_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD1_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD1_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD1_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD1_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD1_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD1_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD1_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD1_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD1_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD1_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD1_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD1_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD1_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD1_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD1_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD1_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD1_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD1_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD1_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD1_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD1_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD1_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD1_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD1_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD1_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD1_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD1_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD1_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD1_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD1_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD1_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD1_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD1_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD1_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD1_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD1_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD1_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD1_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD1_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD1_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD1_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD1_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD1_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD1_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD1_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD1_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD1_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD1_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD1_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD1_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD1_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD1_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD1_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD1_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD1_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD1_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD1_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD1_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD1_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD1_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD1_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD1_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD1_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD1_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD1_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD1_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD1_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD1_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD1_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD1_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD1_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD1_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD1_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD1_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD1_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD1_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD1_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD1_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD1_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD1_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD1_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD1_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD1_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD1_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD1_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD1_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD1_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD2_ Parameters

+ + +

Enable screen (OSD2_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD2_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD2_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD2_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD2_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD2_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD2_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD2_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD2_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD2_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD2_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD2_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD2_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD2_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD2_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD2_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD2_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD2_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD2_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD2_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD2_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD2_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD2_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD2_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD2_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD2_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD2_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD2_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD2_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD2_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD2_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD2_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD2_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD2_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD2_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD2_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD2_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD2_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD2_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD2_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD2_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD2_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD2_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD2_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD2_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD2_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD2_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD2_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD2_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD2_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD2_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD2_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD2_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD2_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD2_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD2_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD2_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD2_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD2_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD2_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD2_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD2_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD2_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD2_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD2_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD2_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD2_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD2_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD2_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD2_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD2_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD2_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD2_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD2_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD2_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD2_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD2_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD2_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD2_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD2_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD2_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD2_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD2_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD2_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD2_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD2_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD2_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD2_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD2_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD2_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD2_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD2_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD2_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD2_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD2_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD2_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD2_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD2_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD2_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD2_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD2_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD2_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD2_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD2_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD2_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD2_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD2_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD2_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD2_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD2_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD2_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD2_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD2_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD2_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD2_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD2_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD2_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD2_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD2_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD2_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD2_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD2_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD2_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD2_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD2_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD2_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD2_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD2_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD2_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD2_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD2_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD2_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD2_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD2_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD2_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD2_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD2_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD2_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD2_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD2_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD2_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD2_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD2_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD2_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD2_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD2_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD2_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD2_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD2_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD2_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD2_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD2_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD2_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD2_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD2_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD2_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD2_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD2_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD2_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD2_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD2_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD2_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD2_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD2_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD2_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD2_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD2_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD2_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD2_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD2_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD2_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD2_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD2_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD2_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD2_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD2_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD2_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD2_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD2_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD2_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD2_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD2_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD2_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD2_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD2_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD2_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD2_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD2_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD2_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD2_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD2_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD2_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD2_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD2_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD2_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD2_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD2_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD2_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD2_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD2_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD2_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD3_ Parameters

+ + +

Enable screen (OSD3_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD3_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD3_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD3_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD3_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD3_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD3_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD3_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD3_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD3_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD3_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD3_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD3_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD3_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD3_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD3_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD3_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD3_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD3_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD3_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD3_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD3_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD3_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD3_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD3_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD3_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD3_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD3_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD3_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD3_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD3_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD3_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD3_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD3_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD3_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD3_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD3_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD3_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD3_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD3_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD3_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD3_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD3_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD3_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD3_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD3_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD3_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD3_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD3_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD3_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD3_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD3_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD3_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD3_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD3_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD3_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD3_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD3_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD3_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD3_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD3_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD3_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD3_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD3_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD3_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD3_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD3_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD3_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD3_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD3_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD3_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD3_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD3_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD3_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD3_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD3_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD3_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD3_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD3_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD3_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD3_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD3_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD3_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD3_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD3_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD3_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD3_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD3_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD3_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD3_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD3_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD3_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD3_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD3_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD3_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD3_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD3_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD3_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD3_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD3_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD3_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD3_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD3_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD3_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD3_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD3_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD3_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD3_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD3_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD3_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD3_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD3_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD3_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD3_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD3_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD3_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD3_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD3_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD3_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD3_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD3_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD3_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD3_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD3_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD3_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD3_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD3_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD3_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD3_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD3_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD3_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD3_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD3_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD3_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD3_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD3_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD3_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD3_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD3_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD3_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD3_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD3_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD3_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD3_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD3_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD3_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD3_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD3_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD3_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD3_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD3_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD3_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD3_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD3_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD3_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD3_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD3_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD3_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD3_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD3_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD3_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD3_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD3_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD3_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD3_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD3_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD3_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD3_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD3_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD3_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD3_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD3_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD3_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD3_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD3_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD3_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD3_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD3_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD3_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD3_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD3_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD3_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD3_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD3_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD3_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD3_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD3_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD3_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD3_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD3_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD3_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD3_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD3_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD3_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD3_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD3_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD3_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD3_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD3_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD3_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD3_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD4_ Parameters

+ + +

Enable screen (OSD4_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD4_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD4_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD4_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD4_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD4_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD4_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD4_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD4_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD4_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD4_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD4_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD4_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD4_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD4_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD4_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD4_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD4_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD4_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD4_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD4_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD4_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD4_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD4_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD4_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD4_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD4_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD4_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD4_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD4_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD4_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD4_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD4_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD4_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD4_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD4_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD4_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD4_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD4_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD4_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD4_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD4_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD4_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD4_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD4_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD4_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD4_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD4_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD4_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD4_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD4_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD4_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD4_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD4_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD4_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD4_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD4_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD4_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD4_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD4_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD4_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD4_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD4_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD4_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD4_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD4_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD4_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD4_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD4_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD4_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD4_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD4_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD4_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD4_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD4_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD4_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD4_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD4_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD4_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD4_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD4_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD4_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD4_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD4_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD4_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD4_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD4_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD4_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD4_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD4_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD4_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD4_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD4_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD4_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD4_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD4_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD4_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD4_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD4_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD4_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD4_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD4_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD4_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD4_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD4_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD4_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD4_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD4_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD4_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD4_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD4_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD4_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD4_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD4_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD4_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD4_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD4_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD4_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD4_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD4_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD4_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD4_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD4_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD4_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD4_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD4_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD4_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD4_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD4_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD4_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD4_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD4_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD4_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD4_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD4_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD4_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD4_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD4_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD4_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD4_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD4_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD4_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD4_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD4_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD4_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD4_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD4_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD4_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD4_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD4_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD4_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD4_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD4_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD4_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD4_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD4_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD4_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD4_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD4_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD4_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD4_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD4_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD4_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD4_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD4_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD4_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD4_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD4_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD4_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD4_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD4_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD4_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD4_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD4_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD4_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD4_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD4_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD4_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD4_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD4_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD4_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD4_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD4_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD4_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD4_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD4_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD4_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD4_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD4_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD4_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD4_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD4_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD4_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD4_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD4_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD4_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD4_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD4_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD4_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD4_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD4_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD5_ Parameters

+ + +

Enable screen (OSD5_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD5_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD5_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD5_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD5_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD5_PARAM1 Parameters

+ + +

Enable (OSD5_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM2 Parameters

+ + +

Enable (OSD5_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM3 Parameters

+ + +

Enable (OSD5_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM4 Parameters

+ + +

Enable (OSD5_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM5 Parameters

+ + +

Enable (OSD5_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM6 Parameters

+ + +

Enable (OSD5_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM7 Parameters

+ + +

Enable (OSD5_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM8 Parameters

+ + +

Enable (OSD5_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM9 Parameters

+ + +

Enable (OSD5_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_ Parameters

+ + +

Enable screen (OSD6_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD6_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD6_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD6_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD6_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD6_PARAM1 Parameters

+ + +

Enable (OSD6_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM2 Parameters

+ + +

Enable (OSD6_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM3 Parameters

+ + +

Enable (OSD6_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM4 Parameters

+ + +

Enable (OSD6_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM5 Parameters

+ + +

Enable (OSD6_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM6 Parameters

+ + +

Enable (OSD6_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM7 Parameters

+ + +

Enable (OSD6_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM8 Parameters

+ + +

Enable (OSD6_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM9 Parameters

+ + +

Enable (OSD6_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

PLND_ Parameters

+ + +

Precision Land enabled/disabled (PLND_ENABLED)

Note: This parameter is for advanced users
+ +

Precision Land enabled/disabled

+ + + +

Precision Land Type (PLND_TYPE)

Note: This parameter is for advanced users
+ +

Precision Land Type

+ + + +

Sensor yaw alignment (PLND_YAW_ALIGN)

Note: This parameter is for advanced users
+ +

Yaw angle from body x-axis to sensor x-axis.

+ + + +

Land offset forward (PLND_LAND_OFS_X)

Note: This parameter is for advanced users
+ +

Desired landing position of the camera forward of the target in vehicle body frame

+ + + +

Land offset right (PLND_LAND_OFS_Y)

Note: This parameter is for advanced users
+ +

desired landing position of the camera right of the target in vehicle body frame

+ + + +

Precision Land Estimator Type (PLND_EST_TYPE)

Note: This parameter is for advanced users
+ +

Specifies the estimation method to be used

+ + + +

Kalman Filter Accelerometer Noise (PLND_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

+ + + +

Camera X position offset (PLND_CAM_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Camera Y position offset (PLND_CAM_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Camera Z position offset (PLND_CAM_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Sensor Bus (PLND_BUS)

Note: This parameter is for advanced users
+ +

Precland sensor bus for I2C sensors.

+ + + +

Precision Landing sensor lag (PLND_LAG)

Note: This parameter is for advanced users
+ +

Precision Landing sensor lag, to cope with variable landing_target latency

+ + + +

Precision Landing maximum distance to target before descending (PLND_XY_DIST_MAX)

Note: This parameter is for advanced users
+ +

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

+ + + +

PrecLand strictness (PLND_STRICT)

+ +

How strictly should the vehicle land on the target if target is lost

+ + + +

PrecLand Maximum number of retires for a failed landing (PLND_RET_MAX)

+ +

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

+ + + +

PrecLand retry timeout (PLND_TIMEOUT)

+ +

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

+ + + +

PrecLand retry behaviour (PLND_RET_BEHAVE)

+ +

Prec Land will do the action selected by this parameter if a retry to a landing is needed

+ + + +

PrecLand minimum alt for retry (PLND_ALT_MIN)

+ +

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

PrecLand maximum alt for retry (PLND_ALT_MAX)

+ +

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

Precision Landing Extra Options (PLND_OPTIONS)

Note: This parameter is for advanced users
+ +

Precision Landing Extra Options

+ + + +

Camera Orientation (PLND_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of camera/sensor on body

+ + + +

PRX Parameters

+ + +

Proximity sensor land detection (PRX_IGN_GND)

+ +

Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder

+ + + +

Proximity raw distances log (PRX_LOG_RAW)

Note: This parameter is for advanced users
+ +

Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled

+ + + +

Proximity filter cutoff frequency (PRX_FILT)

Note: This parameter is for advanced users
+ +

Cutoff frequency for low pass filter applied to each face in the proximity boundary

+ + + +

Proximity lowest altitude. (PRX_ALT_MIN)

Note: This parameter is for advanced users
+ +

Minimum altitude below which proximity should not work.

+ + + +

PRX1 Parameters

+ + +

Proximity type (PRX1_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX1_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX1_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX1_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX1_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX1_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX1_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX1_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX1_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX1_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX1_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX1_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX1_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX1_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX1_ Parameters

+ + +

CAN receive ID (PRX1_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX2 Parameters

+ + +

Proximity type (PRX2_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX2_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX2_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX2_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX2_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX2_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX2_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX2_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX2_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX2_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX2_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX2_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX2_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX2_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX2_ Parameters

+ + +

CAN receive ID (PRX2_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX3 Parameters

+ + +

Proximity type (PRX3_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX3_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX3_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX3_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX3_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX3_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX3_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX3_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX3_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX3_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX3_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX3_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX3_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX3_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX3_ Parameters

+ + +

CAN receive ID (PRX3_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX4 Parameters

+ + +

Proximity type (PRX4_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX4_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX4_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX4_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX4_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX4_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX4_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX4_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX4_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX4_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX4_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX4_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX4_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX4_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX4_ Parameters

+ + +

CAN receive ID (PRX4_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PSC Parameters

+ + +

XY Acceleration filter cutoff frequency (PSC_ACC_XY_FILT)

Note: This parameter is for advanced users
+ +

Lower values will slow the response of the navigation controller and reduce twitchiness

+ + + +

Position (vertical) controller P gain (PSC_POSZ_P)

+ +

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

+ + + +

Velocity (vertical) controller P gain (PSC_VELZ_P)

+ +

Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

+ + + +

Velocity (vertical) controller I gain (PSC_VELZ_I)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration

+ + + +

Velocity (vertical) controller I gain maximum (PSC_VELZ_IMAX)

+ +

Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output

+ + + +

Velocity (vertical) controller D gain (PSC_VELZ_D)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller D gain. Corrects short-term changes in velocity

+ + + +

Velocity (vertical) controller Feed Forward gain (PSC_VELZ_FF)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target

+ + + +

Velocity (vertical) error filter (PSC_VELZ_FLTE)

Note: This parameter is for advanced users
+ +

Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms

+ + + +

Velocity (vertical) input filter for D term (PSC_VELZ_FLTD)

Note: This parameter is for advanced users
+ +

Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms

+ + + +

Acceleration (vertical) controller P gain (PSC_ACCZ_P)

+ +

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

+ + + +

Acceleration (vertical) controller I gain (PSC_ACCZ_I)

+ +

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

+ + + +

Acceleration (vertical) controller I gain maximum (PSC_ACCZ_IMAX)

+ +

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

+ + + +

Acceleration (vertical) controller D gain (PSC_ACCZ_D)

+ +

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

+ + + +

Acceleration (vertical) controller feed forward (PSC_ACCZ_FF)

+ +

Acceleration (vertical) controller feed forward

+ + + +

Acceleration (vertical) controller target frequency in Hz (PSC_ACCZ_FLTT)

+ +

Acceleration (vertical) controller target frequency in Hz

+ + + +

Acceleration (vertical) controller error frequency in Hz (PSC_ACCZ_FLTE)

+ +

Acceleration (vertical) controller error frequency in Hz

+ + + +

Acceleration (vertical) controller derivative frequency in Hz (PSC_ACCZ_FLTD)

+ +

Acceleration (vertical) controller derivative frequency in Hz

+ + + +

Accel (vertical) slew rate limit (PSC_ACCZ_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Acceleration (vertical) controller PD sum maximum (PSC_ACCZ_PDMX)

+ +

Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Accel (vertical) Derivative FeedForward Gain (PSC_ACCZ_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Accel (vertical) Target notch filter index (PSC_ACCZ_NTF)

Note: This parameter is for advanced users
+ +

Accel (vertical) Target notch filter index

+ + + +

Accel (vertical) Error notch filter index (PSC_ACCZ_NEF)

Note: This parameter is for advanced users
+ +

Accel (vertical) Error notch filter index

+ + + +

Position (horizontal) controller P gain (PSC_POSXY_P)

+ +

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

+ + + +

Velocity (horizontal) P gain (PSC_VELXY_P)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) I gain (PSC_VELXY_I)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) D gain (PSC_VELXY_D)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) D gain. Corrects short-term changes in velocity

+ + + +

Velocity (horizontal) integrator maximum (PSC_VELXY_IMAX)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

+ + + +

Velocity (horizontal) input filter (PSC_VELXY_FLTE)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

+ + + +

Velocity (horizontal) input filter (PSC_VELXY_FLTD)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

+ + + +

Velocity (horizontal) feed forward gain (PSC_VELXY_FF)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

+ + + +

Position Control Angle Max (PSC_ANGLE_MAX)

Note: This parameter is for advanced users
+ +

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

+ + + +

Jerk limit for the horizontal kinematic input shaping (PSC_JERK_XY)

Note: This parameter is for advanced users
+ +

Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target

+ + + +

Jerk limit for the vertical kinematic input shaping (PSC_JERK_Z)

Note: This parameter is for advanced users
+ +

Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target

+ + + +

RALLY_ Parameters

+ + +

Rally Total (RALLY_TOTAL)

Note: This parameter is for advanced users
+ +

Number of rally points currently loaded

+ + + +

Rally Limit (RALLY_LIMIT_KM)

Note: This parameter is for advanced users
+ +

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

+ + + +

Rally Include Home (RALLY_INCL_HOME)

+ +

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

+ + + +

RC Parameters

+ + +

RC override timeout (RC_OVERRIDE_TIME)

Note: This parameter is for advanced users
+ +

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

+ + + +

RC options (RC_OPTIONS)

Note: This parameter is for advanced users
+ +

RC input options

+ + + +

RC protocols enabled (RC_PROTOCOLS)

Note: This parameter is for advanced users
+ +

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

+ + + +

RC Failsafe timeout (RC_FS_TIMEOUT)

+ +

RC failsafe will trigger this many seconds after loss of RC

+ + + +

RC10_ Parameters

+ + +

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC10_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC10_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC11_ Parameters

+ + +

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC11_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC11_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC12_ Parameters

+ + +

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC12_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC12_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC13_ Parameters

+ + +

RC min PWM (RC13_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC13_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC13_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC13_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC13_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC13_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC14_ Parameters

+ + +

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC14_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC14_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC14_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC14_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC14_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC15_ Parameters

+ + +

RC min PWM (RC15_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC15_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC15_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC15_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC15_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC15_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC16_ Parameters

+ + +

RC min PWM (RC16_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC16_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC16_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC16_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC16_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC16_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC1_ Parameters

+ + +

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC1_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC1_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC2_ Parameters

+ + +

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC2_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC2_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC3_ Parameters

+ + +

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC3_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC3_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC4_ Parameters

+ + +

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC4_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC4_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC5_ Parameters

+ + +

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC5_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC5_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC6_ Parameters

+ + +

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC6_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC6_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC7_ Parameters

+ + +

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC7_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC7_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC8_ Parameters

+ + +

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC8_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC8_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC9_ Parameters

+ + +

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC9_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC9_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RCMAP_ Parameters

+ + +

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users
+ +

Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Pitch channel (RCMAP_PITCH)

Note: This parameter is for advanced users
+ +

Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Throttle channel (RCMAP_THROTTLE)

Note: This parameter is for advanced users
+ +

Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Yaw channel (RCMAP_YAW)

Note: This parameter is for advanced users
+ +

Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

RELAY10_ Parameters

+ + +

Relay function (RELAY10_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY10_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY10_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY10_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY11_ Parameters

+ + +

Relay function (RELAY11_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY11_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY11_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY11_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY12_ Parameters

+ + +

Relay function (RELAY12_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY12_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY12_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY12_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY13_ Parameters

+ + +

Relay function (RELAY13_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY13_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY13_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY13_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY14_ Parameters

+ + +

Relay function (RELAY14_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY14_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY14_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY14_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY15_ Parameters

+ + +

Relay function (RELAY15_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY15_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY15_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY15_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY16_ Parameters

+ + +

Relay function (RELAY16_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY16_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY16_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY16_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY1_ Parameters

+ + +

Relay function (RELAY1_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY1_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY1_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY1_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY2_ Parameters

+ + +

Relay function (RELAY2_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY2_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY2_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY2_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY3_ Parameters

+ + +

Relay function (RELAY3_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY3_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY3_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY3_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY4_ Parameters

+ + +

Relay function (RELAY4_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY4_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY4_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY4_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY5_ Parameters

+ + +

Relay function (RELAY5_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY5_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY5_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY5_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY6_ Parameters

+ + +

Relay function (RELAY6_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY6_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY6_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY6_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY7_ Parameters

+ + +

Relay function (RELAY7_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY7_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY7_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY7_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY8_ Parameters

+ + +

Relay function (RELAY8_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY8_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY8_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY8_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY9_ Parameters

+ + +

Relay function (RELAY9_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY9_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY9_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY9_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RNGFND1_ Parameters

+ + +

Rangefinder type (RNGFND1_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND1_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND1_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND1_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND1_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND1_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND1_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND1_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND1_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND1_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND1_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND1_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND1_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND1_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND1_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND1_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND1_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND1_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND1_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND1_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND1_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND2_ Parameters

+ + +

Rangefinder type (RNGFND2_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND2_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND2_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND2_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND2_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND2_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND2_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND2_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND2_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND2_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND2_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND2_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND2_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND2_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND2_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND2_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND2_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND2_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND2_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND2_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND2_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND3_ Parameters

+ + +

Rangefinder type (RNGFND3_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND3_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND3_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND3_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND3_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND3_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND3_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND3_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND3_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND3_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND3_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND3_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND3_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND3_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND3_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND3_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND3_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND3_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND3_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND3_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND3_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND3_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND3_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND3_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND4_ Parameters

+ + +

Rangefinder type (RNGFND4_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND4_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND4_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND4_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND4_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND4_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND4_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND4_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND4_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND4_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND4_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND4_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND4_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND4_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND4_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND4_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND4_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND4_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND4_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND4_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND4_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND5_ Parameters

+ + +

Rangefinder type (RNGFND5_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND5_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND5_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND5_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND5_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND5_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND5_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND5_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND5_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND5_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND5_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND5_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND5_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND5_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND5_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND5_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND5_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND5_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND5_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND5_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND5_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND6_ Parameters

+ + +

Rangefinder type (RNGFND6_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND6_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND6_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND6_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND6_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND6_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND6_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND6_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND6_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND6_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND6_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND6_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND6_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND6_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND6_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND6_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND6_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND6_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND6_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND6_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND6_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND6_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND6_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND6_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND7_ Parameters

+ + +

Rangefinder type (RNGFND7_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND7_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND7_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND7_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND7_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND7_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND7_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND7_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND7_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND7_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND7_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND7_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND7_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND7_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND7_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND7_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND7_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND7_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND7_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND7_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND7_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND7_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND7_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND7_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND8_ Parameters

+ + +

Rangefinder type (RNGFND8_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND8_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND8_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND8_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND8_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND8_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND8_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND8_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND8_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND8_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND8_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND8_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND8_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND8_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND8_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND8_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND8_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND8_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND8_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND8_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND8_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND8_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND8_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND8_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND9_ Parameters

+ + +

Rangefinder type (RNGFND9_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND9_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND9_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND9_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND9_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND9_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND9_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND9_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND9_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND9_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND9_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND9_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND9_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND9_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND9_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND9_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND9_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND9_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND9_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND9_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND9_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND9_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND9_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND9_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFNDA_ Parameters

+ + +

Rangefinder type (RNGFNDA_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFNDA_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFNDA_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFNDA_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFNDA_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFNDA_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFNDA_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFNDA_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFNDA_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFNDA_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFNDA_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFNDA_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFNDA_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFNDA_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFNDA_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFNDA_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFNDA_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFNDA_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFNDA_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFNDA_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFNDA_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFNDA_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFNDA_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFNDA_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RPM1_ Parameters

+ + +

RPM type (RPM1_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM1_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM1_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM1_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM1_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM1_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM1_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM1_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM1_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM2_ Parameters

+ + +

RPM type (RPM2_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM2_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM2_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM2_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM2_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM2_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM2_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM2_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM3_ Parameters

+ + +

RPM type (RPM3_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM3_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM3_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM3_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM3_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM3_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM3_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM3_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM4_ Parameters

+ + +

RPM type (RPM4_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM4_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM4_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM4_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM4_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM4_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM4_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM4_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RSSI_ Parameters

+ + +

RSSI Type (RSSI_TYPE)

+ +

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

+ + + +

Receiver RSSI sensing pin (RSSI_ANA_PIN)

+ +

Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

RSSI pin's lowest voltage (RSSI_PIN_LOW)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

RSSI pin's highest voltage (RSSI_PIN_HIGH)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

Receiver RSSI channel number (RSSI_CHANNEL)

+ +

The channel number where RSSI will be output by the radio receiver (5 and above).

+ + + +

RSSI PWM low value (RSSI_CHAN_LOW)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

+ + + +

Receiver RSSI PWM high value (RSSI_CHAN_HIGH)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

+ + + +

SCHED_ Parameters

+ + +

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users
+ +

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

+ + + +

Scheduling main loop rate (SCHED_LOOP_RATE)

Note: This parameter is for advanced users
+ +

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

+ + + +

Scheduling options (SCHED_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional aspects of the scheduler.

+ + + +

SCR_ Parameters

+ + +

Enable Scripting (SCR_ENABLE)

Note: This parameter is for advanced users
+ +

Controls if scripting is enabled

+ + + +

Scripting Virtual Machine Instruction Count (SCR_VM_I_COUNT)

Note: This parameter is for advanced users
+ +

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

+ + + +

Scripting Heap Size (SCR_HEAP_SIZE)

Note: This parameter is for advanced users
+ +

Amount of memory available for scripting

+ + + +

Scripting Debug Level (SCR_DEBUG_OPTS)

Note: This parameter is for advanced users
+ +

Debugging options

+ + + +

Scripting User Parameter1 (SCR_USER1)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter2 (SCR_USER2)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter3 (SCR_USER3)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter4 (SCR_USER4)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter5 (SCR_USER5)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter6 (SCR_USER6)

+ +

General purpose user variable input for scripts

+ + + +

Directory disable (SCR_DIR_DISABLE)

Note: This parameter is for advanced users
+ +

This will stop scripts being loaded from the given locations

+ + + +

Loaded script checksum (SCR_LD_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

+ + + +

Running script checksum (SCR_RUN_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

+ + + +

Scripting thread priority (SCR_THD_PRIORITY)

Note: This parameter is for advanced users
+ +

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

+ + + +

Scripting serial device enable (SCR_SDEV_EN)

Note: This parameter is for advanced users
+ +

Enable scripting serial devices

+ + + +

Serial protocol of scripting serial device (SCR_SDEV1_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV2_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV3_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

SERIAL Parameters

+ + +

Serial0 baud rate (SERIAL0_BAUD)

+ +

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Console protocol selection (SERIAL0_PROTOCOL)

+ +

Control what protocol to use on the console.

+ + + +

Telem1 protocol selection (SERIAL1_PROTOCOL)

+ +

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telem1 Baud Rate (SERIAL1_BAUD)

+ +

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

+ +

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telemetry 2 Baud Rate (SERIAL2_BAUD)

+ +

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)

+ +

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

+ +

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial4 protocol selection (SERIAL4_PROTOCOL)

+ +

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 4 Baud Rate (SERIAL4_BAUD)

+ +

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial5 protocol selection (SERIAL5_PROTOCOL)

+ +

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 5 Baud Rate (SERIAL5_BAUD)

+ +

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial6 protocol selection (SERIAL6_PROTOCOL)

+ +

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 6 Baud Rate (SERIAL6_BAUD)

+ +

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telem1 options (SERIAL1_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Telem2 options (SERIAL2_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial3 options (SERIAL3_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial4 options (SERIAL4_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial5 options (SERIAL5_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial6 options (SERIAL6_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial passthru first port (SERIAL_PASS1)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru second port (SERIAL_PASS2)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru timeout (SERIAL_PASSTIMO)

Note: This parameter is for advanced users
+ +

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

+ + + +

Serial7 protocol selection (SERIAL7_PROTOCOL)

+ +

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 7 Baud Rate (SERIAL7_BAUD)

+ +

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial7 options (SERIAL7_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial8 protocol selection (SERIAL8_PROTOCOL)

+ +

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 8 Baud Rate (SERIAL8_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial8 options (SERIAL8_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial9 protocol selection (SERIAL9_PROTOCOL)

+ +

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 9 Baud Rate (SERIAL9_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial9 options (SERIAL9_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

SERVO Parameters

+ + +

Servo default output rate (SERVO_RATE)

Note: This parameter is for advanced users
+ +

Default output rate in Hz for all PWM outputs.

+ + + +

Servo DShot output rate (SERVO_DSHOT_RATE)

Note: This parameter is for advanced users
+ +

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

+ + + +

Servo DShot ESC type (SERVO_DSHOT_ESC)

Note: This parameter is for advanced users
+ +

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

+ + + +

Servo GPIO mask (SERVO_GPIO_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

+ + + +

Servo RC Failsafe Mask (SERVO_RC_FS_MSK)

Note: This parameter is for advanced users
+ +

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

+ + + +

Enable outputs 17 to 31 (SERVO_32_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for up to 32 outputs, enabling parameters for outputs above 16

+ + + +

SERVO10_ Parameters

+ + +

Minimum PWM (SERVO10_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO10_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO10_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO10_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO10_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO11_ Parameters

+ + +

Minimum PWM (SERVO11_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO11_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO11_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO11_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO11_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO12_ Parameters

+ + +

Minimum PWM (SERVO12_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO12_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO12_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO12_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO12_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO13_ Parameters

+ + +

Minimum PWM (SERVO13_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO13_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO13_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO13_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO13_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO14_ Parameters

+ + +

Minimum PWM (SERVO14_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO14_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO14_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO14_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO14_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO15_ Parameters

+ + +

Minimum PWM (SERVO15_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO15_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO15_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO15_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO15_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO16_ Parameters

+ + +

Minimum PWM (SERVO16_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO16_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO16_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO16_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO16_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO17_ Parameters

+ + +

Minimum PWM (SERVO17_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO17_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO17_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO17_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO17_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO18_ Parameters

+ + +

Minimum PWM (SERVO18_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO18_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO18_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO18_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO18_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO19_ Parameters

+ + +

Minimum PWM (SERVO19_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO19_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO19_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO19_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO19_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO1_ Parameters

+ + +

Minimum PWM (SERVO1_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO1_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO1_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO1_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO1_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO20_ Parameters

+ + +

Minimum PWM (SERVO20_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO20_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO20_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO20_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO20_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO21_ Parameters

+ + +

Minimum PWM (SERVO21_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO21_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO21_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO21_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO21_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO22_ Parameters

+ + +

Minimum PWM (SERVO22_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO22_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO22_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO22_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO22_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO23_ Parameters

+ + +

Minimum PWM (SERVO23_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO23_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO23_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO23_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO23_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO24_ Parameters

+ + +

Minimum PWM (SERVO24_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO24_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO24_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO24_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO24_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO25_ Parameters

+ + +

Minimum PWM (SERVO25_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO25_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO25_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO25_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO25_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO26_ Parameters

+ + +

Minimum PWM (SERVO26_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO26_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO26_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO26_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO26_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO27_ Parameters

+ + +

Minimum PWM (SERVO27_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO27_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO27_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO27_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO27_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO28_ Parameters

+ + +

Minimum PWM (SERVO28_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO28_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO28_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO28_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO28_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO29_ Parameters

+ + +

Minimum PWM (SERVO29_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO29_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO29_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO29_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO29_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO2_ Parameters

+ + +

Minimum PWM (SERVO2_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO2_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO2_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO2_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO2_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO30_ Parameters

+ + +

Minimum PWM (SERVO30_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO30_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO30_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO30_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO30_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO31_ Parameters

+ + +

Minimum PWM (SERVO31_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO31_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO31_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO31_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO31_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO32_ Parameters

+ + +

Minimum PWM (SERVO32_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO32_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO32_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO32_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO32_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO3_ Parameters

+ + +

Minimum PWM (SERVO3_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO3_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO3_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO3_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO3_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO4_ Parameters

+ + +

Minimum PWM (SERVO4_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO4_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO4_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO4_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO4_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO5_ Parameters

+ + +

Minimum PWM (SERVO5_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO5_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO5_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO5_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO5_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO6_ Parameters

+ + +

Minimum PWM (SERVO6_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO6_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO6_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO6_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO6_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO7_ Parameters

+ + +

Minimum PWM (SERVO7_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO7_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO7_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO7_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO7_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO8_ Parameters

+ + +

Minimum PWM (SERVO8_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO8_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO8_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO8_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO8_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO9_ Parameters

+ + +

Minimum PWM (SERVO9_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO9_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO9_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO9_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO9_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO_BLH_ Parameters

+ + +

BLHeli Channel Bitmask (SERVO_BLH_MASK)

Note: This parameter is for advanced users
+ +

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

+ + + +

BLHeli pass-thru auto-enable for multicopter motors (SERVO_BLH_AUTO)

+ +

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

+ + + +

BLHeli internal interface test (SERVO_BLH_TEST)

Note: This parameter is for advanced users
+ +

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

+ + + +

BLHeli protocol timeout (SERVO_BLH_TMOUT)

+ +

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

+ + + +

BLHeli telemetry rate (SERVO_BLH_TRATE)

+ +

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

+ + + +

BLHeli debug level (SERVO_BLH_DEBUG)

+ +

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

+ + + +

BLHeli output type override (SERVO_BLH_OTYPE)

Note: This parameter is for advanced users
+ +

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

+ + + +

Control port (SERVO_BLH_PORT)

Note: This parameter is for advanced users
+ +

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

+ + + +

BLHeli Motor Poles (SERVO_BLH_POLES)

Note: This parameter is for advanced users
+ +

This allows calculation of true RPM from ESC's eRPM. The default is 14.

+ + + +

BLHeli bitmask of 3D channels (SERVO_BLH_3DMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.

+ + + +

BLHeli bitmask of bi-directional dshot channels (SERVO_BLH_BDMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

+ + + +

BLHeli bitmask of reversed channels (SERVO_BLH_RVMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.

+ + + +

SERVO_FTW_ Parameters

+ + +

Servo channel output bitmask (SERVO_FTW_MASK)

+ +

Servo channel mask specifying FETtec ESC output.

+ + + +

Servo channel reverse rotation bitmask (SERVO_FTW_RVMASK)

+ +

Servo channel mask to reverse rotation of FETtec ESC outputs.

+ + + +

Nr. electrical poles (SERVO_FTW_POLES)

+ +

Number of motor electrical poles

+ + + +

SERVO_ROB_ Parameters

+ + +

Robotis servo position min (SERVO_ROB_POSMIN)

+ +

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

Robotis servo position max (SERVO_ROB_POSMAX)

+ +

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

SERVO_SBUS_ Parameters

+ + +

SBUS default output rate (SERVO_SBUS_RATE)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz.

+ + + +

SERVO_VOLZ_ Parameters

+ + +

Channel Bitmask (SERVO_VOLZ_MASK)

+ +

Enable of volz servo protocol to specific channels

+ + + +

Range of travel (SERVO_VOLZ_RANGE)

+ +

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

+ + + +

SID Parameters

+ + +

System identification axis (SID_AXIS)

+ +

Controls which axis are being excited. Set to non-zero to see more parameters

+ + + +

System identification Chirp Magnitude (SID_MAGNITUDE)

+ +

Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.

+ + + +

System identification Start Frequency (SID_F_START_HZ)

+ +

Frequency at the start of the sweep

+ + + +

System identification Stop Frequency (SID_F_STOP_HZ)

+ +

Frequency at the end of the sweep

+ + + +

System identification Fade in time (SID_T_FADE_IN)

+ +

Time to reach maximum amplitude of sweep

+ + + +

System identification Total Sweep length (SID_T_REC)

+ +

Time taken to complete the sweep

+ + + +

System identification Fade out time (SID_T_FADE_OUT)

+ +

Time to reach zero amplitude at the end of the sweep

+ + + +

SIM_ Parameters

+ + +

Gyro drift speed (SIM_DRIFT_SPEED)

+ +

Gyro drift rate of change in degrees/second/minute

+ + + +

Gyro drift time (SIM_DRIFT_TIME)

+ +

Gyro drift duration of one full drift cycle (period in minutes)

+ + + +

Engine failure thrust scaler (SIM_ENGINE_MUL)

+ +

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

+ + + +

Simulated Wind speed (SIM_WIND_SPD)

Note: This parameter is for advanced users
+ +

Allows you to emulate wind in sim

+ + + +

Direction simulated wind is coming from (SIM_WIND_DIR)

Note: This parameter is for advanced users
+ +

Allows you to set wind direction (true deg) in sim

+ + + +

Simulated Wind variation (SIM_WIND_TURB)

Note: This parameter is for advanced users
+ +

Allows you to emulate random wind variations in sim

+ + + +

Wind variation time constant (SIM_WIND_TC)

Note: This parameter is for advanced users
+ +

this controls the time over which wind changes take effect

+ + + +

Sonar rotation (SIM_SONAR_ROT)

+ +

Sonar rotation from rotations enumeration

+ + + +

Simulated battery voltage (SIM_BATT_VOLTAGE)

Note: This parameter is for advanced users
+ +

Simulated battery (constant) voltage

+ + + +

Simulated battery capacity (SIM_BATT_CAP_AH)

Note: This parameter is for advanced users
+ +

Simulated battery capacity

+ + + +

Sonar glitch probablility (SIM_SONAR_GLITCH)

Note: This parameter is for advanced users
+ +

Probablility a sonar glitch would happen

+ + + +

Sonar noise factor (SIM_SONAR_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated sonar noise

+ + + +

Simulated RC signal failure (SIM_RC_FAIL)

Note: This parameter is for advanced users
+ +

Allows you to emulate rc failures in sim

+ + + +

Generate floating point exceptions (SIM_FLOAT_EXCEPT)

Note: This parameter is for advanced users
+ +

If set, if a numerical error occurs SITL will die with a floating point exception.

+ + + +

Mask of CAN servos/ESCs (SIM_CAN_SRV_MSK)

Note: This parameter is for advanced users
+ +

The set of actuators controlled externally by CAN SITL AP_Periph

+ + + +

transport type for first CAN interface (SIM_CAN_TYPE1)

Note: This parameter is for advanced users
+ +

transport type for first CAN interface

+ + + +

transport type for second CAN interface (SIM_CAN_TYPE2)

Note: This parameter is for advanced users
+ +

transport type for second CAN interface

+ + + +

Sonar conversion scale (SIM_SONAR_SCALE)

+ +

Sonar conversion scale from distance to voltage

+ + + +

Opflow Enable (SIM_FLOW_ENABLE)

+ +

Enable simulated Optical Flow sensor

+ + + +

Terrain Enable (SIM_TERRAIN)

+ +

Enable using terrain for height

+ + + +

Opflow Rate (SIM_FLOW_RATE)

+ +

Opflow Data Rate

+ + + +

Opflow Delay (SIM_FLOW_DELAY)

+ +

Opflow data delay

+ + + +

Number of ADSB aircrafts (SIM_ADSB_COUNT)

+ +

Total number of ADSB simulated aircraft

+ + + +

ADSB radius stddev of another aircraft (SIM_ADSB_RADIUS)

+ +

Simulated standard deviation of radius in ADSB of another aircraft

+ + + +

ADSB altitude of another aircraft (SIM_ADSB_ALT)

+ +

Simulated ADSB altitude of another aircraft

+ + + +

GPIO emulation (SIM_PIN_MASK)

+ +

SITL GPIO emulation

+ + + +

ADSB transmit enable (SIM_ADSB_TX)

+ +

ADSB transceiever enable and disable

+ + + +

Sim Speedup (SIM_SPEEDUP)

+ +

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

+ + + +

IMU Offsets (SIM_IMU_POS_X)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Y)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Z)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_X)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Y)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Z)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

+ + + +

Engine Fail Mask (SIM_ENGINE_FAIL)

+ +

mask of motors which SIM_ENGINE_MUL will be applied to

+ + + +

Start temperature (SIM_TEMP_START)

Note: This parameter is for advanced users
+ +

Baro start temperature

+ + + +

Baro temperature offset (SIM_TEMP_BRD_OFF)

Note: This parameter is for advanced users
+ +

Barometer board temperature offset from atmospheric temperature

+ + + +

Warmup time constant (SIM_TEMP_TCONST)

Note: This parameter is for advanced users
+ +

Barometer warmup temperature time constant

+ + + +

Baro temperature factor (SIM_TEMP_BFACTOR)

Note: This parameter is for advanced users
+ +

A pressure change with temperature that closely matches what has been observed with a ICM-20789

+ + + +

Simulated wind vertical direction (SIM_WIND_DIR_Z)

Note: This parameter is for advanced users
+ +

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

+ + + +

Wind Profile Type (SIM_WIND_T)

+ +

Selects how wind varies from surface to WIND_T_ALT

+ + + +

Full Wind Altitude (SIM_WIND_T_ALT)

Note: This parameter is for advanced users
+ +

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

+ + + +

Linear Wind Curve Coeff (SIM_WIND_T_COEF)

Note: This parameter is for advanced users
+ +

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

+ + + +

RC channel count (SIM_RC_CHANCOUNT)

+ +

SITL RC channel count

+ + + +

Weight on Wheels Pin (SIM_WOW_PIN)

Note: This parameter is for advanced users
+ +

SITL set this simulated pin to true if vehicle is on ground

+ + + +

Telemetry bandwidth limitting (SIM_BAUDLIMIT_EN)

+ +

SITL enable bandwidth limitting on telemetry ports with non-zero values

+ + + +

Acceleration of shove x (SIM_SHOVE_X)

+ +

Acceleration of shove to vehicle in x axis

+ + + +

Acceleration of shove y (SIM_SHOVE_Y)

+ +

Acceleration of shove to vehicle in y axis

+ + + +

Acceleration of shove z (SIM_SHOVE_Z)

+ +

Acceleration of shove to vehicle in z axis

+ + + +

Time length for shove (SIM_SHOVE_TIME)

+ +

Force to the vehicle over a period of time

+ + + +

Opflow noise (SIM_FLOW_RND)

+ +

Optical Flow sensor measurement noise

+ + + +

Twist x (SIM_TWIST_X)

+ +

Rotational acceleration of twist x axis

+ + + +

Twist y (SIM_TWIST_Y)

+ +

Rotational acceleration of twist y axis

+ + + +

Twist z (SIM_TWIST_Z)

+ +

Rotational acceleration of twist z axis

+ + + +

Twist time (SIM_TWIST_TIME)

+ +

Time that twist is applied on the vehicle

+ + + +

Ground behavior (SIM_GND_BEHAV)

+ +

Ground behavior of aircraft (tailsitter, no movement, forward only)

+ + + +

Wave enable (SIM_WAVE_ENABLE)

+ +

Wave enable and modes

+ + + +

Wave length (SIM_WAVE_LENGTH)

+ +

Wave length in SITL

+ + + +

Wave amplitude (SIM_WAVE_AMP)

+ +

Wave amplitude in SITL

+ + + +

Wave direction (SIM_WAVE_DIR)

+ +

Direction wave is coming from

+ + + +

Wave speed (SIM_WAVE_SPEED)

+ +

Wave speed in SITL

+ + + +

Tide direction (SIM_TIDE_DIR)

+ +

Tide direction wave is coming from

+ + + +

Tide speed (SIM_TIDE_SPEED)

+ +

Tide speed in simulation

+ + + +

Original Position (Latitude) (SIM_OPOS_LAT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup latitude

+ + + +

Original Position (Longitude) (SIM_OPOS_LNG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup longitude

+ + + +

Original Position (Altitude) (SIM_OPOS_ALT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup altitude (AMSL)

+ + + +

Original Position (Heading) (SIM_OPOS_HDG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup heading (0-360)

+ + + +

Extra delay per main loop (SIM_LOOP_DELAY)

+ +

Extra time delay per main loop

+ + + +

Type of Electronic Fuel Injection (SIM_EFI_TYPE)

+ +

Different types of Electronic Fuel Injection (EFI) systems

+ + + +

Motor harmonics (SIM_VIB_MOT_HMNC)

+ +

Motor harmonics generated in SITL

+ + + +

Motor mask (SIM_VIB_MOT_MASK)

+ +

Motor mask, allowing external simulators to mark motors

+ + + +

Max motor vibration frequency (SIM_VIB_MOT_MAX)

+ +

Max frequency to use as baseline for adding motor noise for the gyros and accels

+ + + +

Minimum throttle INS noise (SIM_INS_THR_MIN)

+ +

Minimum throttle for simulated ins noise

+ + + +

Vibration motor scale (SIM_VIB_MOT_MULT)

+ +

Amplitude scaling of motor noise relative to gyro/accel noise

+ + + +

Odometry enable (SIM_ODOM_ENABLE)

+ +

SITL odometry enabl

+ + + +

LED layout (SIM_LED_LAYOUT)

+ +

LED layout config value

+ + + +

Thermal scenarios (SIM_THML_SCENARI)

+ +

Scenario for thermalling simulation, for soaring

+ + + +

SITL vicon position on vehicle in Forward direction (SIM_VICON_POS_X)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Forward direction

+ + + +

SITL vicon position on vehicle in Right direction (SIM_VICON_POS_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Right direction

+ + + +

SITL vicon position on vehicle in Down direction (SIM_VICON_POS_Z)

+ +

SITL vicon position on vehicle in Down direction

+ + + +

SITL vicon position glitch North (SIM_VICON_GLIT_X)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch North

+ + + +

SITL vicon position glitch East (SIM_VICON_GLIT_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch East

+ + + +

SITL vicon position glitch Down (SIM_VICON_GLIT_Z)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch Down

+ + + +

SITL vicon failure (SIM_VICON_FAIL)

Note: This parameter is for advanced users
+ +

SITL vicon failure

+ + + +

SITL vicon yaw angle in earth frame (SIM_VICON_YAW)

Note: This parameter is for advanced users
+ +

SITL vicon yaw angle in earth frame

+ + + +

SITL vicon yaw error (SIM_VICON_YAWERR)

Note: This parameter is for advanced users
+ +

SITL vicon yaw added to reported yaw sent to vehicle

+ + + +

SITL vicon type mask (SIM_VICON_TMASK)

Note: This parameter is for advanced users
+ +

SITL vicon messages sent

+ + + +

SITL vicon velocity glitch North (SIM_VICON_VGLI_X)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch North

+ + + +

SITL vicon velocity glitch East (SIM_VICON_VGLI_Y)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch East

+ + + +

SITL vicon velocity glitch Down (SIM_VICON_VGLI_Z)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch Down

+ + + +

Loop rate (SIM_RATE_HZ)

+ +

SITL Loop rate

+ + + +

IMU count (SIM_IMU_COUNT)

+ +

Number of simulated IMUs to create

+ + + +

Baro count (SIM_BARO_COUNT)

+ +

Number of simulated baros to create in SITL

+ + + +

Loop time jitter (SIM_TIME_JITTER)

Note: This parameter is for advanced users
+ +

Upper limit of random jitter in loop time

+ + + +

Simulated ESC Telemetry (SIM_ESC_TELEM)

Note: This parameter is for advanced users
+ +

enable perfect simulated ESC telemetry

+ + + +

ESC RPM when armed (SIM_ESC_ARM_RPM)

Note: This parameter is for advanced users
+ +

Simulated RPM when motors are armed

+ + + +

UART byte loss percentage (SIM_UART_LOSS)

Note: This parameter is for advanced users
+ +

Sets percentage of outgoing byte loss on UARTs

+ + + +

Simulated ADSB Type mask (SIM_ADSB_TYPES)

Note: This parameter is for advanced users
+ +

specifies which simulated ADSB types are active

+ + + +

Simulated OSD number of text columns (SIM_OSD_COLUMNS)

+ +

Simulated OSD number of text columns

+ + + +

Simulated OSD number of text rows (SIM_OSD_ROWS)

+ +

Simulated OSD number of text rows

+ + + +

GPS 1 disable (SIM_GPS_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 1

+ + + +

GPS 1 Lag (SIM_GPS_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 1 lag

+ + + +

GPS 1 type (SIM_GPS_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 1

+ + + +

GPS Byteloss (SIM_GPS_BYTELOSS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 1

+ + + +

GPS 1 Num Satellites (SIM_GPS_NUMSATS)

+ +

Number of satellites GPS 1 has in view

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (X-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Y-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Z-axis)

+ + + +

GPS 1 Hz (SIM_GPS_HZ)

+ +

GPS 1 Update rate

+ + + +

GPS 1 Altitude Drift (SIM_GPS_DRIFTALT)

Note: This parameter is for advanced users
+ +

GPS 1 altitude drift error

+ + + +

GPS 1 Position (SIM_GPS_POS_X)

+ +

GPS 1 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Y)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Z)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 1 Noise (SIM_GPS_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS1 altitude error

+ + + +

GPS 1 Lock Time (SIM_GPS_LOCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS1 acquires lock

+ + + +

GPS 1 Altitude Offset (SIM_GPS_ALT_OFS)

+ +

GPS 1 Altitude Error

+ + + +

GPS 1 Heading (SIM_GPS_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 1 Accuracy (SIM_GPS_ACC)

Note: This parameter is for advanced users
+ +

GPS 1 Accuracy

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Z-axis)

+ + + +

GPS jamming enable (SIM_GPS_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

GPS 2 disable (SIM_GPS2_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 2

+ + + +

GPS 2 Lag (SIM_GPS2_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 2 lag in ms

+ + + +

GPS 2 type (SIM_GPS2_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 2

+ + + +

GPS 2 Byteloss (SIM_GPS2_BYTELOS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 2

+ + + +

GPS 2 Num Satellites (SIM_GPS2_NUMSATS)

+ +

Number of satellites GPS 2 has in view

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (X-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Y-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Z-axis)

+ + + +

GPS 2 Hz (SIM_GPS2_HZ)

+ +

GPS 2 Update rate

+ + + +

GPS 2 Altitude Drift (SIM_GPS2_DRFTALT)

Note: This parameter is for advanced users
+ +

GPS 2 altitude drift error

+ + + +

GPS 2 Position (SIM_GPS2_POS_X)

+ +

GPS 2 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Y)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Z)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 2 Noise (SIM_GPS2_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS2 altitude error

+ + + +

GPS 2 Lock Time (SIM_GPS2_LCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS2 acquires lock

+ + + +

GPS 2 Altitude Offset (SIM_GPS2_ALT_OFS)

+ +

GPS 2 Altitude Error

+ + + +

GPS 2 Heading (SIM_GPS2_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 2 Accuracy (SIM_GPS2_ACC)

Note: This parameter is for advanced users
+ +

GPS 2 Accuracy

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Z-axis)

+ + + +

Initial Latitude Offset (SIM_INIT_LAT_OFS)

+ +

GPS initial lat offset from origin

+ + + +

Initial Longitude Offset (SIM_INIT_LON_OFS)

+ +

GPS initial lon offset from origin

+ + + +

Initial Altitude Offset (SIM_INIT_ALT_OFS)

+ +

GPS initial alt offset from origin

+ + + +

GPS Log Number (SIM_GPS_LOG_NUM)

+ +

Log number for GPS:update_file()

+ + + +

GPS jamming enable (SIM_GPS2_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

Mag motor noise factor (SIM_MAG_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated vibration from motors

+ + + +

Mag measurement delay (SIM_MAG_DELAY)

Note: This parameter is for advanced users
+ +

Magnetometer measurement delay

+ + + +

Magnetic anomaly height (SIM_MAG_ALY_HGT)

Note: This parameter is for advanced users
+ +

Height above ground where anomally strength has decayed to 1/8 of the ground level value

+ + + +

MAG1 Orientation (SIM_MAG1_ORIENT)

Note: This parameter is for advanced users
+ +

MAG1 external compass orientation

+ + + +

MAG1 Scaling factor (SIM_MAG1_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 1 to simulate sensor scale factor errors

+ + + +

MAG1 Device ID (SIM_MAG1_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 1

+ + + +

MAG2 Device ID (SIM_MAG2_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 2

+ + + +

MAG3 Device ID (SIM_MAG3_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 3

+ + + +

MAG2 Device ID (SIM_MAG4_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 4

+ + + +

MAG5 Device ID (SIM_MAG5_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 5

+ + + +

MAG6 Device ID (SIM_MAG6_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 6

+ + + +

MAG7 Device ID (SIM_MAG7_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 7

+ + + +

MAG8 Device ID (SIM_MAG8_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 8

+ + + +

MAG1 Failure (SIM_MAG1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG1

+ + + +

MAG2 Orientation (SIM_MAG2_ORIENT)

Note: This parameter is for advanced users
+ +

MAG2 external compass orientation

+ + + +

MAG2 Failure (SIM_MAG2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG2

+ + + +

MAG2 Scaling factor (SIM_MAG2_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 2 to simulate sensor scale factor errors

+ + + +

MAG3 Failure (SIM_MAG3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG3

+ + + +

MAG3 Scaling factor (SIM_MAG3_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 3 to simulate sensor scale factor errors

+ + + +

MAG3 Orientation (SIM_MAG3_ORIENT)

Note: This parameter is for advanced users
+ +

MAG3 external compass orientation

+ + + +

Save MAG devids on startup (SIM_MAG_SAVE_IDS)

Note: This parameter is for advanced users
+ +

This forces saving of compass devids on startup so that simulated compasses start as calibrated

+ + + +

IMU temperature start (SIM_IMUT_START)

+ +

Starting IMU temperature of a curve

+ + + +

IMU temperature end (SIM_IMUT_END)

+ +

Ending IMU temperature of a curve

+ + + +

IMU temperature time constant (SIM_IMUT_TCONST)

+ +

IMU temperature time constant of the curve

+ + + +

IMU fixed temperature (SIM_IMUT_FIXED)

+ +

IMU fixed temperature by user

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Gyro 1 motor noise factor (SIM_GYR1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 2 motor noise factor (SIM_GYR2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 3 motor noise factor (SIM_GYR3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 1 motor noise factor (SIM_ACC1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 2 motor noise factor (SIM_ACC2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 3 motor noise factor (SIM_ACC3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

ACCEL1 Failure (SIM_ACCEL1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL1

+ + + +

ACCEL2 Failure (SIM_ACCEL2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL2

+ + + +

ACCEL3 Failure (SIM_ACCEL3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL3

+ + + +

Gyro Failure Mask (SIM_GYR_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accelerometer Failure Mask (SIM_ACC_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

JSON master instance (SIM_JSON_MASTER)

+ +

the instance number to take servos from

+ + + +

SIM-on_hardware Output Enable Mask (SIM_OH_MASK)

+ +

channels which are passed through to actual hardware when running sim on actual hardware

+ + + +

Gyro data to/from files (SIM_GYR_FILE_RW)

+ +

Read and write gyro data to/from files

+ + + +

Accelerometer data to/from files (SIM_ACC_FILE_RW)

+ +

Read and write accelerometer data to/from files

+ + + +

First Gyro bias on X axis (SIM_GYR1_BIAS_X)

Note: This parameter is for advanced users
+ +

First Gyro bias on X axis

+ + + +

First Gyro bias on Y axis (SIM_GYR1_BIAS_Y)

Note: This parameter is for advanced users
+ +

First Gyro bias on Y axis

+ + + +

First Gyro bias on Z axis (SIM_GYR1_BIAS_Z)

Note: This parameter is for advanced users
+ +

First Gyro bias on Z axis

+ + + +

Second Gyro bias on X axis (SIM_GYR2_BIAS_X)

Note: This parameter is for advanced users
+ +

Second Gyro bias on X axis

+ + + +

Second Gyro bias on Y axis (SIM_GYR2_BIAS_Y)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Y axis

+ + + +

Second Gyro bias on Z axis (SIM_GYR2_BIAS_Z)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Z axis

+ + + +

Third Gyro bias on X axis (SIM_GYR3_BIAS_X)

Note: This parameter is for advanced users
+ +

Third Gyro bias on X axis

+ + + +

Third Gyro bias on Y axis (SIM_GYR3_BIAS_Y)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Y axis

+ + + +

Third Gyro bias on Z axis (SIM_GYR3_BIAS_Z)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL4 Failure (SIM_ACCEL4_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL4

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 4 motor noise factor (SIM_ACC4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 4 motor noise factor (SIM_GYR4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fourth Gyro bias on X axis (SIM_GYR4_BIAS_X)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on X axis

+ + + +

Fourth Gyro bias on Y axis (SIM_GYR4_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Y axis

+ + + +

Fourth Gyro bias on Z axis (SIM_GYR4_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL5 Failure (SIM_ACCEL5_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL5

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 5 motor noise factor (SIM_ACC5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 5 motor noise factor (SIM_GYR5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fifth Gyro bias on X axis (SIM_GYR5_BIAS_X)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on X axis

+ + + +

Fifth Gyro bias on Y axis (SIM_GYR5_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Y axis

+ + + +

Fifth Gyro bias on Z axis (SIM_GYR5_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Z axis

+ + + +

SIM-on_hardware Relay Enable Mask (SIM_OH_RELAY_MSK)

+ +

Allow relay output operation when running SIM-on-hardware

+ + + +

Simulated Clamp Channel (SIM_CLAMP_CH)

+ +

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

+ + + +

SIM_ARSPD2_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD2_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD2_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD2_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD2_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_ARSPD_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_BAR2_ Parameters

+ + +

Barometer noise (SIM_BAR2_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR2_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR2_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR2_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR2_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR2_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR2_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR2_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR2_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR2_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR2_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR2_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BAR3_ Parameters

+ + +

Barometer noise (SIM_BAR3_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR3_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR3_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR3_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR3_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR3_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR3_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR3_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR3_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR3_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR3_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR3_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BARO_ Parameters

+ + +

Barometer noise (SIM_BARO_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BARO_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BARO_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BARO_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BARO_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BARO_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BARO_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BARO_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BARO_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BARO_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BARO_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BARO_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_GLD_ Parameters

+ + +

balloon burst height (SIM_GLD_BLN_BRST)

+ +

balloon burst height

+ + + +

balloon climb rate (SIM_GLD_BLN_RATE)

+ +

balloon climb rate

+ + + +

SIM_GRPE_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPE_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper emp pin (SIM_GRPE_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper emp is connected to. (start at 1)

+ + + +

SIM_GRPS_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPS_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper servo pin (SIM_GRPS_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper servo is connected to. (start at 1)

+ + + +

Gripper Grab PWM (SIM_GRPS_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (SIM_GRPS_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Gripper close direction (SIM_GRPS_REVERSE)

Note: This parameter is for advanced users
+ +

Reverse the closing direction.

+ + + +

SIM_PLD_ Parameters

+ + +

Preland device Sim enable/disable (SIM_PLD_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Preland simulation

+ + + +

Precland device center's latitude (SIM_PLD_LAT)

Note: This parameter is for advanced users
+ +

Precland device center's latitude

+ + + +

Precland device center's longitude (SIM_PLD_LON)

Note: This parameter is for advanced users
+ +

Precland device center's longitude

+ + + +

Precland device center's height SITL origin (SIM_PLD_HEIGHT)

Note: This parameter is for advanced users
+ +

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

+ + + +

Precland device systems rotation from north (SIM_PLD_YAW)

Note: This parameter is for advanced users
+ +

Precland device systems rotation from north

+ + + +

Precland device update rate (SIM_PLD_RATE)

Note: This parameter is for advanced users
+ +

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

+ + + +

Precland device radiance type (SIM_PLD_TYPE)

Note: This parameter is for advanced users
+ +

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

+ + + +

Precland device alt range (SIM_PLD_ALT_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum range altitude

+ + + +

Precland device lateral range (SIM_PLD_DIST_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum lateral range

+ + + +

Precland device orientation (SIM_PLD_ORIENT)

Note: This parameter is for advanced users
+ +

Precland device orientation vector

+ + + +

SIM_Precland extra options (SIM_PLD_OPTIONS)

Note: This parameter is for advanced users
+ +

SIM_Precland extra options

+ + + +

SIM_Precland follow ship (SIM_PLD_SHIP)

Note: This parameter is for advanced users
+ +

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

+ + + +

SIM_RFL_ Parameters

+ + +

FlightAxis options (SIM_RFL_OPTS)

Note: This parameter is for advanced users
+ +

Bitmask of FlightAxis options

+ + + +

SIM_SB_ Parameters

+ + +

mass (SIM_SB_MASS)

+ +

mass of blimp not including lifting gas

+ + + +

helium mass (SIM_SB_HMASS)

+ +

mass of lifting gas

+ + + +

arm length (SIM_SB_ARM_LEN)

+ +

distance from center of mass to one motor

+ + + +

motor thrust (SIM_SB_MOT_THST)

+ +

thrust at max throttle for one motor

+ + + +

drag in forward direction (SIM_SB_DRAG_FWD)

+ +

drag on X axis

+ + + +

drag in sidewards direction (SIM_SB_DRAG_SIDE)

+ +

drag on Y axis

+ + + +

drag in upward direction (SIM_SB_DRAG_UP)

+ +

drag on Z axis

+ + + +

moment of inertia in yaw (SIM_SB_MOI_YAW)

+ +

moment of inertia in yaw

+ + + +

moment of inertia in roll (SIM_SB_MOI_ROLL)

+ +

moment of inertia in roll

+ + + +

moment of inertia in pitch (SIM_SB_MOI_PITCH)

+ +

moment of inertia in pitch

+ + + +

altitude target (SIM_SB_ALT_TARG)

+ +

altitude target

+ + + +

target climb rate (SIM_SB_CLMB_RT)

+ +

target climb rate

+ + + +

yaw rate (SIM_SB_YAW_RT)

+ +

maximum yaw rate with full left throttle at target altitude

+ + + +

motor angle (SIM_SB_MOT_ANG)

+ +

maximum motor tilt angle

+ + + +

center of lift (SIM_SB_COL)

+ +

center of lift position above CoG

+ + + +

weathervaning offset (SIM_SB_WVANE)

+ +

center of drag for weathervaning

+ + + +

free lift rate (SIM_SB_FLR)

+ +

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

+ + + +

SIM_SERVO_ Parameters

+ + +

servo speed (SIM_SERVO_SPEED)

+ +

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

+ + + +

servo delay (SIM_SERVO_DELAY)

+ +

servo delay

+ + + +

servo filter (SIM_SERVO_FILTER)

+ +

servo filter

+ + + +

SIM_SLUP_ Parameters

+ + +

Slung Payload Sim enable/disable (SIM_SLUP_ENABLE)

Note: This parameter is for advanced users
+ +

Slung Payload Sim enable/disable

+ + + +

Slung Payload weight (SIM_SLUP_WEIGHT)

Note: This parameter is for advanced users
+ +

Slung Payload weight in kg

+ + + +

Slung Payload line length (SIM_SLUP_LINELEN)

Note: This parameter is for advanced users
+ +

Slung Payload line length in meters

+ + + +

Slung Payload drag coefficient (SIM_SLUP_DRAG)

Note: This parameter is for advanced users
+ +

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

+ + + +

Slung Payload MAVLink system ID (SIM_SLUP_SYSID)

Note: This parameter is for advanced users
+ +

Slung Payload MAVLink system id to distinguish it from others on the same network

+ + + +

SIM_SPR_ Parameters

+ + +

Sprayer Sim enable/disable (SIM_SPR_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Sprayer simulation

+ + + +

Sprayer pump pin (SIM_SPR_PUMP)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer pump is connected to. (start at 1)

+ + + +

Sprayer spinner servo pin (SIM_SPR_SPIN)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer spinner servo is connected to. (start at 1)

+ + + +

SPRAY_ Parameters

+ + +

Sprayer enable/disable (SPRAY_ENABLE)

+ +

Allows you to enable (1) or disable (0) the sprayer

+ + + +

Pump speed (SPRAY_PUMP_RATE)

+ +

Desired pump speed when travelling 1m/s expressed as a percentage

+ + + +

Spinner rotation speed (SPRAY_SPINNER)

+ +

Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

+ + + +

Speed minimum (SPRAY_SPEED_MIN)

+ +

Speed minimum at which we will begin spraying

+ + + +

Pump speed minimum (SPRAY_PUMP_MIN)

+ +

Minimum pump speed expressed as a percentage

+ + + +

SR0_ Parameters

+ + +

Raw sensor stream rate (SR0_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR0_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR0_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR0_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR0_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR0_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR0_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR0_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR0_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR0_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR1_ Parameters

+ + +

Raw sensor stream rate (SR1_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR1_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR1_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR1_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR1_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR1_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR1_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR1_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR1_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR1_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR2_ Parameters

+ + +

Raw sensor stream rate (SR2_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR2_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR2_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR2_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR2_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR2_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR2_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR2_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR2_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR2_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR3_ Parameters

+ + +

Raw sensor stream rate (SR3_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR3_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR3_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR3_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR3_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR3_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR3_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR3_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR3_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR3_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR4_ Parameters

+ + +

Raw sensor stream rate (SR4_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR4_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR4_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR4_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR4_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR4_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR4_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR4_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR4_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR4_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR5_ Parameters

+ + +

Raw sensor stream rate (SR5_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR5_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR5_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR5_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR5_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR5_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR5_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR5_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR5_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR5_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR6_ Parameters

+ + +

Raw sensor stream rate (SR6_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR6_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR6_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Unused (SR6_RAW_CTRL)

Note: This parameter is for advanced users
+ +

Unused

+ + + +

Position stream rate (SR6_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR6_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR6_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR6_EXTRA3)

+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

+ + + +

Parameter stream rate (SR6_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR6_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SRTL_ Parameters

+ + +

SmartRTL accuracy (SRTL_ACCURACY)

Note: This parameter is for advanced users
+ +

SmartRTL accuracy. The minimum distance between points.

+ + + +

SmartRTL maximum number of points on path (SRTL_POINTS)

Note: This parameter is for advanced users
+ +

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

+ + + +

SmartRTL options (SRTL_OPTIONS)

+ +

Bitmask of SmartRTL options.

+ + + +

STAT Parameters

+ + +

Boot Count (STAT_BOOTCNT)

+ +

Number of times board has been booted

+ + + +

Total FlightTime (STAT_FLTTIME)

+ +

Total FlightTime (seconds)

+ + + +

Total RunTime (STAT_RUNTIME)

+ +

Total time autopilot has run

+ + + +

Statistics Reset Time (STAT_RESET)

+ +

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

+ + + +

TCAL Parameters

+ + +

Temperature calibration enable (TCAL_ENABLED)

Note: This parameter is for advanced users
+ +

Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values

+ + + +

Temperature calibration min learned temperature (TCAL_TEMP_MIN)

Note: This parameter is for advanced users
+ +

Minimum learned temperature. This is automatically set by the learning process

+ + + +

Temperature calibration max learned temperature (TCAL_TEMP_MAX)

Note: This parameter is for advanced users
+ +

Maximum learned temperature. This is automatically set by the learning process

+ + + +

Temperature Calibration barometer exponent (TCAL_BARO_EXP)

Note: This parameter is for advanced users
+ +

Learned exponent for barometer temperature correction

+ + + +

TEMP Parameters

+ + +

Logging (TEMP_LOG)

+ +

Enables temperature sensor logging

+ + + +

TEMP1_ Parameters

+ + +

Temperature Sensor Type (TEMP1_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP1_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP1_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP1_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP1_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP1_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP1_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP1_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP1_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP1_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP1_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP1_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP2_ Parameters

+ + +

Temperature Sensor Type (TEMP2_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP2_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP2_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP2_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP2_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP2_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP2_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP2_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP2_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP2_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP2_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP2_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP3_ Parameters

+ + +

Temperature Sensor Type (TEMP3_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP3_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP3_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP3_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP3_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP3_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP3_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP3_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP3_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP3_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP3_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP3_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP4_ Parameters

+ + +

Temperature Sensor Type (TEMP4_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP4_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP4_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP4_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP4_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP4_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP4_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP4_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP4_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP4_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP4_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP4_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP5_ Parameters

+ + +

Temperature Sensor Type (TEMP5_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP5_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP5_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP5_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP5_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP5_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP5_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP5_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP5_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP5_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP5_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP5_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP6_ Parameters

+ + +

Temperature Sensor Type (TEMP6_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP6_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP6_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP6_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP6_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP6_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP6_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP6_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP6_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP6_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP6_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP6_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP7_ Parameters

+ + +

Temperature Sensor Type (TEMP7_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP7_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP7_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP7_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP7_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP7_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP7_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP7_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP7_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP7_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP7_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP7_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP8_ Parameters

+ + +

Temperature Sensor Type (TEMP8_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP8_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP8_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP8_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP8_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP8_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP8_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP8_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP8_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP8_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP8_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP8_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP9_ Parameters

+ + +

Temperature Sensor Type (TEMP9_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP9_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP9_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP9_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP9_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP9_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP9_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP9_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP9_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP9_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP9_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP9_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TERRAIN_ Parameters

+ + +

Terrain data enable (TERRAIN_ENABLE)

Note: This parameter is for advanced users
+ +

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

+ + + +

Terrain grid spacing (TERRAIN_SPACING)

Note: This parameter is for advanced users
+ +

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.

+ + + +

Terrain options (TERRAIN_OPTIONS)

Note: This parameter is for advanced users
+ +

Options to change behaviour of terrain system

+ + + +

Acceptance margin (TERRAIN_MARGIN)

Note: This parameter is for advanced users
+ +

Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used

+ + + +

Terrain reference offset maximum (TERRAIN_OFS_MAX)

Note: This parameter is for advanced users
+ +

The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.

+ + + +

Terrain cache size (TERRAIN_CACHE_SZ)

Note: This parameter is for advanced users
+ +

The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory

+ + + +

TMODE Parameters

+ + +

tmode enable (TMODE_ENABLE)

Note: This parameter is for advanced users
+ +

tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards

+ + + +

Tmode first mode (TMODE_MODE1)

+ +

This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS

+ + + +

Tmode second mode (TMODE_MODE2)

+ +

This is the secondary mode. This mode is assumed to require GPS

+ + + +

Tmode action 1 (TMODE_ACTION1)

+ +

This is the action taken when the left action button is pressed

+ + + +

Tmode action 2 (TMODE_ACTION2)

+ +

This is the action taken when the right action button is pressed

+ + + +

Tmode action 3 (TMODE_ACTION3)

+ +

This is the action taken when the power button is pressed

+ + + +

Tmode action 4 (TMODE_ACTION4)

+ +

This is the action taken when the left action button is pressed while the left (Mode) button is held down

+ + + +

Tmode action 5 (TMODE_ACTION5)

+ +

This is the action taken when the right action is pressed while the left (Mode) button is held down

+ + + +

Tmode action 6 (TMODE_ACTION6)

+ +

This is the action taken when the power button is pressed while the left (Mode) button is held down

+ + + +

Tmode left action (TMODE_LEFT)

+ +

This is the action taken when the left (Mode) button is pressed

+ + + +

Tmode left long action (TMODE_LEFT_LONG)

+ +

This is the action taken when the left (Mode) button is long-pressed

+ + + +

Stick auto trim limit (TMODE_TRIM_AUTO)

+ +

This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500

+ + + +

Tmode right action (TMODE_RIGHT)

+ +

This is the action taken when the right (Return) button is pressed

+ + + +

Tmode flags (TMODE_FLAGS)

+ +

Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged

+ + + +

Min voltage for output limiting (TMODE_VMIN)

Note: This parameter is for advanced users
+ +

This is the battery voltage below which no output limiting is done

+ + + +

Max voltage for output limiting (TMODE_VMAX)

Note: This parameter is for advanced users
+ +

This is the battery voltage above which thrust min is used

+ + + +

Min thrust multiplier (TMODE_TMIN)

Note: This parameter is for advanced users
+ +

This sets the thrust multiplier when voltage is high

+ + + +

Max thrust multiplier (TMODE_TMAX)

Note: This parameter is for advanced users
+ +

This sets the thrust multiplier when voltage is low

+ + + +

Load test multiplier (TMODE_LOAD_MUL)

Note: This parameter is for advanced users
+ +

This scales the load test output, as a value between 0 and 1

+ + + +

Load test filter (TMODE_LOAD_FILT)

Note: This parameter is for advanced users
+ +

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc

+ + + +

Load test type (TMODE_LOAD_TYPE)

Note: This parameter is for advanced users
+ +

This sets the type of load test

+ + + +

VISO Parameters

+ + +

Visual odometry camera connection type (VISO_TYPE)

Note: This parameter is for advanced users
+ +

Visual odometry camera connection type

+ + + +

Visual odometry camera X position offset (VISO_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Visual odometry camera Y position offset (VISO_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Visual odometry camera Z position offset (VISO_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Visual odometery camera orientation (VISO_ORIENT)

Note: This parameter is for advanced users
+ +

Visual odometery camera orientation

+ + + +

Visual odometry scaling factor (VISO_SCALE)

Note: This parameter is for advanced users
+ +

Visual odometry scaling factor applied to position estimates from sensor

+ + + +

Visual odometry sensor delay (VISO_DELAY_MS)

Note: This parameter is for advanced users
+ +

Visual odometry sensor delay relative to inertial measurements

+ + + +

Visual odometry velocity measurement noise (VISO_VEL_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry velocity measurement noise in m/s

+ + + +

Visual odometry position measurement noise (VISO_POS_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry yaw measurement noise (VISO_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry minimum quality (VISO_QUAL_MIN)

Note: This parameter is for advanced users
+ +

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

+ + + +

VTX_ Parameters

+ + +

Is the Video Transmitter enabled or not (VTX_ENABLE)

+ +

Toggles the Video Transmitter on and off

+ + + +

Video Transmitter Power Level (VTX_POWER)

+ +

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

+ + + +

Video Transmitter Channel (VTX_CHANNEL)

+ +

Video Transmitter Channel

+ + + +

Video Transmitter Band (VTX_BAND)

+ +

Video Transmitter Band

+ + + +

Video Transmitter Frequency (VTX_FREQ)

+ +

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

+ + + +

Video Transmitter Options (VTX_OPTIONS)

Note: This parameter is for advanced users
+ +

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

+ + + +

Video Transmitter Max Power Level (VTX_MAX_POWER)

+ +

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

+ + + +

WINCH Parameters

+ + +

Winch Type (WINCH_TYPE)

+ +

Winch Type

+ + + +

Winch deploy or retract rate maximum (WINCH_RATE_MAX)

+ +

Winch deploy or retract rate maximum. Set to maximum rate with no load.

+ + + +

Winch control position error P gain (WINCH_POS_P)

+ +

Winch control position error P gain

+ + + +

Winch options (WINCH_OPTIONS)

+ +

Winch options

+ + + +

WPNAV_ Parameters

+ + +

Waypoint Horizontal Speed Target (WPNAV_SPEED)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

+ + + +

Waypoint Radius (WPNAV_RADIUS)

+ +

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

+ + + +

Waypoint Climb Speed Target (WPNAV_SPEED_UP)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

+ + + +

Waypoint Descent Speed Target (WPNAV_SPEED_DN)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

+ + + +

Waypoint Acceleration (WPNAV_ACCEL)

+ +

Defines the horizontal acceleration in cm/s/s used during missions

+ + + +

Waypoint Vertical Acceleration (WPNAV_ACCEL_Z)

+ +

Defines the vertical acceleration in cm/s/s used during missions

+ + + +

Waypoint missions use rangefinder for terrain following (WPNAV_RFND_USE)

Note: This parameter is for advanced users
+ +

This controls if waypoint missions use rangefinder for terrain following

+ + + +

Waypoint Jerk (WPNAV_JERK)

+ +

Defines the horizontal jerk in m/s/s used during missions

+ + + +

Waypoint Terrain following altitude margin (WPNAV_TER_MARGIN)

Note: This parameter is for advanced users
+ +

Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)

+ + + +

Waypoint Cornering Acceleration (WPNAV_ACCEL_C)

+ +

Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.

+ + + +

WVANE_ Parameters

+ + +

Enable (WVANE_ENABLE)

+ +

Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.

+ + + +

Weathervaning gain (WVANE_GAIN)

+ +

This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.

+ + + +

Weathervaning min angle (WVANE_ANG_MIN)

+ +

The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.

+ + + +

Weathervaning min height (WVANE_HGT_MIN)

+ +

Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning.

+ + + +

Weathervaning max ground speed (WVANE_SPD_MAX)

+ +

Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.

+ + + +

Weathervaning max vertical speed (WVANE_VELZ_MAX)

+ +

The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.

+ + + +

Takeoff override (WVANE_TAKEOFF)

+ +

Override the weather vaning behaviour when in takeoffs

+ + + +

Landing override (WVANE_LAND)

+ +

Override the weather vaning behaviour when in landing

+ + + +

Weathervaning options (WVANE_OPTIONS)

+ +

Options impacting weathervaning behaviour

+ + + +

ZIGZ_ Parameters

+ + +

ZigZag auto enable/disable (ZIGZ_AUTO_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) ZigZag auto feature

+ + + +

Auto sprayer in ZigZag (ZIGZ_SPRAYER)

Note: This parameter is for advanced users
+ +

Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.

+ + + +

The delay for zigzag waypoint (ZIGZ_WP_DELAY)

Note: This parameter is for advanced users
+ +

Waiting time after reached the destination

+ + + +

Sideways distance in ZigZag auto (ZIGZ_SIDE_DIST)

Note: This parameter is for advanced users
+ +

The distance to move sideways in ZigZag mode

+ + + +

Sideways direction in ZigZag auto (ZIGZ_DIRECTION)

Note: This parameter is for advanced users
+ +

The direction to move sideways in ZigZag mode

+ + + +

Total number of lines (ZIGZ_LINE_NUM)

Note: This parameter is for advanced users
+ +

Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways

+ diff --git a/Copter-4.6/Parameters.md b/Copter-4.6/Parameters.md new file mode 100644 index 0000000..b4f15c1 --- /dev/null +++ b/Copter-4.6/Parameters.md @@ -0,0 +1,44261 @@ + +This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time. + +# ArduCopter Parameters + +## FORMAT_VERSION: Eeprom format version number + +*Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + +## SYSID_THISMAV: MAVLink system ID of this vehicle + +*Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + +- Range: 1 255 + +## SYSID_MYGCS: My ground station number + +*Note: This parameter is for advanced users* + +Allows restricting radio overrides to only come from my ground station + +- Range: 1 255 + +- Increment: 1 + +## PILOT_THR_FILT: Throttle filter cutoff + +*Note: This parameter is for advanced users* + +Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable + +- Units: Hz + +- Range: 0 10 + +- Increment: .5 + +## PILOT_TKOFF_ALT: Pilot takeoff altitude + +Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick. + +- Units: cm + +- Range: 0.0 1000.0 + +- Increment: 10 + +## PILOT_THR_BHV: Throttle stick behavior + +Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick. + +- Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection + +## TELEM_DELAY: Telemetry startup delay + +*Note: This parameter is for advanced users* + +The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up + +- Units: s + +- Range: 0 30 + +- Increment: 1 + +## GCS_PID_MASK: GCS PID tuning mask + +*Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID_TUNING messages for + +- Bitmask: 0:Roll,1:Pitch,2:Yaw,3:AccelZ + +## RTL_ALT: RTL Altitude + +The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude. + +- Units: cm + +- Range: 30 300000 + +- Increment: 1 + +## RTL_CONE_SLOPE: RTL cone slope + +Defines a cone above home which determines maximum climb + +- Range: 0.5 10.0 + +- Increment: .1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Shallow| +|3|Steep| + +## RTL_SPEED: RTL speed + +Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead. + +- Units: cm/s + +- Range: 0 2000 + +- Increment: 50 + +## RTL_ALT_FINAL: RTL Final Altitude + +This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land. + +- Units: cm + +- Range: 0 1000 + +- Increment: 1 + +## RTL_CLIMB_MIN: RTL minimum climb + +The vehicle will climb this many cm during the initial climb portion of the RTL + +- Units: cm + +- Range: 0 3000 + +- Increment: 10 + +## RTL_LOIT_TIME: RTL loiter time + +Time (in milliseconds) to loiter above home before beginning final descent + +- Units: ms + +- Range: 0 60000 + +- Increment: 1000 + +## RTL_ALT_TYPE: RTL mode altitude type + +RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database + +|Value|Meaning| +|:---:|:---:| +|0|Relative to Home| +|1|Terrain| + +## FS_GCS_ENABLE: Ground Station Failsafe Enable + +Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled/NoAction| +|1|RTL| +|2|RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS)| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Land| +|6|Auto DO_LAND_START or RTL| +|7|Brake or Land| + +## GPS_HDOP_GOOD: GPS Hdop Good + +*Note: This parameter is for advanced users* + +GPS Hdop value at or below this value represent a good position. Used for pre-arm checks + +- Range: 100 900 + +## SUPER_SIMPLE: Super Simple Mode + +Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions + +- Bitmask: 0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6 + +## WP_YAW_BEHAVIOR: Yaw behaviour during missions + +Determines how the autopilot controls the yaw during missions and RTL + +|Value|Meaning| +|:---:|:---:| +|0|Never change yaw| +|1|Face next waypoint| +|2|Face next waypoint except RTL| +|3|Face along GPS course| + +## LAND_SPEED: Land speed + +The descent speed for the final stage of landing in cm/s + +- Units: cm/s + +- Range: 30 200 + +- Increment: 10 + +## LAND_SPEED_HIGH: Land speed high + +The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used + +- Units: cm/s + +- Range: 0 500 + +- Increment: 10 + +## PILOT_SPEED_UP: Pilot maximum vertical speed ascending + +The maximum vertical ascending velocity the pilot may request in cm/s + +- Units: cm/s + +- Range: 50 500 + +- Increment: 10 + +## PILOT_ACCEL_Z: Pilot vertical acceleration + +The vertical acceleration used when pilot is controlling the altitude + +- Units: cm/s/s + +- Range: 50 500 + +- Increment: 10 + +## FS_THR_ENABLE: Throttle Failsafe Enable + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled always RTL| +|2|Enabled Continue with Mission in Auto Mode (Removed in 4.0+)| +|3|Enabled always Land| +|4|Enabled always SmartRTL or RTL| +|5|Enabled always SmartRTL or Land| +|6|Enabled Auto DO_LAND_START or RTL| +|7|Enabled always Brake or Land| + +## FS_THR_VALUE: Throttle Failsafe Value + +The PWM level in microseconds on channel 3 below which throttle failsafe triggers + +- Range: 910 1100 + +- Units: PWM + +- Increment: 1 + +## THR_DZ: Throttle deadzone + +The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes + +- Range: 0 300 + +- Units: PWM + +- Increment: 1 + +## FLTMODE1: Flight Mode 1 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE2: Flight Mode 2 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE3: Flight Mode 3 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE4: Flight Mode 4 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE5: Flight Mode 5 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE6: Flight Mode 6 + +Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750 + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| +|27|Auto RTL| +|28|Turtle| + +## FLTMODE_CH: Flightmode channel + +*Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|5|Channel5| +|6|Channel6| +|7|Channel7| +|8|Channel8| +|9|Channel9| +|10|Channel 10| +|11|Channel 11| +|12|Channel 12| +|13|Channel 13| +|14|Channel 14| +|15|Channel 15| + +## INITIAL_MODE: Initial flight mode + +*Note: This parameter is for advanced users* + +This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|Smart_RTL| +|22|FlowHold| +|23|Follow| +|24|ZigZag| +|25|SystemID| +|26|Heli_Autorotate| + +## SIMPLE: Simple mode bitmask + +*Note: This parameter is for advanced users* + +Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions. + +- Bitmask: 0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6 + +## LOG_BITMASK: Log bitmask + +Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535. + +- Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,5:Navigation Tuning,6:RC input,7:IMU,8:Mission Commands,9:Battery Monitor,10:RC output,11:Optical Flow,12:PID,13:Compass,15:Camera,17:Motors,18:Fast IMU,19:Raw IMU,20:Video Stabilization,21:Fast harmonic notch logging + +## ESC_CALIBRATION: ESC Calibration + +*Note: This parameter is for advanced users* + +Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually. + +|Value|Meaning| +|:---:|:---:| +|0|Normal Start-up| +|1|Start-up in ESC Calibration mode if throttle high| +|2|Start-up in ESC Calibration mode regardless of throttle| +|3|Start-up and automatically calibrate ESCs| +|9|Disabled| + +## TUNE: Channel 6 Tuning + +Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Stab Roll/Pitch kP| +|4|Rate Roll/Pitch kP| +|5|Rate Roll/Pitch kI| +|21|Rate Roll/Pitch kD| +|3|Stab Yaw kP| +|6|Rate Yaw kP| +|26|Rate Yaw kD| +|56|Rate Yaw Filter| +|55|Motor Yaw Headroom| +|14|AltHold kP| +|7|Throttle Rate kP| +|34|Throttle Accel kP| +|35|Throttle Accel kI| +|36|Throttle Accel kD| +|12|Loiter Pos kP| +|22|Velocity XY kP| +|28|Velocity XY kI| +|10|WP Speed| +|25|Acro Roll/Pitch deg/s| +|40|Acro Yaw deg/s| +|45|RC Feel| +|13|Heli Ext Gyro| +|38|Declination| +|39|Circle Rate| +|46|Rate Pitch kP| +|47|Rate Pitch kI| +|48|Rate Pitch kD| +|49|Rate Roll kP| +|50|Rate Roll kI| +|51|Rate Roll kD| +|52|Rate Pitch FF| +|53|Rate Roll FF| +|54|Rate Yaw FF| +|58|SysID Magnitude| +|59|PSC Angle Max| + +## FRAME_TYPE: Frame Type (+, X, V, etc) + +Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters. + +|Value|Meaning| +|:---:|:---:| +|0|Plus| +|1|X| +|2|V| +|3|H| +|4|V-Tail| +|5|A-Tail| +|10|Y6B| +|11|Y6F| +|12|BetaFlightX| +|13|DJIX| +|14|ClockwiseX| +|15|I| +|18|BetaFlightXReversed| +|19|Y4| + +- RebootRequired: True + +## DISARM_DELAY: Disarm delay + +*Note: This parameter is for advanced users* + +Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value. + +- Units: s + +- Range: 0 127 + +## ANGLE_MAX: Angle Max + +*Note: This parameter is for advanced users* + +Maximum lean angle in all flight modes + +- Units: cdeg + +- Increment: 10 + +- Range: 1000 8000 + +## PHLD_BRAKE_RATE: PosHold braking rate + +*Note: This parameter is for advanced users* + +PosHold flight mode's rotation rate during braking in deg/sec + +- Units: deg/s + +- Range: 4 12 + +## PHLD_BRAKE_ANGLE: PosHold braking angle max + +*Note: This parameter is for advanced users* + +PosHold flight mode's max lean angle during braking in centi-degrees + +- Units: cdeg + +- Increment: 10 + +- Range: 2000 4500 + +## LAND_REPOSITION: Land repositioning + +*Note: This parameter is for advanced users* + +Enables user input during LAND mode, the landing phase of RTL, and auto mode landings. + +|Value|Meaning| +|:---:|:---:| +|0|No repositioning| +|1|Repositioning| + +## FS_EKF_ACTION: EKF Failsafe Action + +*Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + +|Value|Meaning| +|:---:|:---:| +|1|Land| +|2|AltHold| +|3|Land even in Stabilize| + +## FS_EKF_THRESH: EKF failsafe variance threshold + +*Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe. + +|Value|Meaning| +|:---:|:---:| +|0.6|Strict| +|0.8|Default| +|1.0|Relaxed| + +## FS_CRASH_CHECK: Crash check enable + +*Note: This parameter is for advanced users* + +This enables automatic crash checking. When enabled the motors will disarm if a crash is detected. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RC_SPEED: ESC Update Speed + +*Note: This parameter is for advanced users* + +This is the speed in Hertz that your ESCs will receive updates + +- Units: Hz + +- Range: 50 490 + +- Increment: 1 + +## ACRO_BAL_ROLL: Acro Balance Roll + +*Note: This parameter is for advanced users* + +rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude. + +- Range: 0 3 + +- Increment: 0.1 + +## ACRO_BAL_PITCH: Acro Balance Pitch + +*Note: This parameter is for advanced users* + +rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude. + +- Range: 0 3 + +- Increment: 0.1 + +## ACRO_TRAINER: Acro Trainer + +*Note: This parameter is for advanced users* + +Type of trainer used in acro mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Leveling| +|2|Leveling and Limited| + +## THROW_MOT_START: Start motors before throwing is detected + +Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw. + +|Value|Meaning| +|:---:|:---:| +|0|Stopped| +|1|Running| + +## THROW_ALT_MIN: Throw mode minimum altitude + +*Note: This parameter is for advanced users* + +Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check + +- Units: m + +## THROW_ALT_MAX: Throw mode maximum altitude + +*Note: This parameter is for advanced users* + +Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check + +- Units: m + +## WP_NAVALT_MIN: Minimum navigation altitude + +This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing. + +- Range: 0 5 + +## THROW_NEXTMODE: Throw mode's follow up mode + +Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18) + +|Value|Meaning| +|:---:|:---:| +|3|Auto| +|4|Guided| +|5|LOITER| +|6|RTL| +|9|Land| +|17|Brake| +|18|Throw| + +## THROW_TYPE: Type of Type + +Used by Throw mode. Specifies whether Copter is thrown upward or dropped. + +|Value|Meaning| +|:---:|:---:| +|0|Upward Throw| +|1|Drop| + +## GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable + +*Note: This parameter is for advanced users* + +Ground Effect Compensation Enable/Disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DEV_OPTIONS: Development options + +*Note: This parameter is for advanced users* + +Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning + +- Bitmask: 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt + +## ACRO_THR_MID: Acro Thr Mid + +*Note: This parameter is for advanced users* + +Acro Throttle Mid + +- Range: 0 1 + +## SYSID_ENFORCE: GCS sysid enforcement + +*Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + +|Value|Meaning| +|:---:|:---:| +|0|NotEnforced| +|1|Enforced| + +## FRAME_CLASS: Frame Class + +Controls major frame class for multicopter component + +|Value|Meaning| +|:---:|:---:| +|0|Undefined| +|1|Quad| +|2|Hexa| +|3|Octa| +|4|OctaQuad| +|5|Y6| +|6|Heli| +|7|Tri| +|8|SingleCopter| +|9|CoaxCopter| +|10|BiCopter| +|11|Heli_Dual| +|12|DodecaHexa| +|13|HeliQuad| +|14|Deca| +|15|Scripting Matrix| +|16|6DoF Scripting| +|17|Dynamic Scripting Matrix| + +- RebootRequired: True + +## PILOT_SPEED_DN: Pilot maximum vertical speed descending + +The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used. + +- Units: cm/s + +- Range: 0 500 + +- Increment: 10 + +## LAND_ALT_LOW: Land alt low + +*Note: This parameter is for advanced users* + +Altitude during Landing at which vehicle slows to LAND_SPEED + +- Units: cm + +- Range: 100 10000 + +- Increment: 10 + +## TUNE_MIN: Tuning minimum + +Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to + +## TUNE_MAX: Tuning maximum + +Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to + +## FS_VIBE_ENABLE: Vibration Failsafe enable + +This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FS_OPTIONS: Failsafe options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options. + +- Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper + +## ACRO_OPTIONS: Acro mode options + +*Note: This parameter is for advanced users* + +A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only. + +- Bitmask: 0:Air-mode,1:Rate Loop Only + +## AUTO_OPTIONS: Auto mode options + +*Note: This parameter is for advanced users* + +A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto. + +- Bitmask: 0:Allow Arming,1:Allow Takeoff Without Raising Throttle,2:Ignore pilot yaw,7:Allow weathervaning + +## GUID_OPTIONS: Guided mode options + +*Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + +- Bitmask: 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets,7:Allow weathervaning + +## FS_GCS_TIMEOUT: GCS failsafe timeout + +Timeout before triggering the GCS failsafe + +- Units: s + +- Range: 2 120 + +- Increment: 1 + +## RTL_OPTIONS: RTL mode options + +*Note: This parameter is for advanced users* + +Options that can be applied to change RTL mode behaviour + +- Bitmask: 2:Ignore pilot yaw + +## FLIGHT_OPTIONS: Flight mode options + +*Note: This parameter is for advanced users* + +Flight mode specific options + +- Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming + +## RNGFND_FILT: Rangefinder filter + +Rangefinder filter to smooth distance. Set to zero to disable filtering + +- Units: Hz + +- Range: 0 5 + +- Increment: 0.05 + +- RebootRequired: True + +## GUID_TIMEOUT: Guided mode timeout + +*Note: This parameter is for advanced users* + +Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control + +- Units: s + +- Range: 0.1 5 + +## SURFTRAK_MODE: Surface Tracking Mode + +*Note: This parameter is for advanced users* + +set which surface to track in surface tracking + +|Value|Meaning| +|:---:|:---:| +|0|Do not track| +|1|Ground| +|2|Ceiling| + +- RebootRequired: True + +## FS_DR_ENABLE: DeadReckon Failsafe Action + +Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled/NoAction| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|6|Auto DO_LAND_START or RTL| + +## FS_DR_TIMEOUT: DeadReckon Failsafe Timeout + +DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate + +- Range: 0 120 + +## ACRO_RP_RATE: Acro Roll and Pitch Rate + +Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation + +- Units: deg/s + +- Range: 1 1080 + +## ACRO_RP_EXPO: Acro Roll/Pitch Expo + +*Note: This parameter is for advanced users* + +Acro roll/pitch Expo to allow faster rotation when stick at edges + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +- Range: -0.5 0.95 + +## ACRO_RP_RATE_TC: Acro roll/pitch rate control input time constant + +Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## ACRO_Y_RATE: Acro Yaw Rate + +Acro mode maximum yaw rate. Higher value means faster rate of rotation + +- Units: deg/s + +- Range: 1 360 + +## ACRO_Y_EXPO: Acro Yaw Expo + +*Note: This parameter is for advanced users* + +Acro yaw expo to allow faster rotation when stick at edges + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +- Range: -1.0 0.95 + +## ACRO_Y_RATE_TC: Acro yaw rate control input time constant + +Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## PILOT_Y_RATE: Pilot controlled yaw rate + +Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro + +- Units: deg/s + +- Range: 1 360 + +## PILOT_Y_EXPO: Pilot controlled yaw expo + +*Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +- Range: -0.5 1.0 + +## PILOT_Y_RATE_TC: Pilot yaw rate control input time constant + +Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## TKOFF_SLEW_TIME: Slew time of throttle during take-off + +Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff. + +- Units: s + +- Range: 0.25 5.0 + +## TKOFF_RPM_MIN: Takeoff Check RPM minimum + +Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check + +- Range: 0 10000 + +## PLDP_THRESH: Payload Place thrust ratio threshold + +Ratio of vertical thrust during decent below which payload touchdown will trigger. + +- Range: 0.5 0.9 + +## PLDP_RNG_MAX: Payload Place maximum range finder altitude + +Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable. + +- Units: m + +- Range: 0 100 + +## PLDP_DELAY: Payload Place climb delay + +Delay after release, in seconds, before aircraft starts to climb back to starting altitude. + +- Units: s + +- Range: 0 120 + +## PLDP_SPEED_DN: Payload Place decent speed + +The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used. + +- Units: m/s + +- Range: 0 5 + +## SURFTRAK_TC: Surface Tracking Filter Time Constant + +*Note: This parameter is for advanced users* + +Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled + +- Units: s + +- Range: 0 5 + +## TKOFF_THR_MAX: Takeoff maximum throttle during take-off ramp up + +*Note: This parameter is for advanced users* + +Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process. + +- Range: 0.0 0.9 + +## TKOFF_RPM_MAX: Takeoff Check RPM maximum + +Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check + +- Range: 0 10000 + +## FS_EKF_FILT: EKF Failsafe filter cutoff + +*Note: This parameter is for advanced users* + +EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger. + +- Range: 0 10 + +- Units: Hz + +# VEHICLE Parameters + +## FLTMODE_GCSBLOCK: Flight mode block from GCS + +Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe. + +- Bitmask: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:Circle,7:Drift,8:Sport,9:Flip,10:AutoTune,11:PosHold,12:Brake,13:Throw,14:Avoid_ADSB,15:Guided_NoGPS,16:Smart_RTL,17:FlowHold,18:Follow,19:ZigZag,20:SystemID,21:Heli_Autorotate,22:Auto RTL,23:Turtle + +# Lua Script Parameters + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds + +- Range: 0 600 + +- Units: s + +## RCK_DEBUG: Display Rockblock debugging text + +Sends Rockblock debug text to GCS via statustexts + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_ENABLE: Enable Message transmission + +Enables the Rockblock sending and recieving + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 + +## CAM1_THERM_PAL: Camera1 Thermal Palette + +thermal image colour palette + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|WhiteHot| +|2|Sepia| +|3|IronBow| +|4|Rainbow| +|5|Night| +|6|Aurora| +|7|RedHot| +|8|Jungle| +|9|Medical| +|10|BlackHot| +|11|GloryHot| + +## CAM1_THERM_GAIN: Camera1 Thermal Gain + +thermal image temperature range + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|LowGain (50C to 550C)| +|1|HighGain (-20C to 150C)| + +## CAM1_THERM_RAW: Camera1 Thermal Raw Data + +save images with raw temperatures + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|Disabled (30fps)| +|1|Enabled (25 fps)| + +- Units: m + +## TERR_BRK_ENABLE: terrain brake enable + +terrain brake enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## TERR_BRK_ALT: terrain brake altitude + +terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode. + +- Range: 1 100 + +- Units: m + +## TERR_BRK_HDIST: terrain brake home distance + +terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate + +- Range: 0 1000 + +- Units: m + +## TERR_BRK_SPD: terrain brake speed threshold + +terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change. + +- Range: 0 5 + +- Units: m/s + +## QUIK_ENABLE: Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AXES: Quicktune axes + +axes to tune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw + +## QUIK_DOUBLE_TIME: Quicktune doubling time + +Time to double a tuning parameter. Raise this for a slower tune. + +- Range: 5 20 + +- Units: s + +## QUIK_GAIN_MARGIN: Quicktune gain margin + +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune + +- Range: 20 80 + +- Units: % + +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold + +Threshold for oscillation detection. A lower value will lead to a more conservative tune. + +- Range: 1 10 + +## QUIK_YAW_P_MAX: Quicktune Yaw P max + +Maximum value for yaw P gain + +- Range: 0.1 3 + +## QUIK_YAW_D_MAX: Quicktune Yaw D max + +Maximum value for yaw D gain + +- Range: 0.001 1 + +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio + +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AUTO_SAVE: Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## QUIK_RC_FUNC: Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction + +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. + +- Units: % + +- Range: 0 100 + +## QUIK_OPTIONS: Quicktune options + +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. + +- Bitmask: 0:UseTwoPositionSwitch + +## SHIP_ENABLE: Ship landing enable + +Enable ship landing system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## CGA_RATIO: CoG adjustment ratio + +*Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder). + +- Range: 0.5 2 + +## WEB_ENABLE: enable web server + +enable web server + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BIND_PORT: web server TCP port + +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections + +- Units: s + +- Range: 0.1 60 + +## WEB_SENDFILE_MIN: web server minimum file size for sendfile + +*Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download + +- Range: 0 10000000 + +## SLUP_ENABLE: Slung Payload enable + +Slung Payload enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SLUP_VEL_P: Slung Payload Velocity P gain + +Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload + +- Range: 0 0.8 + +## SLUP_DIST_MAX: Slung Payload horizontal distance max + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress + +- Range: 0 30 + +## SLUP_SYSID: Slung Payload mavlink system id + +Slung Payload mavlink system id. 0 to use any/all system ids + +- Range: 0 255 + +## SLUP_WP_POS_P: Slung Payload return to WP position P gain + +WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint + +- Range: 0 1 + +## SLUP_RESTOFS_TC: Slung Payload resting offset estimate filter time constant + +payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response + +- Range: 1 20 + +## SLUP_DEBUG: Slung Payload debug output + +Slung payload debug output, set to 1 to enable debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_ENABLE: Rover Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AXES: Rover Quicktune axes + +axes to tune + +- Bitmask: 0:Steering,1:Speed + +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio + +Ratio between measured response and FF gain. Raise this to get a higher FF gain + +- Range: 0 1.0 + +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio + +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio + +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio + +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value + +- Range: 0 1.0 + +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio + +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio + +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AUTO_SAVE: Rover Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WINCH_RATE_UP: WinchControl Rate Up + +Maximum rate when retracting line + +- Range: 0.1 5.0 + +## WINCH_RATE_DN: WinchControl Rate Down + +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold + +ExternalNav may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## BATT_SOC_COUNT: Count of SOC estimators + +Number of battery SOC estimators + +- Range: 0 4 + +## BATT_SOC1_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC1_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC1_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC1_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC1_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## DR_FLY_TIMEOUT: Deadreckoning flight timeout + +Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout + +- Units: s + +## DR_NEXT_MODE: Deadreckoning Next Mode + +Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered + +|Value|Meaning| +|:---:|:---:| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|16|PosHold| +|17|Brake| +|20|Guided_NoGPS| +|21|Smart_RTL| +|27|Auto RTL| + +## AEROM_ANG_ACCEL: Angular acceleration limit + +Maximum angular acceleration in maneuvers + +- Units: deg/s/s + +## AEROM_ANG_TC: Roll control filtertime constant + +This is the time over which we filter the desired roll to smooth it + +- Units: s + +## AEROM_THR_PIT_FF: Throttle feed forward from pitch + +This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch + +- Units: % + +## AEROM_SPD_P: P gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_SPD_I: I gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_ROL_COR_TC: Roll control time constant + +This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections + +- Units: s + +## AEROM_TIME_COR_P: Time constant for correction of our distance along the path + +This is the time constant for correcting path position errors + +- Units: s + +## AEROM_ERR_COR_P: P gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ERR_COR_D: D gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ENTRY_RATE: The roll rate to use when entering a roll maneuver + +This controls how rapidly we roll into a new orientation + +- Units: deg/s + +## AEROM_THR_LKAHD: The lookahead for throttle control + +This controls how far ahead we look in time along the path for the target throttle + +- Units: s + +## AEROM_DEBUG: Debug control + +This controls the printing of extra debug information on paths + +## AEROM_THR_MIN: Minimum Throttle + +Lowest throttle used during maneuvers + +- Units: % + +## AEROM_THR_BOOST: Throttle boost + +This is the extra throttle added in schedule elements marked as needing a throttle boost + +- Units: % + +## AEROM_YAW_ACCEL: Yaw acceleration + +This is maximum yaw acceleration to use + +- Units: deg/s/s + +## AEROM_LKAHD: Lookahead + +This is how much time to look ahead in the path for calculating path rates + +- Units: s + +## AEROM_PATH_SCALE: Path Scale + +Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected. + +- Range: 0.1 100 + +## AEROM_BOX_WIDTH: Box Width + +Length of aerobatic "box" + +- Units: m + +## AEROM_STALL_THR: Stall turn throttle + +Amount of throttle to reduce to for a stall turn + +- Units: % + +## AEROM_STALL_PIT: Stall turn pitch threshold + +Pitch threashold for moving to final stage of stall turn + +- Units: deg + +## AEROM_KE_RUDD: KnifeEdge Rudder + +Percent of rudder normally uses to sustain knife-edge at trick speed + +- Units: % + +## AEROM_KE_RUDD_LK: KnifeEdge Rudder lookahead + +Time to look ahead in the path to calculate rudder correction for bank angle + +- Units: s + +## AEROM_ALT_ABORT: Altitude Abort + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude. + +- Units: m + +## AEROM_TS_P: Timesync P gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_I: Timesync I gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_SPDMAX: Timesync speed max + +This sets the maximum speed adjustment for time sync between aircraft + +- Units: m/s + +## AEROM_TS_RATE: Timesync rate of send of NAMED_VALUE_FLOAT data + +This sets the rate we send data for time sync between aircraft + +- Units: Hz + +## AEROM_MIS_ANGLE: Mission angle + +When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used + +- Units: deg + +## AEROM_OPTIONS: Aerobatic options + +Options to control aerobatic behavior + +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised + +- Units: deg + +## TRIK_ENABLE: Tricks on Switch Enable + +Enables Tricks on Switch. TRIK params hidden until enabled + +## TRIK_SEL_FN: Trik Selection Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick selection + +- Range: 301 307 + +## TRIK_ACT_FN: Trik Action Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) + +- Range: 301 307 + +## TRIK_COUNT: Trik Count + +Number of tricks which can be selected over the range of the trik selection RC channel + +- Range: 1 11 + +## VIEP_DEBUG: ViewPro debug + +*Note: This parameter is for advanced users* + +ViewPro debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| + +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low + +Camera selection when switch is in low position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid + +Camera selection when switch is in middle position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High + +Camera selection when switch is in high position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed + +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_INF_OPTIONS: EFI INF-Inject options + +EFI INF driver options + +- Bitmask: 0:EnableLogging + +## EFI_INF_THR_HZ: EFI INF-Inject throttle rate + +EFI INF throttle output rate + +- Range: 0 50 + +- Units: Hz + +## EFI_INF_IGN_AUX: EFI INF-Inject ignition aux function + +EFI INF throttle ignition aux function + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_CANDRV: Set ANX CAN driver + +Set ANX CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## BATT_ANX_INDEX: ANX CAN battery index + +ANX CAN battery index + +- Range: 1 10 + +## BATT_ANX_OPTIONS: ANX CAN battery options + +*Note: This parameter is for advanced users* + +ANX CAN battery options + +- Bitmask: 0:LogAllFrames + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres + +## ESC_HW_ENABLE: Hobbywing ESC Enable + +Enable Hobbywing ESC telemetry + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ESC_HW_POLES: Hobbywing ESC motor poles + +Number of motor poles for eRPM scaling + +- Range: 1 50 + +## ESC_HW_OFS: Hobbywing ESC motor offset + +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_2K_ENABLE: Enable NMEA 2000 EFI driver + +Enable NMEA 2000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_2K_CANDRV: NMEA 2000 CAN driver + +NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_2K_OPTIONS: NMEA 2000 options + +NMEA 2000 driver options + +- Bitmask: 0:EnableLogging + +## DJIR_DEBUG: DJIRS2 debug + +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled with attitude reporting| + +## DJIR_UPSIDEDOWN: DJIRS2 upside down + +DJIRS2 upside down + +|Value|Meaning| +|:---:|:---:| +|0|Right side up| +|1|Upside down| + +## EFI_SP_ENABLE: Enable SkyPower EFI support + +Enable SkyPower EFI support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_CANDRV: Set SkyPower EFI CAN driver + +Set SkyPower EFI CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## EFI_SP_UPDATE_HZ: SkyPower EFI update rate + +*Note: This parameter is for advanced users* + +SkyPower EFI update rate + +- Range: 10 200 + +- Units: Hz + +## EFI_SP_THR_FN: SkyPower EFI throttle function + +SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|70|FixedWing| +|31|HeliRSC| + +## EFI_SP_THR_RATE: SkyPower EFI throttle rate + +*Note: This parameter is for advanced users* + +SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine + +- Range: 10 100 + +- Units: Hz + +## EFI_SP_START_FN: SkyPower EFI start function + +SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_GEN_FN: SkyPower EFI generator control function + +SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_MIN_RPM: SkyPower EFI minimum RPM + +*Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped + +- Range: 1 1000 + +## EFI_SP_TLM_RT: SkyPower EFI telemetry rate + +*Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS + +- Range: 1 10 + +- Units: Hz + +## EFI_SP_LOG_RT: SkyPower EFI log rate + +*Note: This parameter is for advanced users* + +SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed + +- Range: 1 50 + +- Units: Hz + +## EFI_SP_ST_DISARM: SkyPower EFI allow start disarmed + +SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_MODEL: SkyPower EFI ECU model + +SkyPower EFI ECU model + +|Value|Meaning| +|:---:|:---:| +|0|SRE_180| +|1|SP_275| + +## EFI_SP_GEN_CTRL: SkyPower EFI enable generator control + +SkyPower EFI enable generator control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_RST_TIME: SkyPower EFI restart time + +SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero. + +- Range: 0 10 + +- Units: s + +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver + +Enable Halo6000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_H6K_CANDRV: Halo6000 CAN driver + +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_H6K_START_FN: Halo6000 start auxilliary function + +The RC auxilliary function number for start/stop of the generator. Zero to disable start function + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres + +## EFI_H6K_OPTIONS: Halo6000 options + +Halo6000 options + +- Bitmask: 0:LogAllCanPackets + +## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_NO: TOFSENSE-M Connected + +Number of TOFSENSE-M CAN sensors connected + +- Range: 1 3 + +## TOFSENSE_MODE: TOFSENSE-M mode to be used + +TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode + +|Value|Meaning| +|:---:|:---:| +|0|8x8 mode| +|1|4x4 mode| + +## TOFSENSE_INST1: TOFSENSE-M First Instance + +First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID1: TOFSENSE-M First ID + +First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST2: TOFSENSE-M Second Instance + +Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID2: TOFSENSE-M Second ID + +Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST3: TOFSENSE-M Third Instance + +Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID3: TOFSENSE-M Thir ID + +Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + +# ADSB Parameters + +## ADSB_TYPE: ADSB Type + +Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|uAvionix-MAVLink| +|2|Sagetech| +|3|uAvionix-UCP| +|4|Sagetech MX Series| + +- RebootRequired: True + +## ADSB_LIST_MAX: ADSB vehicle list size + +*Note: This parameter is for advanced users* + +ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values. + +- Range: 1 100 + +- RebootRequired: True + +## ADSB_LIST_RADIUS: ADSB vehicle list radius filter + +*Note: This parameter is for advanced users* + +ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter. + +- Range: 0 100000 + +- Units: m + +## ADSB_ICAO_ID: ICAO_ID vehicle identification number + +*Note: This parameter is for advanced users* + +ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed. + +- Range: -1 16777215 + +## ADSB_EMIT_TYPE: Emitter type + +*Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV). + +|Value|Meaning| +|:---:|:---:| +|0|NoInfo| +|1|Light| +|2|Small| +|3|Large| +|4|HighVortexlarge| +|5|Heavy| +|6|HighlyManuv| +|7|Rotocraft| +|8|RESERVED| +|9|Glider| +|10|LightAir| +|11|Parachute| +|12|UltraLight| +|13|RESERVED| +|14|UAV| +|15|Space| +|16|RESERVED| +|17|EmergencySurface| +|18|ServiceSurface| +|19|PointObstacle| + +## ADSB_LEN_WIDTH: Aircraft length and width + +*Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size. + +|Value|Meaning| +|:---:|:---:| +|0|NO_DATA| +|1|L15W23| +|2|L25W28P5| +|3|L25W34| +|4|L35W33| +|5|L35W38| +|6|L45W39P5| +|7|L45W45| +|8|L55W45| +|9|L55W52| +|10|L65W59P5| +|11|L65W67| +|12|L75W72P5| +|13|L75W80| +|14|L85W80| +|15|L85W90| + +## ADSB_OFFSET_LAT: GPS antenna lateral offset + +*Note: This parameter is for advanced users* + +GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft. + +|Value|Meaning| +|:---:|:---:| +|0|NoData| +|1|Left2m| +|2|Left4m| +|3|Left6m| +|4|Center| +|5|Right2m| +|6|Right4m| +|7|Right6m| + +## ADSB_OFFSET_LON: GPS antenna longitudinal offset + +*Note: This parameter is for advanced users* + +GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor + +|Value|Meaning| +|:---:|:---:| +|0|NO_DATA| +|1|AppliedBySensor| + +## ADSB_RF_SELECT: Transceiver RF selection + +*Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only. + +- Bitmask: 0:Rx,1:Tx + +## ADSB_SQUAWK: Squawk code + +*Note: This parameter is for advanced users* + +VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200. + +- Range: 0 7777 + +- Units: octal + +## ADSB_RF_CAPABLE: RF capabilities + +*Note: This parameter is for advanced users* + +Describes your hardware RF In/Out capabilities. + +- Bitmask: 0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out + +## ADSB_LIST_ALT: ADSB vehicle list altitude filter + +*Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter. + +- Range: 0 32767 + +- Units: m + +## ADSB_ICAO_SPECL: ICAO_ID of special vehicle + +*Note: This parameter is for advanced users* + +ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable. + +## ADSB_LOG: ADS-B logging + +*Note: This parameter is for advanced users* + +0: no logging, 1: log only special ID, 2:log all + +|Value|Meaning| +|:---:|:---:| +|0|no logging| +|1|log only special ID| +|2|log all| + +## ADSB_OPTIONS: ADS-B Options + +*Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + +- Bitmask: 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config + +# AFS Parameters + +## AFS_ENABLE: Enable Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect + +## AFS_MAN_PIN: Manual Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +## AFS_HB_PIN: Heartbeat Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_WP_COMMS: Comms Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + +## AFS_WP_GPS_LOSS: GPS Loss Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + +## AFS_TERMINATE: Force Terminate + +*Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + +## AFS_TERM_ACTION: Terminate action + +*Note: This parameter is for advanced users* + +This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter + +## AFS_TERM_PIN: Terminate Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_AMSL_LIMIT: AMSL limit + +*Note: This parameter is for advanced users* + +This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit. + +- Units: m + +## AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit + +*Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination. + +- Units: m + +## AFS_QNH_PRESSURE: QNH pressure + +*Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit. + +- Units: hPa + +## AFS_MAX_GPS_LOSS: Maximum number of GPS loss events + +*Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events. + +## AFS_MAX_COM_LOSS: Maximum number of comms loss events + +*Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events. + +## AFS_GEOFENCE: Enable geofence Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC: Enable RC Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes + +*Note: This parameter is for advanced users* + +If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode. + +## AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously + +*Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination. + +## AFS_RC_FAIL_TIME: RC failure time + +*Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable. + +- Units: s + +## AFS_MAX_RANGE: Max allowed range + +*Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature. + +- Units: km + +## AFS_OPTIONS: AFS options + +See description for each bitmask bit description + +- Bitmask: 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + +## AFS_GCS_TIMEOUT: GCS timeout + +*Note: This parameter is for advanced users* + +The time (in seconds) of persistent data link loss before GCS failsafe occurs. + +- Units: s + +# AHRS Parameters + +## AHRS_GPS_GAIN: AHRS GPS gain + +*Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0. + +- Range: 0.0 1.0 + +- Increment: .01 + +## AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down + +*Note: This parameter is for advanced users* + +This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use GPS for DCM position| +|2|Use GPS for DCM position and height| + +## AHRS_YAW_P: Yaw P + +*Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly. + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_RP_P: AHRS RP_P + +*Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_WIND_MAX: Maximum wind + +*Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors. + +- Range: 0 127 + +- Units: m/s + +- Increment: 1 + +## AHRS_TRIM_X: AHRS Trim Roll + +Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Y: AHRS Trim Pitch + +Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Z: AHRS Trim Yaw + +*Note: This parameter is for advanced users* + +Not Used + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_ORIENTATION: Board Orientation + +*Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient + +*Note: This parameter is for advanced users* + +This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less. + +- Range: 0.001 0.5 + +- Increment: .01 + +## AHRS_GPS_MINSATS: AHRS GPS Minimum satellites + +*Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers. + +- Range: 0 10 + +- Increment: 1 + +## AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation + +*Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|Enable EKF2| +|3|Enable EKF3| +|11|ExternalAHRS| + +## AHRS_CUSTOM_ROLL: Board orientation roll offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_PIT: Board orientation pitch offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_YAW: Board orientation yaw offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_OPTIONS: Optional AHRS behaviour + +*Note: This parameter is for advanced users* + +This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + +- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + +# AIS Parameters + +## AIS_TYPE: AIS receiver type + +AIS receiver type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|NMEA AIVDM message| + +- RebootRequired: True + +## AIS_LIST_MAX: AIS vessel list size + +*Note: This parameter is for advanced users* + +AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values. + +- Range: 1 100 + +## AIS_TIME_OUT: AIS vessel time out + +*Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + +- Units: s + +- Range: 1 2000 + +## AIS_LOGGING: AIS logging options + +*Note: This parameter is for advanced users* + +Bitmask of AIS logging options + +- Bitmask: 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + +# ARMING Parameters + +## ARMING_ACCTHRESH: Accelerometer error threshold + +*Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal. + +- Units: m/s/s + +- Range: 0.25 3.0 + +## ARMING_RUDDER: Arming with Rudder enable/disable + +*Note: This parameter is for advanced users* + +Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode! + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ArmingOnly| +|2|ArmOrDisarm| + +## ARMING_MIS_ITEMS: Required mission items + +*Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + +- Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + +## ARMING_CHECK: Arm Checks to Perform (bitmask) + +Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. + +- Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT + +## ARMING_OPTIONS: Arming options + +*Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + +- Bitmask: 0:Disable prearm display,1:Do not send status text on state change + +## ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model + +*Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check + +- Units: mGauss + +- Range: 0 500 + +## ARMING_CRSDP_IGN: Disable CrashDump Arming check + +*Note: This parameter is for advanced users* + +Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details. + +|Value|Meaning| +|:---:|:---:| +|0|Crash Dump arming check active| +|1|Crash Dump arming check deactivated| + +# AROT Parameters + +## AROT_ENABLE: Enable settings for RSC Setpoint + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the autonomous autorotation capability. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## AROT_HS_P: P gain for head speed controller + +*Note: This parameter is for advanced users* + +Increase value to increase sensitivity of head speed controller during autonomous autorotation. + +- Range: 0.3 1 + +- Increment: 0.01 + +## AROT_HS_SET_PT: Target Head Speed + +*Note: This parameter is for advanced users* + +The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary. + +- Units: RPM + +- Range: 1000 2800 + +- Increment: 1 + +## AROT_TARG_SP: Target Glide Ground Speed + +*Note: This parameter is for advanced users* + +Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase. + +- Units: cm/s + +- Range: 800 2000 + +- Increment: 50 + +## AROT_COL_FILT_E: Entry Phase Collective Filter + +*Note: This parameter is for advanced users* + +Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G. + +- Units: Hz + +- Range: 0.2 0.5 + +- Increment: 0.01 + +## AROT_COL_FILT_G: Glide Phase Collective Filter + +*Note: This parameter is for advanced users* + +Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E. + +- Units: Hz + +- Range: 0.03 0.15 + +- Increment: 0.01 + +## AROT_AS_ACC_MAX: Forward Acceleration Limit + +*Note: This parameter is for advanced users* + +Maximum forward acceleration to apply in speed controller. + +- Units: cm/s/s + +- Range: 30 60 + +- Increment: 10 + +## AROT_HS_SENSOR: Main Rotor RPM Sensor + +*Note: This parameter is for advanced users* + +Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1. + +- Units: s + +- Range: 0.5 3 + +- Increment: 0.1 + +## AROT_FW_V_P: Velocity (horizontal) P gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error. + +- Range: 0.1 6.0 + +- Increment: 0.1 + +## AROT_FW_V_FF: Velocity (horizontal) feed forward + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity. + +- Range: 0 1 + +- Increment: 0.01 + +# ARSPD Parameters + +## ARSPD_ENABLE: Airspeed Enable + +Enable airspeed sensor support + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_TUBE_ORDER: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_PRIMARY: Primary airspeed sensor + +*Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstSensor| +|1|2ndSensor| + +## ARSPD_OPTIONS: Airspeed options bitmask + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Bitmask: 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + +## ARSPD_WIND_MAX: Maximum airspeed and ground speed difference + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Units: m/s + +## ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Units: m/s + +## ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. + +- Range: 0.0 10.0 + +## ARSPD_OFF_PCNT: Maximum offset cal speed error + +*Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered. + +- Range: 0.0 10.0 + +- Units: % + +# ARSPD2 Parameters + +## ARSPD2_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD2_USE: Airspeed use + +This parameter is not used by this vehicle. Always set to 0. + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD2_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD2_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD2_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0. + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD2_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD2_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD2_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD2_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# ARSPD Parameters + +## ARSPD_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD_USE: Airspeed use + +This parameter is not used by this vehicle. Always set to 0. + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0. + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# ATC Parameters + +## ATC_SLEW_YAW: Yaw target slew rate + +*Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + +- Units: cdeg/s + +- Range: 500 18000 + +- Increment: 100 + +## ATC_ACCEL_Y_MAX: Acceleration Max for Yaw + +*Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + +- Units: cdeg/s/s + +- Range: 0 72000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|9000|VerySlow| +|18000|Slow| +|36000|Medium| +|54000|Fast| + +- Increment: 1000 + +## ATC_RATE_FF_ENAB: Rate Feedforward Enable + +*Note: This parameter is for advanced users* + +Controls whether body-frame rate feedforward is enabled or disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ATC_ACCEL_R_MAX: Acceleration Max for Roll + +*Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + +- Units: cdeg/s/s + +- Range: 0 180000 + +- Increment: 1000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|30000|VerySlow| +|72000|Slow| +|108000|Medium| +|162000|Fast| + +## ATC_ACCEL_P_MAX: Acceleration Max for Pitch + +*Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + +- Units: cdeg/s/s + +- Range: 0 180000 + +- Increment: 1000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|30000|VerySlow| +|72000|Slow| +|108000|Medium| +|162000|Fast| + +## ATC_ANGLE_BOOST: Angle Boost + +*Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ATC_ANG_RLL_P: Roll axis angle controller P gain + +Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate + +- Range: 3.000 12.000 + +## ATC_ANG_PIT_P: Pitch axis angle controller P gain + +Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + +- Range: 3.000 12.000 + +## ATC_ANG_YAW_P: Yaw axis angle controller P gain + +Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + +- Range: 3.000 12.000 + +## ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant + +*Note: This parameter is for advanced users* + +Angle Limit (to maintain altitude) Time Constant + +- Range: 0.5 10.0 + +## ATC_RATE_R_MAX: Angular Velocity Max for Roll + +*Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## ATC_RATE_P_MAX: Angular Velocity Max for Pitch + +*Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## ATC_RATE_Y_MAX: Angular Velocity Max for Yaw + +*Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## ATC_INPUT_TC: Attitude control input time constant + +Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## ATC_LAND_R_MULT: Landed roll gain multiplier + +*Note: This parameter is for advanced users* + +Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis. + +- Range: 0.25 1.0 + +## ATC_LAND_P_MULT: Landed pitch gain multiplier + +*Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis. + +- Range: 0.25 1.0 + +## ATC_LAND_Y_MULT: Landed yaw gain multiplier + +*Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis. + +- Range: 0.25 1.0 + +## ATC_RAT_RLL_P: Roll axis rate controller P gain + +Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + +- Range: 0.01 0.5 + +- Increment: 0.005 + +## ATC_RAT_RLL_I: Roll axis rate controller I gain + +Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + +- Range: 0.01 2.0 + +- Increment: 0.01 + +## ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum + +Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_RLL_D: Roll axis rate controller D gain + +Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + +- Range: 0.0 0.05 + +- Increment: 0.001 + +## ATC_RAT_RLL_FF: Roll axis rate controller feed forward + +Roll axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## ATC_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz + +Roll axis rate controller target frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz + +Roll axis rate controller error frequency in Hz + +- Range: 0 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz + +Roll axis rate controller derivative frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_SMAX: Roll slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_RLL_PDMX: Roll axis rate controller PD sum maximum + +Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_RLL_D_FF: Roll Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_RLL_NTF: Roll Target notch filter index + +*Note: This parameter is for advanced users* + +Roll Target notch filter index + +- Range: 1 8 + +## ATC_RAT_RLL_NEF: Roll Error notch filter index + +*Note: This parameter is for advanced users* + +Roll Error notch filter index + +- Range: 1 8 + +## ATC_RAT_PIT_P: Pitch axis rate controller P gain + +Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + +- Range: 0.01 0.50 + +- Increment: 0.005 + +## ATC_RAT_PIT_I: Pitch axis rate controller I gain + +Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate + +- Range: 0.01 2.0 + +- Increment: 0.01 + +## ATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum + +Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_PIT_D: Pitch axis rate controller D gain + +Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate + +- Range: 0.0 0.05 + +- Increment: 0.001 + +## ATC_RAT_PIT_FF: Pitch axis rate controller feed forward + +Pitch axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## ATC_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz + +Pitch axis rate controller target frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz + +Pitch axis rate controller error frequency in Hz + +- Range: 0 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz + +Pitch axis rate controller derivative frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_SMAX: Pitch slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_PIT_PDMX: Pitch axis rate controller PD sum maximum + +Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_PIT_D_FF: Pitch Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_PIT_NTF: Pitch Target notch filter index + +*Note: This parameter is for advanced users* + +Pitch Target notch filter index + +- Range: 1 8 + +## ATC_RAT_PIT_NEF: Pitch Error notch filter index + +*Note: This parameter is for advanced users* + +Pitch Error notch filter index + +- Range: 1 8 + +## ATC_RAT_YAW_P: Yaw axis rate controller P gain + +Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + +- Range: 0.10 2.50 + +- Increment: 0.005 + +## ATC_RAT_YAW_I: Yaw axis rate controller I gain + +Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate + +- Range: 0.010 1.0 + +- Increment: 0.01 + +## ATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum + +Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_YAW_D: Yaw axis rate controller D gain + +Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate + +- Range: 0.000 0.02 + +- Increment: 0.001 + +## ATC_RAT_YAW_FF: Yaw axis rate controller feed forward + +Yaw axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## ATC_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz + +Yaw axis rate controller target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz + +Yaw axis rate controller error frequency in Hz + +- Range: 0 20 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz + +Yaw axis rate controller derivative frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_SMAX: Yaw slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_YAW_PDMX: Yaw axis rate controller PD sum maximum + +Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_YAW_D_FF: Yaw Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_YAW_NTF: Yaw Target notch filter index + +*Note: This parameter is for advanced users* + +Yaw Target notch filter index + +- Range: 1 8 + +- Units: Hz + +## ATC_RAT_YAW_NEF: Yaw Error notch filter index + +*Note: This parameter is for advanced users* + +Yaw Error notch filter index + +- Range: 1 8 + +## ATC_THR_MIX_MIN: Throttle Mix Minimum + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) + +- Range: 0.1 0.25 + +## ATC_THR_MIX_MAX: Throttle Mix Maximum + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) + +- Range: 0.5 0.9 + +## ATC_THR_MIX_MAN: Throttle Mix Manual + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle) + +- Range: 0.1 0.9 + +## ATC_THR_G_BOOST: Throttle-gain boost + +*Note: This parameter is for advanced users* + +Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll. + +- Range: 0 1 + +## ATC_HOVR_ROL_TRM: Hover Roll Trim + +*Note: This parameter is for advanced users* + +Trim the hover roll angle to counter tail rotor thrust in a hover + +- Units: cdeg + +- Increment: 10 + +- Range: 0 1000 + +## ATC_RAT_RLL_P: Roll axis rate controller P gain + +Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + +- Range: 0.0 0.35 + +- Increment: 0.005 + +## ATC_RAT_RLL_I: Roll axis rate controller I gain + +Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + +- Range: 0.0 0.6 + +- Increment: 0.01 + +## ATC_RAT_RLL_IMAX: Roll axis rate controller I gain maximum + +Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_RLL_ILMI: Roll axis rate controller I-term leak minimum + +*Note: This parameter is for advanced users* + +Point below which I-term will not leak down + +- Range: 0 1 + +## ATC_RAT_RLL_D: Roll axis rate controller D gain + +Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + +- Range: 0.0 0.03 + +- Increment: 0.001 + +## ATC_RAT_RLL_FF: Roll axis rate controller feed forward + +Roll axis rate controller feed forward + +- Range: 0.05 0.5 + +- Increment: 0.001 + +## ATC_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz + +Roll axis rate controller target frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz + +Roll axis rate controller error frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz + +Roll axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_RLL_SMAX: Roll slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_RLL_D_FF: Roll Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_RLL_NTF: Roll Target notch filter index + +*Note: This parameter is for advanced users* + +Roll Target notch filter index + +- Range: 1 8 + +## ATC_RAT_RLL_NEF: Roll Error notch filter index + +*Note: This parameter is for advanced users* + +Roll Error notch filter index + +- Range: 1 8 + +## ATC_RAT_PIT_P: Pitch axis rate controller P gain + +Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + +- Range: 0.0 0.35 + +- Increment: 0.005 + +## ATC_RAT_PIT_I: Pitch axis rate controller I gain + +Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate + +- Range: 0.0 0.6 + +- Increment: 0.01 + +## ATC_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum + +Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_PIT_ILMI: Pitch axis rate controller I-term leak minimum + +*Note: This parameter is for advanced users* + +Point below which I-term will not leak down + +- Range: 0 1 + +## ATC_RAT_PIT_D: Pitch axis rate controller D gain + +Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate + +- Range: 0.0 0.03 + +- Increment: 0.001 + +## ATC_RAT_PIT_FF: Pitch axis rate controller feed forward + +Pitch axis rate controller feed forward + +- Range: 0.05 0.5 + +- Increment: 0.001 + +## ATC_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz + +Pitch axis rate controller target frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz + +Pitch axis rate controller error frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz + +Pitch axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_PIT_SMAX: Pitch slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_PIT_D_FF: Pitch Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_PIT_NTF: Pitch Target notch filter index + +*Note: This parameter is for advanced users* + +Pitch Target notch filter index + +- Range: 1 8 + +## ATC_RAT_PIT_NEF: Pitch Error notch filter index + +*Note: This parameter is for advanced users* + +Pitch Error notch filter index + +- Range: 1 8 + +## ATC_RAT_YAW_P: Yaw axis rate controller P gain + +Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + +- Range: 0.180 0.60 + +- Increment: 0.005 + +## ATC_RAT_YAW_I: Yaw axis rate controller I gain + +Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate + +- Range: 0.01 0.2 + +- Increment: 0.01 + +## ATC_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum + +Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## ATC_RAT_YAW_ILMI: Yaw axis rate controller I-term leak minimum + +*Note: This parameter is for advanced users* + +Point below which I-term will not leak down + +- Range: 0 1 + +## ATC_RAT_YAW_D: Yaw axis rate controller D gain + +Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate + +- Range: 0.000 0.02 + +- Increment: 0.001 + +## ATC_RAT_YAW_FF: Yaw axis rate controller feed forward + +Yaw axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## ATC_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz + +Yaw axis rate controller target frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz + +Yaw axis rate controller error frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz + +Yaw axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## ATC_RAT_YAW_SMAX: Yaw slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_RAT_YAW_D_FF: Yaw Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## ATC_RAT_YAW_NTF: Yaw Target notch filter index + +*Note: This parameter is for advanced users* + +Yaw Target notch filter index + +- Range: 1 8 + +- Units: Hz + +## ATC_RAT_YAW_NEF: Yaw Error notch filter index + +*Note: This parameter is for advanced users* + +Yaw Error notch filter index + +- Range: 1 8 + +## ATC_PIRO_COMP: Piro Comp Enable + +*Note: This parameter is for advanced users* + +Pirouette compensation enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# AUTOTUNE Parameters + +## AUTOTUNE_AXES: Autotune axis bitmask + +1-byte bitmap of axes to autotune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw,3:YawD + +## AUTOTUNE_AGGR: Autotune aggressiveness + +Autotune aggressiveness. Defines the bounce back used to detect size of the D term. + +- Range: 0.05 0.10 + +## AUTOTUNE_MIN_D: AutoTune minimum D + +Defines the minimum D gain + +- Range: 0.0001 0.005 + +## AUTOTUNE_AXES: Autotune axis bitmask + +1-byte bitmap of axes to autotune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw + +## AUTOTUNE_SEQ: AutoTune Sequence Bitmask + +2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P + +- Bitmask: 0:VFF,1:Rate D/Rate P(incl max gain),2:Angle P,3:Max Gain Only,4:Tune Check + +## AUTOTUNE_FRQ_MIN: AutoTune minimum sweep frequency + +Defines the start frequency for sweeps and dwells + +- Range: 10 30 + +## AUTOTUNE_FRQ_MAX: AutoTune maximum sweep frequency + +Defines the end frequency for sweeps and dwells + +- Range: 50 120 + +## AUTOTUNE_GN_MAX: AutoTune maximum response gain + +Defines the response gain (output/input) to tune + +- Range: 1 2.5 + +## AUTOTUNE_VELXY_P: AutoTune velocity xy P gain + +Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps + +- Range: 0 1 + +## AUTOTUNE_ACC_MAX: AutoTune maximum allowable angular acceleration + +maximum angular acceleration in deg/s/s allowed during autotune maneuvers + +- Range: 1 4000 + +## AUTOTUNE_RAT_MAX: Autotune maximum allowable angular rate + +maximum angular rate in deg/s allowed during autotune maneuvers + +- Range: 0 500 + +# AVD Parameters + +## AVD_ENABLE: Enable Avoidance using ADSB + +*Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## AVD_F_ACTION: Collision Avoidance Behavior + +*Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Report| +|2|Climb Or Descend| +|3|Move Horizontally| +|4|Move Perpendicularly in 3D| +|5|RTL| +|6|Hover| + +## AVD_W_ACTION: Collision Avoidance Behavior - Warn + +*Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Report| + +## AVD_F_RCVRY: Recovery behaviour after a fail event + +*Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + +|Value|Meaning| +|:---:|:---:| +|0|Remain in AVOID_ADSB| +|1|Resume previous flight mode| +|2|RTL| +|3|Resume if AUTO else Loiter| + +## AVD_OBS_MAX: Maximum number of obstacles to track + +*Note: This parameter is for advanced users* + +Maximum number of obstacles to track + +## AVD_W_TIME: Time Horizon Warn + +*Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken) + +- Units: s + +## AVD_F_TIME: Time Horizon Fail + +*Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken + +- Units: s + +## AVD_W_DIST_XY: Distance Warn XY + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before W_ACTION is undertaken + +- Units: m + +## AVD_F_DIST_XY: Distance Fail XY + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before F_ACTION is undertaken + +- Units: m + +## AVD_W_DIST_Z: Distance Warn Z + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR_W is undertaken + +- Units: m + +## AVD_F_DIST_Z: Distance Fail Z + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR_F is undertaken + +- Units: m + +## AVD_F_ALT_MIN: ADS-B avoidance minimum altitude + +*Note: This parameter is for advanced users* + +Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum. + +- Units: m + +# AVOID Parameters + +## AVOID_ENABLE: Avoidance control enable/disable + +Enabled/disable avoidance input sources + +- Bitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence + +## AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes + +Max lean angle used to avoid obstacles while in non-GPS modes + +- Units: cdeg + +- Increment: 10 + +- Range: 0 4500 + +## AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes + +Distance from object at which obstacle avoidance will begin in non-GPS modes + +- Units: m + +- Range: 1 30 + +## AVOID_MARGIN: Avoidance distance margin in GPS modes + +Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes + +- Units: m + +- Range: 1 10 + +## AVOID_BEHAVE: Avoidance behaviour + +Avoidance behaviour (slide or stop) + +|Value|Meaning| +|:---:|:---:| +|0|Slide| +|1|Stop| + +## AVOID_BACKUP_SPD: Avoidance maximum horizontal backup speed + +Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup. + +- Units: m/s + +- Range: 0 2 + +## AVOID_ALT_MIN: Avoidance minimum altitude + +Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable + +- Units: m + +- Range: 0 6 + +## AVOID_ACCEL_MAX: Avoidance maximum acceleration + +Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits + +- Units: m/s/s + +- Range: 0 9 + +## AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle + +Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle. + +- Units: m + +- Range: 0 2 + +## AVOID_BACKZ_SPD: Avoidance maximum vertical backup speed + +Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup. + +- Units: m/s + +- Range: 0 2 + +# BARO Parameters + +## BARO1_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_GND_TEMP: ground temperature + +*Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature. + +- Units: degC + +- Increment: 1 + +- Volatile: True + +## BARO_ALT_OFFSET: altitude offset + +*Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed. + +- Units: m + +- Increment: 0.1 + +## BARO_PRIMARY: Primary barometer + +*Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstBaro| +|1|2ndBaro| +|2|3rdBaro| + +## BARO_EXT_BUS: External baro bus + +*Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Bus0| +|1|Bus1| +|6|Bus6| + +## BARO2_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO3_GND_PRESS: Absolute Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## BARO_PROBE_EXT: External barometers to probe + +*Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. + +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + +## BARO1_DEVID: Baro ID + +*Note: This parameter is for advanced users* + +Barometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO2_DEVID: Baro ID2 + +*Note: This parameter is for advanced users* + +Barometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO3_DEVID: Baro ID3 + +*Note: This parameter is for advanced users* + +Barometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO_FIELD_ELV: field elevation + +*Note: This parameter is for advanced users* + +User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level. + +- Units: m + +- Increment: 0.1 + +- Volatile: True + +## BARO_ALTERR_MAX: Altitude error maximum + +*Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero. + +- Units: m + +- Increment: 1 + +- Range: 0 5000 + +## BARO_OPTIONS: Barometer options + +*Note: This parameter is for advanced users* + +Barometer options + +- Bitmask: 0:Treat MS5611 as MS5607 + +# BARO1WCF Parameters + +## BARO1_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO2WCF Parameters + +## BARO2_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO3WCF Parameters + +## BARO3_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BATT2 Parameters + +## BATT2_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT2_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT2_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT2_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT2_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT2_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT2_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT2_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT2_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT2_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT2_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT2_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT2_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT2_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT2_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT2_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT2_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT2_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT2_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT2_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT2_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT2_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT2_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT2_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT2_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT3 Parameters + +## BATT3_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT3_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT3_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT3_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT3_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT3_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT3_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT3_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT3_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT3_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT3_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT3_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT3_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT3_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT3_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT3_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT3_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT3_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT3_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT3_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT3_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT3_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT3_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT3_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT3_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT4 Parameters + +## BATT4_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT4_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT4_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT4_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT4_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT4_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT4_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT4_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT4_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT4_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT4_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT4_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT4_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT4_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT4_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT4_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT4_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT4_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT4_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT4_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT4_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT4_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT4_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT4_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT4_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT5 Parameters + +## BATT5_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT5_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT5_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT5_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT5_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT5_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT5_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT5_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT5_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT5_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT5_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT5_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT5_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT5_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT5_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT5_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT5_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT5_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT5_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT5_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT5_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT5_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT5_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT5_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT5_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT6 Parameters + +## BATT6_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT6_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT6_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT6_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT6_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT6_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT6_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT6_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT6_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT6_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT6_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT6_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT6_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT6_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT6_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT6_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT6_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT6_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT6_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT6_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT6_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT6_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT6_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT6_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT6_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT7 Parameters + +## BATT7_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT7_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT7_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT7_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT7_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT7_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT7_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT7_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT7_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT7_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT7_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT7_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT7_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT7_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT7_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT7_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT7_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT7_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT7_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT7_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT7_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT7_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT7_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT7_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT7_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT8 Parameters + +## BATT8_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT8_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT8_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT8_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT8_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT8_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT8_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT8_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT8_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT8_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT8_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT8_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT8_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT8_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT8_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT8_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT8_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT8_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT8_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT8_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT8_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT8_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT8_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT8_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT8_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT9 Parameters + +## BATT9_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT9_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT9_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT9_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT9_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT9_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT9_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT9_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT9_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT9_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT9_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT9_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT9_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT9_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT9_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT9_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT9_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT9_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT9_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT9_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT9_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT9_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT9_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT9_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT9_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTA Parameters + +## BATTA_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTA_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTA_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTA_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTA_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTA_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTA_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTA_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTA_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTA_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTA_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTA_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTA_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTA_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTA_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTA_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTA_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTA_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTA_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTA_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTA_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTA_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTA_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTA_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTA_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTB Parameters + +## BATTB_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTB_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTB_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTB_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTB_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTB_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTB_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTB_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTB_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTB_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTB_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTB_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTB_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTB_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTB_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTB_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTB_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTB_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTB_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTB_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTB_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTB_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTB_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTB_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTB_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTC Parameters + +## BATTC_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTC_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTC_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTC_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTC_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTC_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTC_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTC_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTC_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTC_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTC_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTC_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTC_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTC_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTC_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTC_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTC_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTC_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTC_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTC_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTC_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTC_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTC_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTC_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTC_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTD Parameters + +## BATTD_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTD_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTD_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTD_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTD_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTD_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTD_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTD_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTD_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTD_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTD_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTD_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTD_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTD_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTD_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTD_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTD_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTD_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTD_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTD_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTD_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTD_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTD_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTD_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTD_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTE Parameters + +## BATTE_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTE_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTE_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTE_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTE_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTE_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTE_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTE_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTE_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTE_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTE_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTE_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTE_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTE_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTE_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTE_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTE_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTE_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTE_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTE_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTE_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTE_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTE_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTE_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTE_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTF Parameters + +## BATTF_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTF_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTF_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTF_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTF_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTF_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTF_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTF_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTF_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTF_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTF_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTF_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTF_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTF_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTF_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTF_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTF_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTF_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTF_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTF_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTF_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTF_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTF_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTF_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTF_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTG Parameters + +## BATTG_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTG_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTG_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTG_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTG_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTG_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTG_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATTG_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTG_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTG_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTG_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTG_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTG_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTG_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTG_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTG_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTG_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTG_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTG_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTG_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTG_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTG_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTG_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTG_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTG_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT Parameters + +## BATT_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Land| +|2|RTL| +|3|SmartRTL or RTL| +|4|SmartRTL or Land| +|5|Terminate| +|6|Auto DO_LAND_START or RTL| + +## BATT_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BCN Parameters + +## BCN_TYPE: Beacon based position estimation device type + +*Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Pozyx| +|2|Marvelmind| +|3|Nooploop| +|10|SITL| + +## BCN_LATITUDE: Beacon origin's latitude + +*Note: This parameter is for advanced users* + +Beacon origin's latitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -90 90 + +## BCN_LONGITUDE: Beacon origin's longitude + +*Note: This parameter is for advanced users* + +Beacon origin's longitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -180 180 + +## BCN_ALT: Beacon origin's altitude above sealevel in meters + +*Note: This parameter is for advanced users* + +Beacon origin's altitude above sealevel in meters + +- Units: m + +- Increment: 1 + +- Range: 0 10000 + +## BCN_ORIENT_YAW: Beacon systems rotation from north in degrees + +*Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + +- Units: deg + +- Increment: 1 + +- Range: -180 +180 + +# BRD Parameters + +## BRD_SER1_RTSCTS: Serial 1 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +- RebootRequired: True + +## BRD_SER2_RTSCTS: Serial 2 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER3_RTSCTS: Serial 3 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER4_RTSCTS: Serial 4 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER5_RTSCTS: Serial 5 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SAFETY_DEFLT: Sets default state of the safety switch + +This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## BRD_SBUS_OUT: SBUS output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|50Hz| +|2|75Hz| +|3|100Hz| +|4|150Hz| +|5|200Hz| +|6|250Hz| +|7|300Hz| + +- RebootRequired: True + +## BRD_SERIAL_NUM: User-defined serial number + +User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot + +- Range: -8388608 8388607 + +## BRD_SAFETY_MASK: Outputs which ignore the safety switch state + +*Note: This parameter is for advanced users* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + +- Bitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + +- RebootRequired: True + +## BRD_HEAT_TARG: Board heater temperature target + +*Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1. + +- Range: -1 80 + +- Units: degC + +## BRD_TYPE: Board type + +*Note: This parameter is for advanced users* + +This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4) + +|Value|Meaning| +|:---:|:---:| +|0|AUTO| +|1|PX4V1| +|2|Pixhawk| +|3|Cube/Pixhawk2| +|4|Pixracer| +|5|PixhawkMini| +|6|Pixhawk2Slim| +|13|Intel Aero FC| +|14|Pixhawk Pro| +|20|AUAV2.1| +|21|PCNC1| +|22|MINDPXV2| +|23|SP01| +|24|CUAVv5/FMUV5| +|30|VRX BRAIN51| +|32|VRX BRAIN52| +|33|VRX BRAIN52E| +|34|VRX UBRAIN51| +|35|VRX UBRAIN52| +|36|VRX CORE10| +|38|VRX BRAIN54| +|39|PX4 FMUV6| +|100|PX4 OLDDRIVERS| + +- RebootRequired: True + +## BRD_IO_ENABLE: Enable IO co-processor + +*Note: This parameter is for advanced users* + +This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|EnableNoFWUpdate| + +- RebootRequired: True + +## BRD_SAFETYOPTION: Options for safety button behavior + +This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed + +- Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + +## BRD_VBUS_MIN: Autopilot board voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 4.0 5.5 + +- Increment: 0.1 + +## BRD_VSERVO_MIN: Servo voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 3.3 12.0 + +- Increment: 0.1 + +## BRD_SD_SLOWDOWN: microSD slowdown + +*Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used. + +- Range: 0 32 + +- Increment: 1 + +## BRD_PWM_VOLT_SEL: Set PWM Out Voltage + +*Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs. + +|Value|Meaning| +|:---:|:---:| +|0|3.3V| +|1|5V| + +## BRD_OPTIONS: Board options + +*Note: This parameter is for advanced users* + +Board specific option flags + +- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + +## BRD_BOOT_DELAY: Boot delay + +*Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + +- Range: 0 10000 + +- Units: ms + +## BRD_HEAT_P: Board Heater P gain + +*Note: This parameter is for advanced users* + +Board Heater P gain + +- Range: 1 500 + +- Increment: 1 + +## BRD_HEAT_I: Board Heater I gain + +*Note: This parameter is for advanced users* + +Board Heater integrator gain + +- Range: 0 1 + +- Increment: 0.1 + +## BRD_HEAT_IMAX: Board Heater IMAX + +*Note: This parameter is for advanced users* + +Board Heater integrator maximum + +- Range: 0 100 + +- Increment: 1 + +## BRD_ALT_CONFIG: Alternative HW config + +*Note: This parameter is for advanced users* + +Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## BRD_HEAT_LOWMGN: Board heater temp lower margin + +*Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check + +- Range: 0 20 + +- Units: degC + +## BRD_SD_MISSION: SDCard Mission size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_SD_FENCE: SDCard Fence size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_IO_DSHOT: Load DShot FW on IO + +*Note: This parameter is for advanced users* + +This loads the DShot firmware on the IO co-processor + +|Value|Meaning| +|:---:|:---:| +|0|StandardFW| +|1|DshotFW| + +- RebootRequired: True + +# BRDRADIO Parameters + +## BRD_RADIO_TYPE: Set type of direct attached radio + +This enables support for direct attached radio receivers + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|CYRF6936| +|2|CC2500| +|3|BK2425| + +## BRD_RADIO_PROT: protocol + +*Note: This parameter is for advanced users* + +Select air protocol + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|DSM2| +|2|DSMX| + +## BRD_RADIO_DEBUG: debug level + +*Note: This parameter is for advanced users* + +radio debug level + +- Range: 0 4 + +## BRD_RADIO_DISCRC: disable receive CRC + +*Note: This parameter is for advanced users* + +disable receive CRC (for debug) + +|Value|Meaning| +|:---:|:---:| +|0|NotDisabled| +|1|Disabled| + +## BRD_RADIO_SIGCH: RSSI signal strength + +*Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_PPSCH: Packet rate channel + +*Note: This parameter is for advanced users* + +Channel to show received packet-per-second rate, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_TELEM: Enable telemetry + +*Note: This parameter is for advanced users* + +If this is non-zero then telemetry packets will be sent over DSM + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BRD_RADIO_TXPOW: Telemetry Transmit power + +*Note: This parameter is for advanced users* + +Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX + +- Range: 1 8 + +## BRD_RADIO_FCCTST: Put radio into FCC test mode + +*Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MinChannel| +|2|MidChannel| +|3|MaxChannel| +|4|MinChannelCW| +|5|MidChannelCW| +|6|MaxChannelCW| + +## BRD_RADIO_STKMD: Stick input mode + +*Note: This parameter is for advanced users* + +This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick. + +|Value|Meaning| +|:---:|:---:| +|1|Mode1| +|2|Mode2| + +## BRD_RADIO_TESTCH: Set radio to factory test channel + +*Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestChan1| +|2|TestChan2| +|3|TestChan3| +|4|TestChan4| +|5|TestChan5| +|6|TestChan6| +|7|TestChan7| +|8|TestChan8| + +## BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter + +*Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + +- Range: 0 16 + +## BRD_RADIO_TPPSCH: Telemetry PPS channel + +*Note: This parameter is for advanced users* + +Channel to show telemetry packets-per-second value, as received at TX + +- Range: 0 16 + +## BRD_RADIO_TXMAX: Transmitter transmit power + +*Note: This parameter is for advanced users* + +Set transmitter maximum transmit power (from 1 to 8) + +- Range: 1 8 + +## BRD_RADIO_BZOFS: Transmitter buzzer adjustment + +*Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment (adjust frequency up) + +- Range: 0 40 + +## BRD_RADIO_ABTIME: Auto-bind time + +*Note: This parameter is for advanced users* + +When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets. + +- Range: 0 120 + +## BRD_RADIO_ABLVL: Auto-bind level + +*Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially + +- Range: 0 31 + +# BRDRTC Parameters + +## BRD_RTC_TYPES: Allowed sources of RTC time + +*Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + +- Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + +## BRD_RTC_TZ_MIN: Timezone offset from UTC + +*Note: This parameter is for advanced users* + +Adds offset in +- minutes from UTC to calculate local time + +- Range: -720 +840 + +# BTN Parameters + +## BTN_ENABLE: Enable button reporting + +*Note: This parameter is for advanced users* + +This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BTN_PIN1: First button Pin + +Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN2: Second button Pin + +Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN3: Third button Pin + +Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN4: Fourth button Pin + +Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_REPORT_SEND: Report send time + +The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only. + +- Range: 0 3600 + +## BTN_OPTIONS1: Button Pin 1 Options + +Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS2: Button Pin 2 Options + +Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS3: Button Pin 3 Options + +Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS4: Button Pin 4 Options + +Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_FUNC1: Button Pin 1 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|2|FLIP Mode| +|3|Simple Mode| +|4|RTL| +|5|Save Trim| +|7|Save WP| +|9|Camera Trigger| +|10|RangeFinder Enable| +|11|Fence Enable| +|13|Super Simple Mode| +|14|Acro Trainer| +|15|Sprayer Enable| +|16|AUTO Mode| +|17|AUTOTUNE Mode| +|18|LAND Mode| +|19|Gripper Release| +|21|Parachute Enable| +|22|Parachute Release| +|23|Parachute 3pos| +|24|Auto Mission Reset| +|25|AttCon Feed Forward| +|26|AttCon Accel Limits| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Copter Sound| +|31|Motor Emergency Stop| +|32|Motor Interlock| +|33|BRAKE Mode| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|37|THROW Mode| +|38|ADSB Avoidance Enable| +|39|PrecLoiter Enable| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|43|InvertedFlight Enable| +|44|Winch Enable| +|45|Winch Control| +|46|RC Override Enable| +|47|User Function 1| +|48|User Function 2| +|49|User Function 3| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|60|ZigZag Mode| +|61|ZigZag SaveWP| +|62|Compass Learn| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|68|STABILIZE Mode| +|69|POSHOLD Mode| +|70|ALTHOLD Mode| +|71|FLOWHOLD Mode| +|72|CIRCLE Mode| +|73|DRIFT Mode| +|75|SurfaceTrackingUpDown| +|76|STANDBY Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisOdom Align| +|81|Disarm| +|83|ZigZag Auto| +|84|AirMode| +|85|Generator| +|90|EKF Source Set| +|94|VTX Power| +|99|AUTO RTL| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|109|use Custom Controller| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|151|TURTLE Mode| +|152|SIMPLE heading reset| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with AirMode (4.2 and higher)| +|158|Optflow Calibration| +|159|Force IS_Flying| +|161|Turbine Start(heli)| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|178|FlightMode Pause/Resume| +|180|Test autotuned gains after tune is complete| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|219|Transmitter Tuning| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC2: Button Pin 2 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|2|FLIP Mode| +|3|Simple Mode| +|4|RTL| +|5|Save Trim| +|7|Save WP| +|9|Camera Trigger| +|10|RangeFinder Enable| +|11|Fence Enable| +|13|Super Simple Mode| +|14|Acro Trainer| +|15|Sprayer Enable| +|16|AUTO Mode| +|17|AUTOTUNE Mode| +|18|LAND Mode| +|19|Gripper Release| +|21|Parachute Enable| +|22|Parachute Release| +|23|Parachute 3pos| +|24|Auto Mission Reset| +|25|AttCon Feed Forward| +|26|AttCon Accel Limits| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Copter Sound| +|31|Motor Emergency Stop| +|32|Motor Interlock| +|33|BRAKE Mode| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|37|THROW Mode| +|38|ADSB Avoidance Enable| +|39|PrecLoiter Enable| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|43|InvertedFlight Enable| +|44|Winch Enable| +|45|Winch Control| +|46|RC Override Enable| +|47|User Function 1| +|48|User Function 2| +|49|User Function 3| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|60|ZigZag Mode| +|61|ZigZag SaveWP| +|62|Compass Learn| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|68|STABILIZE Mode| +|69|POSHOLD Mode| +|70|ALTHOLD Mode| +|71|FLOWHOLD Mode| +|72|CIRCLE Mode| +|73|DRIFT Mode| +|75|SurfaceTrackingUpDown| +|76|STANDBY Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisOdom Align| +|81|Disarm| +|83|ZigZag Auto| +|84|AirMode| +|85|Generator| +|90|EKF Source Set| +|94|VTX Power| +|99|AUTO RTL| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|109|use Custom Controller| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|151|TURTLE Mode| +|152|SIMPLE heading reset| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with AirMode (4.2 and higher)| +|158|Optflow Calibration| +|159|Force IS_Flying| +|161|Turbine Start(heli)| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|178|FlightMode Pause/Resume| +|180|Test autotuned gains after tune is complete| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|219|Transmitter Tuning| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC3: Button Pin 3 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|2|FLIP Mode| +|3|Simple Mode| +|4|RTL| +|5|Save Trim| +|7|Save WP| +|9|Camera Trigger| +|10|RangeFinder Enable| +|11|Fence Enable| +|13|Super Simple Mode| +|14|Acro Trainer| +|15|Sprayer Enable| +|16|AUTO Mode| +|17|AUTOTUNE Mode| +|18|LAND Mode| +|19|Gripper Release| +|21|Parachute Enable| +|22|Parachute Release| +|23|Parachute 3pos| +|24|Auto Mission Reset| +|25|AttCon Feed Forward| +|26|AttCon Accel Limits| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Copter Sound| +|31|Motor Emergency Stop| +|32|Motor Interlock| +|33|BRAKE Mode| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|37|THROW Mode| +|38|ADSB Avoidance Enable| +|39|PrecLoiter Enable| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|43|InvertedFlight Enable| +|44|Winch Enable| +|45|Winch Control| +|46|RC Override Enable| +|47|User Function 1| +|48|User Function 2| +|49|User Function 3| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|60|ZigZag Mode| +|61|ZigZag SaveWP| +|62|Compass Learn| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|68|STABILIZE Mode| +|69|POSHOLD Mode| +|70|ALTHOLD Mode| +|71|FLOWHOLD Mode| +|72|CIRCLE Mode| +|73|DRIFT Mode| +|75|SurfaceTrackingUpDown| +|76|STANDBY Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisOdom Align| +|81|Disarm| +|83|ZigZag Auto| +|84|AirMode| +|85|Generator| +|90|EKF Source Set| +|94|VTX Power| +|99|AUTO RTL| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|109|use Custom Controller| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|151|TURTLE Mode| +|152|SIMPLE heading reset| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with AirMode (4.2 and higher)| +|158|Optflow Calibration| +|159|Force IS_Flying| +|161|Turbine Start(heli)| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|178|FlightMode Pause/Resume| +|180|Test autotuned gains after tune is complete| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|219|Transmitter Tuning| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC4: Button Pin 4 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|2|FLIP Mode| +|3|Simple Mode| +|4|RTL| +|5|Save Trim| +|7|Save WP| +|9|Camera Trigger| +|10|RangeFinder Enable| +|11|Fence Enable| +|13|Super Simple Mode| +|14|Acro Trainer| +|15|Sprayer Enable| +|16|AUTO Mode| +|17|AUTOTUNE Mode| +|18|LAND Mode| +|19|Gripper Release| +|21|Parachute Enable| +|22|Parachute Release| +|23|Parachute 3pos| +|24|Auto Mission Reset| +|25|AttCon Feed Forward| +|26|AttCon Accel Limits| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Copter Sound| +|31|Motor Emergency Stop| +|32|Motor Interlock| +|33|BRAKE Mode| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|37|THROW Mode| +|38|ADSB Avoidance Enable| +|39|PrecLoiter Enable| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|43|InvertedFlight Enable| +|44|Winch Enable| +|45|Winch Control| +|46|RC Override Enable| +|47|User Function 1| +|48|User Function 2| +|49|User Function 3| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|60|ZigZag Mode| +|61|ZigZag SaveWP| +|62|Compass Learn| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|68|STABILIZE Mode| +|69|POSHOLD Mode| +|70|ALTHOLD Mode| +|71|FLOWHOLD Mode| +|72|CIRCLE Mode| +|73|DRIFT Mode| +|75|SurfaceTrackingUpDown| +|76|STANDBY Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisOdom Align| +|81|Disarm| +|83|ZigZag Auto| +|84|AirMode| +|85|Generator| +|90|EKF Source Set| +|94|VTX Power| +|99|AUTO RTL| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|109|use Custom Controller| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|151|TURTLE Mode| +|152|SIMPLE heading reset| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with AirMode (4.2 and higher)| +|158|Optflow Calibration| +|159|Force IS_Flying| +|161|Turbine Start(heli)| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|178|FlightMode Pause/Resume| +|180|Test autotuned gains after tune is complete| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|219|Transmitter Tuning| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# CAM Parameters + +## CAM_MAX_ROLL: Maximum photo roll angle. + +Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll). + +- Units: deg + +- Range: 0 180 + +## CAM_AUTO_ONLY: Distance-trigging in AUTO mode only + +When enabled, trigging by distance is done in AUTO mode only. + +|Value|Meaning| +|:---:|:---:| +|0|Always| +|1|Only when in AUTO| + +# CAM1 Parameters + +## CAM1_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM1_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM1_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM1_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM1_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM1_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM1_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM1_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM1_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM1_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM1_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAM2 Parameters + +## CAM2_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM2_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM2_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM2_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM2_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM2_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM2_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM2_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM2_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM2_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM2_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAMRC Parameters + +## CAM_RC_TYPE: RunCam device type + +RunCam device type used to determine OSD menu structure and shutter options. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|RunCam Split Micro/RunCam with UART| +|2|RunCam Split| +|3|RunCam Split4 4k| +|4|RunCam Hybrid/RunCam Thumb Pro| +|5|Runcam 2 4k| + +## CAM_RC_FEATURES: RunCam features available + +*Note: This parameter is for advanced users* + +The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used. + +- Bitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + +## CAM_RC_BT_DELAY: RunCam boot delay before allowing updates + +*Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync. + +## CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync. + +## CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync. + +## CAM_RC_CONTROL: RunCam control option + +*Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + +- Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + +# CAN Parameters + +## CAN_LOGLEVEL: Loglevel + +*Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + +- Range: 0 4 + +|Value|Meaning| +|:---:|:---:| +|0|Log None| +|1|Log Error| +|2|Log Warning and below| +|3|Log Info and below| +|4|Log Everything| + +# CAND1 Parameters + +## CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND1PC Parameters + +## CAN_D1_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D1_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D1_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND1UC Parameters + +## CAN_D1_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D1_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D1_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D1_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D1_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND2 Parameters + +## CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND2PC Parameters + +## CAN_D2_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D2_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D2_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND2UC Parameters + +## CAN_D2_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D2_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D2_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D2_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D2_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND3 Parameters + +## CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND3PC Parameters + +## CAN_D3_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D3_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D3_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND3UC Parameters + +## CAN_D3_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D3_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D3_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D3_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D3_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CANP1 Parameters + +## CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P1_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P1_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP2 Parameters + +## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P2_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P2_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP3 Parameters + +## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P3_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P3_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANSLCAN Parameters + +## CAN_SLCAN_CPORT: SLCAN Route + +CAN Interface ID to be routed to SLCAN, 0 means no routing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First interface| +|2|Second interface| + +- RebootRequired: True + +## CAN_SLCAN_SERNUM: SLCAN Serial Port + +Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_SLCAN_TIMOUT: SLCAN Timeout + +Duration of inactivity after which SLCAN is switched back to original driver in seconds. + +- Range: 0 127 + +## CAN_SLCAN_SDELAY: SLCAN Start Delay + +Duration after which slcan starts after setting SERNUM in seconds. + +- Range: 0 127 + +# CC Parameters + +## CC_TYPE: Custom control type + +*Note: This parameter is for advanced users* + +Custom control type to be used + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Empty| +|2|PID| + +- RebootRequired: True + +## CC_AXIS_MASK: Custom Controller bitmask + +*Note: This parameter is for advanced users* + +Custom Controller bitmask to chose which axis to run + +- Bitmask: 0:Roll, 1:Pitch, 2:Yaw + +# CHUTE Parameters + +## CHUTE_ENABLED: Parachute release enabled or disabled + +Parachute release enabled or disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## CHUTE_TYPE: Parachute release mechanism type (relay or servo) + +Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. + +|Value|Meaning| +|:---:|:---:| +|0|Relay| +|10|Servo| + +## CHUTE_SERVO_ON: Parachute Servo ON PWM value + +Parachute Servo PWM value in microseconds when parachute is released + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## CHUTE_SERVO_OFF: Servo OFF PWM value + +Parachute Servo PWM value in microseconds when parachute is not released + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## CHUTE_ALT_MIN: Parachute min altitude in meters above home + +Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check. + +- Range: 0 32000 + +- Units: m + +- Increment: 1 + +## CHUTE_DELAY_MS: Parachute release delay + +Delay in millseconds between motor stop and chute release + +- Range: 0 5000 + +- Units: ms + +- Increment: 1 + +## CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute + +Release parachute when critical sink rate is reached + +- Range: 0 15 + +- Units: m/s + +- Increment: 1 + +## CHUTE_OPTIONS: Parachute options + +Optional behaviour for parachute + +- Bitmask: 0:hold open forever after release,1:skip disarm before parachute release + +# CIRCLE Parameters + +## CIRCLE_RADIUS: Circle Radius + +Defines the radius of the circle the vehicle will fly when in Circle flight mode + +- Units: cm + +- Range: 0 200000 + +- Increment: 100 + +## CIRCLE_RATE: Circle rate + +Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter. + +- Units: deg/s + +- Range: -90 90 + +- Increment: 1 + +## CIRCLE_OPTIONS: Circle options + +0:Enable or disable using the pitch/roll stick control circle mode's radius and rate + +- Bitmask: 0:manual control, 1:face direction of travel, 2:Start at center rather than on perimeter, 3:Make Mount ROI the center of the circle + +# COMPASS Parameters + +## COMPASS_OFS_X: Compass offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEC: Compass declination + +An angle to compensate between the true north and magnetic north + +- Range: -3.142 3.142 + +- Units: rad + +- Increment: 0.01 + +## COMPASS_LEARN: Learn compass offsets automatically + +*Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Internal-Learning| +|2|EKF-Learning| +|3|InFlight-Learning| + +## COMPASS_USE: Use compass for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the use of the compass (instead of the GPS) for determining heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_AUTODEC: Auto Declination + +*Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_MOTCT: Motor interference compensation type + +*Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled, throttle or current. Do not change manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use Throttle| +|2|Use Current| + +- Calibration: 1 + +## COMPASS_MOT_X: Motor interference compensation for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Y: Motor interference compensation for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Z: Motor interference compensation for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_ORIENT: Compass orientation + +*Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERNAL: Compass is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEV_ID: Compass device id + +*Note: This parameter is for advanced users* + +Compass device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID2: Compass2 device id + +*Note: This parameter is for advanced users* + +Second compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID3: Compass3 device id + +*Note: This parameter is for advanced users* + +Third compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_USE2: Compass2 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT2: Compass2 orientation + +*Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN2: Compass2 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_USE3: Compass3 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT3: Compass3 orientation + +*Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN3: Compass3 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_DIA_X: Compass soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Y: Compass soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Z: Compass soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_X: Compass soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_X: Compass2 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_X: Compass3 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_CAL_FIT: Compass calibration fitness + +*Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value. + +- Range: 4 32 + +|Value|Meaning| +|:---:|:---:| +|4|Very Strict| +|8|Strict| +|16|Default| +|32|Relaxed| + +- Increment: 0.1 + +## COMPASS_OFFS_MAX: Compass maximum offset + +*Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + +- Range: 500 3000 + +- Increment: 1 + +## COMPASS_DISBLMSK: Compass disable driver type mask + +*Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup + +- Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,19:MMC5XX3,20:QMC5883P,21:BMM350 + +## COMPASS_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## COMPASS_AUTO_ROT: Automatically check orientation + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|CheckOnly| +|2|CheckAndFix| +|3|use same tolerance to auto rotate 45 deg rotations| + +## COMPASS_PRIO1_ID: Compass device id with 1st order priority + +*Note: This parameter is for advanced users* + +Compass device id with 1st order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO2_ID: Compass device id with 2nd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 2nd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO3_ID: Compass device id with 3rd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 3rd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_ENABLE: Enable Compass + +Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_SCALE: Compass1 scale factor + +Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE2: Compass2 scale factor + +Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE3: Compass3 scale factor + +Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_OPTIONS: Compass options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + +- Bitmask: 0:CalRequireGPS, 1: Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) + +## COMPASS_DEV_ID4: Compass4 device id + +*Note: This parameter is for advanced users* + +Extra 4th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID5: Compass5 device id + +*Note: This parameter is for advanced users* + +Extra 5th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID6: Compass6 device id + +*Note: This parameter is for advanced users* + +Extra 6th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID7: Compass7 device id + +*Note: This parameter is for advanced users* + +Extra 7th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID8: Compass8 device id + +*Note: This parameter is for advanced users* + +Extra 8th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_CUS_ROLL: Custom orientation roll offset + +*Note: This parameter is for advanced users* + +Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_PIT: Custom orientation pitch offset + +*Note: This parameter is for advanced users* + +Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_YAW: Custom orientation yaw offset + +*Note: This parameter is for advanced users* + +Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +# COMPASSPMOT Parameters + +## COMPASS_PMOT_EN: per-motor compass correction enable + +*Note: This parameter is for advanced users* + +This enables per-motor compass corrections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_PMOT_EXP: per-motor exponential correction + +*Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per-motor compass correction + +- Range: 0 2 + +- Increment: 0.01 + +## COMPASS_PMOT1_X: Compass per-motor1 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + +## COMPASS_PMOT1_Y: Compass per-motor1 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + +## COMPASS_PMOT1_Z: Compass per-motor1 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + +## COMPASS_PMOT2_X: Compass per-motor2 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + +## COMPASS_PMOT2_Y: Compass per-motor2 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + +## COMPASS_PMOT2_Z: Compass per-motor2 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + +## COMPASS_PMOT3_X: Compass per-motor3 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + +## COMPASS_PMOT3_Y: Compass per-motor3 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + +## COMPASS_PMOT3_Z: Compass per-motor3 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + +## COMPASS_PMOT4_X: Compass per-motor4 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + +## COMPASS_PMOT4_Y: Compass per-motor4 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + +## COMPASS_PMOT4_Z: Compass per-motor4 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + +# CUSTROT Parameters + +## CUST_ROT_ENABLE: Enable Custom rotations + +This enables custom rotations + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +# CUSTROT1 Parameters + +## CUST_ROT1_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# CUSTROT2 Parameters + +## CUST_ROT2_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# DDS Parameters + +## DDS_ENABLE: DDS enable + +*Note: This parameter is for advanced users* + +Enable DDS subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## DDS_UDP_PORT: DDS UDP port + +UDP port number for DDS + +- Range: 1 65535 + +- RebootRequired: True + +## DDS_DOMAIN_ID: DDS DOMAIN ID + +Set the ROS_DOMAIN_ID + +- Range: 0 232 + +- RebootRequired: True + +## DDS_TIMEOUT_MS: DDS ping timeout + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting. + +- Units: ms + +- Range: 1 10000 + +- RebootRequired: True + +- Increment: 1 + +## DDS_MAX_RETRY: DDS ping max attempts + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. + +- Range: 1 100 + +- RebootRequired: True + +- Increment: 1 + +# DDSIP Parameters + +## DDS_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# DID Parameters + +## DID_ENABLE: Enable ODID subsystem + +Enable ODID subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DID_MAVPORT: MAVLink serial port + +Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## DID_CANDRIVER: DroneCAN driver number + +DroneCAN driver index, 0 to disable DroneCAN + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Driver1| +|2|Driver2| + +## DID_OPTIONS: OpenDroneID options + +Options for OpenDroneID subsystem + +- Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx + +## DID_BARO_ACC: Barometer vertical accuraacy + +*Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default + +- Units: m + +# EAHRS Parameters + +## EAHRS_TYPE: AHRS type + +Type of AHRS device + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|VectorNav| +|2|MicroStrain5| +|5|InertialLabs| +|7|MicroStrain7| + +## EAHRS_RATE: AHRS data rate + +Requested rate for AHRS device + +- Units: Hz + +## EAHRS_OPTIONS: External AHRS options + +External AHRS options bitmask + +- Bitmask: 0:Vector Nav use uncompensated values for accel gyro and mag. + +## EAHRS_SENSORS: External AHRS sensors + +*Note: This parameter is for advanced users* + +External AHRS sensors bitmask + +- Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass + +## EAHRS_LOG_RATE: AHRS logging rate + +Logging rate for EARHS devices + +- Units: Hz + +# EFI Parameters + +## EFI_TYPE: EFI communication type + +*Note: This parameter is for advanced users* + +What method of communication is used for EFI #1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Serial-MS| +|2|NWPMU| +|3|Serial-Lutan| +|5|DroneCAN| +|6|Currawong-ECU| +|7|Scripting| +|8|Hirth| +|9|MAVLink| + +- RebootRequired: True + +## EFI_COEF1: EFI Calibration Coefficient 1 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle + +- Range: 0 1 + +## EFI_COEF2: EFI Calibration Coefficient 2 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1 + +- Range: 0 10 + +## EFI_FUEL_DENS: ECU Fuel Density + +*Note: This parameter is for advanced users* + +Used to calculate fuel consumption + +- Units: kg/m/m/m + +- Range: 0 10000 + +# EFITHRLIN Parameters + +## EFI_THRLIN_EN: Enable throttle linearisation + +*Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_THRLIN_COEF1: Throttle linearisation - First Order + +*Note: This parameter is for advanced users* + +First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF2: Throttle linearisation - Second Order + +*Note: This parameter is for advanced users* + +Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF3: Throttle linearisation - Third Order + +*Note: This parameter is for advanced users* + +Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_OFS: throttle linearization offset + +*Note: This parameter is for advanced users* + +Offset for throttle linearization + +- Range: 0 100 + +- RebootRequired: True + +# EK2 Parameters + +## EK2_ENABLE: Enable EKF2 + +*Note: This parameter is for advanced users* + +This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK2_GPS_TYPE: GPS mode control + +*Note: This parameter is for advanced users* + +This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors. + +|Value|Meaning| +|:---:|:---:| +|0|GPS 3D Vel and 2D Pos| +|1|GPS 2D vel and 2D pos| +|2|GPS 2D pos| +|3|No GPS| + +## EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK2_ALT_SOURCE: Primary altitude sensor source + +*Note: This parameter is for advanced users* + +Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS). + +|Value|Meaning| +|:---:|:---:| +|0|Use Baro| +|1|Use Range Finder| +|2|Use GPS| +|3|Use Range Beacon| + +- RebootRequired: True + +## EK2_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK2_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| + +## EK2_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK2_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK2_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK2_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s) + +*Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier. + +- Range: 0.000001 0.001 + +- Units: Hz + +## EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.005 + +- Units: m/s/s/s + +## EK2_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK2_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 1.0 + +- Increment: 0.1 + +## EK2_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK2_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK2_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK2_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK2_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK2_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height. + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK2_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK2_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK2_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK2_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK2_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution + +- Bitmask: 0:DisableExternalNavigation + +# EK3 Parameters + +## EK3_ENABLE: Enable EKF3 + +*Note: This parameter is for advanced users* + +This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK3_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0. + +- Range: 0.1 100.0 + +- Increment: 0.1 + +- Units: m + +## EK3_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK3_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| +|5|Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)| +|6|External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)| + +- RebootRequired: True + +## EK3_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK3_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK3_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.02 + +- Units: m/s/s/s + +## EK3_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 2.0 + +- Increment: 0.1 + +## EK3_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK3_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK3_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK3_BETA_MASK: Bitmask controlling sidelip angle fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary. + +- Bitmask: 0:Always,1:WhenNoYawSensor + +- RebootRequired: True + +## EK3_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK3_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK3_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK3_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK3_ACC_BIAS_LIM: Accelerometer bias limit + +*Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to +- this value + +- Range: 0.5 2.5 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK3_VIS_VERR_MIN: Visual odometry minimum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.05 0.5 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VIS_VERR_MAX: Visual odometry maximum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_WENC_VERR: Wheel odometry velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK3_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK3_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold + +*Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences + +- Range: 0.05 1 + +- Increment: 0.05 + +## EK3_AFFINITY: EKF3 Sensor Affinity Options + +*Note: This parameter is for advanced users* + +These options control the affinity between sensor instances and EKF cores + +- Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity + +- RebootRequired: True + +## EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 0.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 50.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_M_NSE: Observation noise for drag acceleration + +*Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters + +- Range: 0.1 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_DRAG_MCOEF: Momentum coefficient for propeller drag + +*Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters. + +- Range: 0.0 1.0 + +- Increment: 0.01 + +- Units: 1/s + +## EK3_OGNM_TEST_SF: On ground not moving test scale factor + +*Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels. + +- Range: 1.0 10.0 + +- Increment: 0.5 + +## EK3_GND_EFF_DZ: Baro height ground effect dead zone + +*Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. + +- Range: 0.0 10.0 + +- Increment: 0.5 + +## EK3_PRIMARY: Primary core number + +*Note: This parameter is for advanced users* + +The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK. + +- Range: 0 2 + +- Increment: 1 + +## EK3_LOG_LEVEL: Logging Level + +*Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3. + +- Range: 0 3 + +- Increment: 1 + +## EK3_GPS_VACC_MAX: GPS vertical accuracy threshold + +*Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check. + +- Range: 0.0 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + +- Bitmask: 0:JammingExpected + +# EK3SRC Parameters + +## EK3_SRC1_POSXY: Position Horizontal Source (Primary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Primary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELXY: Velocity Horizontal Source + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC1_POSZ: Position Vertical Source + +*Note: This parameter is for advanced users* + +Position Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELZ: Velocity Vertical Source + +*Note: This parameter is for advanced users* + +Velocity Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_YAW: Yaw Source + +*Note: This parameter is for advanced users* + +Yaw Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC2_POSXY: Position Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC2_POSZ: Position Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELZ: Velocity Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_YAW: Yaw Source (Secondary) + +*Note: This parameter is for advanced users* + +Yaw Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC3_POSXY: Position Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC3_POSZ: Position Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_YAW: Yaw Source (Tertiary) + +*Note: This parameter is for advanced users* + +Yaw Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC_OPTIONS: EKF Source Options + +*Note: This parameter is for advanced users* + +EKF Source Options + +- Bitmask: 0:FuseAllVelocities, 1:AlignExtNavPosWhenUsingOptFlow + +# ESCTLM Parameters + +## ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset + +Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets + +- Increment: 1 + +- Range: 0 31 + +# FENCE Parameters + +## FENCE_ENABLE: Fence enable/disable + +Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FENCE_TYPE: Fence Type + +Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached. + +- Bitmask: 0:Max altitude,1:Circle Centered on Home,2:Inclusion/Exclusion Circles+Polygons,3:Min altitude + +## FENCE_ACTION: Fence Action + +What action should be taken when fence is breached + +|Value|Meaning| +|:---:|:---:| +|0|Report Only| +|1|RTL or Land| +|2|Always Land| +|3|SmartRTL or RTL or Land| +|4|Brake or Land| +|5|SmartRTL or Land| + +## FENCE_ALT_MAX: Fence Maximum Altitude + +Maximum altitude allowed before geofence triggers + +- Units: m + +- Range: 10 1000 + +- Increment: 1 + +## FENCE_RADIUS: Circular Fence Radius + +Circle fence radius which when breached will cause an RTL + +- Units: m + +- Range: 30 10000 + +## FENCE_MARGIN: Fence Margin + +Distance that autopilot's should maintain from the fence to avoid a breach + +- Units: m + +- Range: 1 10 + +## FENCE_TOTAL: Fence polygon point total + +Number of polygon points saved in eeprom (do not update manually) + +- Range: 1 20 + +## FENCE_ALT_MIN: Fence Minimum Altitude + +Minimum altitude allowed before geofence triggers + +- Units: m + +- Range: -100 100 + +- Increment: 1 + +## FENCE_AUTOENABLE: Fence Auto-Enable + +Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings. + +- Range: 0 3 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|AutoEnableOff| +|1|AutoEnableOnTakeoff| +|2|AutoEnableDisableFloorOnLanding| +|3|AutoEnableOnlyWhenArmed| + +## FENCE_OPTIONS: Fence options + +When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas. + +- Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas + +# FFT Parameters + +## FFT_ENABLE: Enable + +*Note: This parameter is for advanced users* + +Enable Gyro FFT analyser + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## FFT_MINHZ: Minimum Frequency + +*Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles. + +- Range: 20 400 + +- Units: Hz + +## FFT_MAXHZ: Maximum Frequency + +*Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles. + +- Range: 20 495 + +- Units: Hz + +## FFT_SAMPLE_MODE: Sample Mode + +*Note: This parameter is for advanced users* + +Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot. + +- Range: 0 4 + +- RebootRequired: True + +## FFT_WINDOW_SIZE: FFT window size + +*Note: This parameter is for advanced users* + +Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class. + +- Range: 32 1024 + +- RebootRequired: True + +## FFT_WINDOW_OLAP: FFT window overlap + +*Note: This parameter is for advanced users* + +Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges. + +- Range: 0 0.9 + +- RebootRequired: True + +## FFT_FREQ_HOVER: FFT learned hover frequency + +*Note: This parameter is for advanced users* + +The learned hover noise frequency + +- Range: 0 250 + +## FFT_THR_REF: FFT learned thrust reference + +*Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency. + +- Range: 0.01 0.9 + +## FFT_SNR_REF: FFT SNR reference threshold + +*Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present. + +- Range: 0.0 100.0 + +## FFT_ATT_REF: FFT attenuation for bandwidth calculation + +*Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight. + +- Range: 0 100 + +## FFT_BW_HOVER: FFT learned bandwidth at hover + +*Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies. + +- Range: 0 200 + +## FFT_HMNC_FIT: FFT harmonic fit frequency threshold + +*Note: This parameter is for advanced users* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching. + +- Range: 0 100 + +- RebootRequired: True + +## FFT_HMNC_PEAK: FFT harmonic peak target + +*Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll). + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|Center Frequency| +|2|Lower-Shoulder Frequency| +|3|Upper-Shoulder Frequency| +|4|Roll-Axis| +|5|Pitch-Axis| + +## FFT_NUM_FRAMES: FFT output frames to retain and average + +*Note: This parameter is for advanced users* + +Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged. + +- Range: 0 8 + +- RebootRequired: True + +## FFT_OPTIONS: FFT options + +*Note: This parameter is for advanced users* + +FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference + +- Bitmask: 0:Enable post-filter FFT,1:Check motor noise + +- RebootRequired: True + +# FHLD Parameters + +## FHLD_XY_P: FlowHold P gain + +*Note: This parameter is for advanced users* + +FlowHold (horizontal) P gain. + +- Range: 0.1 6.0 + +- Increment: 0.1 + +## FHLD_XY_I: FlowHold I gain + +*Note: This parameter is for advanced users* + +FlowHold (horizontal) I gain + +- Range: 0.02 1.00 + +- Increment: 0.01 + +## FHLD_XY_IMAX: FlowHold Integrator Max + +*Note: This parameter is for advanced users* + +FlowHold (horizontal) integrator maximum + +- Range: 0 4500 + +- Increment: 10 + +- Units: cdeg + +## FHLD_XY_FILT_HZ: FlowHold filter on input to control + +*Note: This parameter is for advanced users* + +FlowHold (horizontal) filter on input to control + +- Range: 0 100 + +- Units: Hz + +## FHLD_FLOW_MAX: FlowHold Flow Rate Max + +Controls maximum apparent flow rate in flowhold + +- Range: 0.1 2.5 + +## FHLD_FILT_HZ: FlowHold Filter Frequency + +Filter frequency for flow data + +- Range: 1 100 + +- Units: Hz + +## FHLD_QUAL_MIN: FlowHold Flow quality minimum + +Minimum flow quality to use flow position hold + +- Range: 0 255 + +## FHLD_BRAKE_RATE: FlowHold Braking rate + +Controls deceleration rate on stick release + +- Range: 1 30 + +- Units: deg/s + +# FILT1 Parameters + +## FILT1_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT1_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT1_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT1_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT2 Parameters + +## FILT2_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT2_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT2_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT2_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT3 Parameters + +## FILT3_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT3_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT3_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT3_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT4 Parameters + +## FILT4_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT4_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT4_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT4_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT5 Parameters + +## FILT5_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT5_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT5_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT5_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT6 Parameters + +## FILT6_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT6_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT6_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT6_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT7 Parameters + +## FILT7_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT7_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT7_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT7_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT8 Parameters + +## FILT8_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT8_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT8_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT8_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FLOW Parameters + +## FLOW_TYPE: Optical flow sensor type + +Optical flow sensor type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|PX4Flow| +|2|Pixart| +|3|Bebop| +|4|CXOF| +|5|MAVLink| +|6|DroneCAN| +|7|MSP| +|8|UPFLOW| + +- RebootRequired: True + +## FLOW_FXSCALER: X axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_FYSCALER: Y axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_ORIENT_YAW: Flow sensor yaw alignment + +Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle. + +- Units: cdeg + +- Range: -17999 +18000 + +- Increment: 10 + +## FLOW_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_ADDR: Address on the bus + +*Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus. + +- Range: 0 127 + +## FLOW_HGT_OVR: Height override of sensor above ground + +*Note: This parameter is for advanced users* + +This is used in rover vehicles, where the sensor is a fixed height above the ground + +- Units: m + +- Range: 0 2 + +- Increment: 0.01 + +# FOLL Parameters + +## FOLL_ENABLE: Follow enable/disable + +Enabled/disable following a target + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FOLL_SYSID: Follow target's mavlink system id + +Follow target's mavlink system id + +- Range: 0 255 + +## FOLL_DIST_MAX: Follow distance maximum + +Follow distance maximum. targets further than this will be ignored + +- Units: m + +- Range: 1 1000 + +## FOLL_OFS_TYPE: Follow offset type + +Follow offset type + +|Value|Meaning| +|:---:|:---:| +|0|North-East-Down| +|1|Relative to lead vehicle heading| + +## FOLL_OFS_X: Follow offsets in meters north/forward + +Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Y: Follow offsets in meters east/right + +Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Z: Follow offsets in meters down + +Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_YAW_BEHAVE: Follow yaw behaviour + +Follow yaw behaviour + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Face Lead Vehicle| +|2|Same as Lead vehicle| +|3|Direction of Flight| + +## FOLL_POS_P: Follow position error P gain + +Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + +- Range: 0.01 1.00 + +- Increment: 0.01 + +## FOLL_ALT_TYPE: Follow altitude type + +Follow altitude type + +|Value|Meaning| +|:---:|:---:| +|0|absolute| +|1|relative| + +## FOLL_OPTIONS: Follow options + +Follow options bitmask + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Mount Follows lead vehicle on mode enter| + +# FRSKY Parameters + +## FRSKY_UPLINK_ID: Uplink sensor id + +*Note: This parameter is for advanced users* + +Change the uplink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK1_ID: First downlink sensor id + +*Note: This parameter is for advanced users* + +Change the first extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK2_ID: Second downlink sensor id + +*Note: This parameter is for advanced users* + +Change the second extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK_ID: Default downlink sensor id + +*Note: This parameter is for advanced users* + +Change the default downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| +|27|27| + +## FRSKY_OPTIONS: FRSky Telemetry Options + +A bitmask to set some FRSky Telemetry specific options + +- Bitmask: 0:EnableAirspeedAndGroundspeed + +# GEN Parameters + +## GEN_TYPE: Generator type + +Generator type + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|IE 650w 800w Fuel Cell| +|2|IE 2.4kW Fuel Cell| +|3|Richenpower| + +- RebootRequired: True + +## GEN_OPTIONS: Generator Options + +Bitmask of options for generators + +- Bitmask: 0:Suppress Maintenance-Required Warnings + +# GPS Parameters + +## GPS_NAVFILTER: Navigation filter setting + +*Note: This parameter is for advanced users* + +Navigation filter engine setting + +|Value|Meaning| +|:---:|:---:| +|0|Portable| +|2|Stationary| +|3|Pedestrian| +|4|Automotive| +|5|Sea| +|6|Airborne1G| +|7|Airborne2G| +|8|Airborne4G| + +## GPS_AUTO_SWITCH: Automatic Switchover Setting + +*Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary + +|Value|Meaning| +|:---:|:---:| +|0|Use primary| +|1|UseBest| +|2|Blend| +|4|Use primary if 3D fix or better| + +## GPS_SBAS_MODE: SBAS Mode + +*Note: This parameter is for advanced users* + +This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|NoChange| + +## GPS_MIN_ELEV: Minimum elevation + +*Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default. + +- Range: -100 90 + +- Units: deg + +## GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets + +*Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes. + +|Value|Meaning| +|:---:|:---:| +|0|send to first GPS| +|1|send to 2nd GPS| +|127|send to all| + +## GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask + +*Note: This parameter is for advanced users* + +Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged + +|Value|Meaning| +|:---:|:---:| +|0|None (0x0000)| +|-1|All (0xFFFF)| +|-256|External only (0xFF00)| + +## GPS_RAW_DATA: Raw data logging + +*Note: This parameter is for advanced users* + +Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming + +|Value|Meaning| +|:---:|:---:| +|0|Ignore| +|1|Always log| +|2|Stop logging when disarmed (SBF only)| +|5|Only log every five samples (uBlox only)| + +- RebootRequired: True + +## GPS_SAVE_CFG: Save GPS configuration + +*Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above. + +|Value|Meaning| +|:---:|:---:| +|0|Do not save config| +|1|Save config| +|2|Save only when needed| + +## GPS_AUTO_CONFIG: Automatic GPS configuration + +*Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + +|Value|Meaning| +|:---:|:---:| +|0|Disables automatic configuration| +|1|Enable automatic configuration for Serial GPSes only| +|2|Enable automatic configuration for DroneCAN as well| + +## GPS_BLEND_MASK: Multi GPS Blending Mask + +*Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend) + +- Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed + +## GPS_DRV_OPTIONS: driver options + +*Note: This parameter is for advanced users* + +Additional backend specific options + +- Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel + +## GPS_PRIMARY: Primary GPS + +*Note: This parameter is for advanced users* + +This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4. + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|FirstGPS| +|1|SecondGPS| + +## GPS_TYPE: 1st GPS type + +*Note: This parameter is for advanced users* + +GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +- RebootRequired: True + +## GPS_TYPE2: 2nd GPS type.Renamed in 4.6 to GPS2_TYPE + +*Note: This parameter is for advanced users* + +GPS type of 2nd GPS + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +## GPS_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE. + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_GNSS_MODE2: GNSS system configuration. + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_RATE_MS2: GPS 2 update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_POS1_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_DELAY_MS2: GPS 2 delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS_COM_PORT2: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## GPS_CAN_NODEID1: GPS Node ID 1 + +*Note: This parameter is for advanced users* + +GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID. + +- ReadOnly: True + +## GPS_CAN_NODEID2: GPS Node ID 2 + +*Note: This parameter is for advanced users* + +GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID. + +- ReadOnly: True + +# GPS1 Parameters + +## GPS1_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS1_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS1_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS1_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS1_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS1_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS1MB Parameters + +## GPS1_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS1_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPS2 Parameters + +## GPS2_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS2_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS2_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS2_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS2_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS2_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS2MB Parameters + +## GPS2_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS2_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB1 Parameters + +## GPS_MB1_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB1_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB2 Parameters + +## GPS_MB2_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB2_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GRIP Parameters + +## GRIP_ENABLE: Gripper Enable/Disable + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## GRIP_TYPE: Gripper Type + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|EPM| + +## GRIP_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_NEUTRAL: Neutral PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_REGRAB: EPM Gripper Regrab interval + +*Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable + +- Range: 0 255 + +- Units: s + +## GRIP_CAN_ID: EPM UAVCAN Hardpoint ID + +Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface + +- Range: 0 255 + +## GRIP_AUTOCLOSE: Gripper Autoclose time + +*Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening; 0 to disable + +- Range: 0.25 255 + +- Units: s + +# H Parameters + +## H_TAIL_TYPE: Tail Type + +Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed. + +|Value|Meaning| +|:---:|:---:| +|0|Servo only| +|1|Servo with ExtGyro| +|2|DirectDrive VarPitch| +|3|DirectDrive FixedPitch CW| +|4|DirectDrive FixedPitch CCW| + +## H_GYR_GAIN: External Gyro Gain + +PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro + +- Range: 0 1000 + +- Units: PWM + +- Increment: 1 + +## H_FLYBAR_MODE: Flybar Mode Selector + +Flybar present or not. Affects attitude controller used during ACRO flight mode + +|Value|Meaning| +|:---:|:---:| +|0|NoFlybar| +|1|Flybar| + +## H_TAIL_SPEED: DDVP Tail ESC speed + +Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_GYR_GAIN_ACRO: ACRO External Gyro Gain + +PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN + +- Range: 0 1000 + +- Units: PWM + +- Increment: 1 + +## H_SW_TYPE: Swashplate Type + +H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR + +|Value|Meaning| +|:---:|:---:| +|0|H3 Generic| +|1|H1 non-CPPM| +|2|H3_140| +|3|H3_120| +|4|H4_90| +|5|H4_45| + +## H_SW_COL_DIR: Collective Direction + +Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## H_SW_LIN_SVO: Linearize Swash Servos + +This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW_H3_ENABLE: H3 Generic Enable + +*Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate. Do not set manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW_H3_SV1_POS: H3 Generic Servo 1 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_SV2_POS: H3 Generic Servo 2 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_SV3_POS: H3 Generic Servo 3 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_PHANG: H3 Generic Phase Angle Comp + +*Note: This parameter is for advanced users* + +Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem + +- Range: -30 30 + +- Units: deg + +- Increment: 1 + +## H_COL2YAW: Collective-Yaw Mixing + +Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics. + +- Range: -2 2 + +- Increment: 0.1 + +## H_DDFP_THST_EXPO: DDFP Tail Rotor Thrust Curve Expo + +Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve) + +- Range: -1 1 + +## H_DDFP_SPIN_MIN: DDFP Tail Rotor Motor Spin minimum + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. + +|Value|Meaning| +|:---:|:---:| +|0.0|Low| +|0.15|Default| +|0.3|High| + +## H_DDFP_SPIN_MAX: DDFP Tail Rotor Motor Spin maximum + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + +|Value|Meaning| +|:---:|:---:| +|0.9|Low| +|0.95|Default| +|1.0|High| + +## H_DDFP_BAT_IDX: DDFP Tail Rotor Battery compensation index + +Which battery monitor should be used for doing compensation + +|Value|Meaning| +|:---:|:---:| +|0|First battery| +|1|Second battery| + +## H_DDFP_BAT_V_MAX: Battery voltage compensation maximum voltage + +Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled + +- Range: 6 53 + +- Units: V + +## H_DDFP_BAT_V_MIN: Battery voltage compensation minimum voltage + +Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled + +- Range: 6 42 + +- Units: V + +## H_YAW_TRIM: Tail Rotor Trim + +Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover. + +- Range: 0 1 + +## H_DUAL_MODE: Dual Mode + +Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial. + +|Value|Meaning| +|:---:|:---:| +|0|Longitudinal| +|1|Transverse| +|2|Intermeshing/Coaxial| + +## H_DCP_SCALER: Differential-Collective-Pitch Scaler + +Scaling factor applied to the differential-collective-pitch + +- Range: 0 1 + +## H_DCP_YAW: Differential-Collective-Pitch Yaw Mixing + +Feed-forward compensation to automatically add yaw input when differential collective pitch is applied. Disabled for intermeshing mode. + +- Range: -10 10 + +- Increment: 0.1 + +## H_YAW_SCALER: Scaler for yaw mixing + +Scaler for mixing yaw into roll or pitch. + +- Range: -10 10 + +- Increment: 0.1 + +## H_COL2_MIN: Swash 2 Minimum Collective Pitch + +Lowest possible servo position in PWM microseconds for swashplate 2 + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## H_COL2_MAX: Swash 2 Maximum Collective Pitch + +Highest possible servo position in PWM microseconds for swashplate 2 + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## H_SW_TYPE: Swash 1 Type + +H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR + +|Value|Meaning| +|:---:|:---:| +|0|H3 Generic| +|1|H1 non-CPPM| +|2|H3_140| +|3|H3_120| +|4|H4_90| +|5|H4_45| + +## H_SW_COL_DIR: Swash 1 Collective Direction + +Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## H_SW_LIN_SVO: Linearize Swash 1 Servos + +This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW_H3_ENABLE: Swash 1 H3 Generic Enable + +*Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW_H3_SV1_POS: Swash 1 H3 Generic Servo 1 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_SV2_POS: Swash 1 H3 Generic Servo 2 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_SV3_POS: Swash 1 H3 Generic Servo 3 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW_H3_PHANG: Swash 1 H3 Generic Phase Angle Comp + +*Note: This parameter is for advanced users* + +Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem + +- Range: -30 30 + +- Units: deg + +- Increment: 1 + +## H_SW2_TYPE: Swash 2 Type + +H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR + +|Value|Meaning| +|:---:|:---:| +|0|H3 Generic| +|1|H1 non-CPPM| +|2|H3_140| +|3|H3_120| +|4|H4_90| +|5|H4_45| + +## H_SW2_COL_DIR: Swash 2 Collective Direction + +Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## H_SW2_LIN_SVO: Linearize Swash 2 Servos + +This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW2_H3_ENABLE: Swash 2 H3 Generic Enable + +*Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_SW2_H3_SV1_POS: Swash 2 H3 Generic Servo 1 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW2_H3_SV2_POS: Swash 2 H3 Generic Servo 2 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW2_H3_SV3_POS: Swash 2 H3 Generic Servo 3 Position + +*Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg + +- Range: -180 180 + +- Units: deg + +## H_SW2_H3_PHANG: Swash 2 H3 Generic Phase Angle Comp + +*Note: This parameter is for advanced users* + +Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem + +- Range: -30 30 + +- Units: deg + +- Increment: 1 + +## H_DCP_TRIM: Differential Collective Pitch Trim + +Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term. + +- Range: -0.2 0.2 + +- Increment: 0.01 + +## H_YAW_REV_EXPO: Yaw reverser expo + +For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser. + +- Range: -1 1000 + +- Increment: 1.0 + +## H_COL_MIN: Minimum Collective Pitch + +Lowest possible servo position in PWM microseconds for the swashplate + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## H_COL_MAX: Maximum Collective Pitch + +Highest possible servo position in PWM microseconds for the swashplate + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## H_SV_MAN: Manual Servo Mode + +Manual servo override for swash set-up. Must be 0 (Disabled) for flight! + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Passthrough| +|2|Max collective| +|3|Zero thrust collective| +|4|Min collective| + +## H_CYC_MAX: Maximum Cyclic Pitch Angle + +Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection. + +- Range: 0 4500 + +- Increment: 100 + +## H_SV_TEST: Boot-up Servo Test Cycles + +Number of cycles to run servo test on boot-up + +- Range: 0 10 + +- Increment: 1 + +## H_COL_HOVER: Collective Hover Value + +*Note: This parameter is for advanced users* + +Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX + +- Range: 0.3 0.8 + +## H_HOVER_LEARN: Hover Value Learning + +*Note: This parameter is for advanced users* + +Enable/Disable automatic learning of hover collective + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Learn| +|2|Learn and Save| + +## H_OPTIONS: Heli_Options + +Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX. + +- Bitmask: 0:Use Leaky I + +## H_COL_ANG_MIN: Collective Blade Pitch Angle Minimum + +Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN). + +- Range: -20 0 + +- Units: deg + +- Increment: 0.1 + +## H_COL_ANG_MAX: Collective Blade Pitch Angle Maximum + +Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX). + +- Range: 5 20 + +- Units: deg + +- Increment: 0.1 + +## H_COL_ZERO_THRST: Collective Blade Pitch at Zero Thrust + +Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative. + +- Range: -5 0 + +- Units: deg + +- Increment: 0.1 + +## H_COL_LAND_MIN: Collective Blade Pitch Minimum when Landed + +Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold). + +- Range: -5 0 + +- Units: deg + +- Increment: 0.1 + +# HRSC Parameters + +## H_RSC_SETPOINT: External Motor Governor Setpoint + +Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off). + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_MODE: Rotor Speed Control Mode + +Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle + +|Value|Meaning| +|:---:|:---:| +|1|RC Passthrough| +|2|External Gov SetPoint| +|3|Throttle Curve| +|4|AutoThrottle| + +## H_RSC_RAMP_TIME: Throttle Ramp Time + +Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off). + +- Range: 0 60 + +- Units: s + +## H_RSC_RUNUP_TIME: Rotor Runup Time + +Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control + +- Range: 0 60 + +- Units: s + +## H_RSC_CRITICAL: Critical Rotor Speed + +Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_IDLE: Throttle Output at Idle + +Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose + +- Range: 0 50 + +- Units: % + +- Increment: 1 + +## H_RSC_SLEWRATE: Throttle Slew Rate + +This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate. + +- Range: 0 500 + +- Increment: 10 + +## H_RSC_THRCRV_0: Throttle Curve at 0% Coll + +Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_THRCRV_25: Throttle Curve at 25% Coll + +Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_THRCRV_50: Throttle Curve at 50% Coll + +Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_THRCRV_75: Throttle Curve at 75% Coll + +Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_THRCRV_100: Throttle Curve at 100% Coll + +Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## H_RSC_GOV_RANGE: Governor Operational Range + +RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100 + +- Range: 50 200 + +- Units: RPM + +- Increment: 10 + +## H_RSC_CLDWN_TIME: Cooldown Time + +Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings. + +- Range: 0 120 + +- Units: s + +- Increment: 1 + +## H_RSC_GOV_COMP: Governor Torque Compensator + +Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle "hunting". Do not make large adjustments at one time + +- Range: 0 70 + +- Units: % + +- Increment: 0.1 + +## H_RSC_GOV_DROOP: Governor Droop Compensator + +AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system + +- Range: 0 100 + +- Units: % + +- Increment: 0.1 + +## H_RSC_GOV_FF: Governor Feedforward + +Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward. + +- Range: 0 100 + +- Units: % + +- Increment: 0.1 + +## H_RSC_GOV_RPM: Rotor RPM Setting + +Main rotor RPM that governor maintains when engaged + +- Range: 800 3500 + +- Units: RPM + +- Increment: 10 + +## H_RSC_GOV_TORQUE: Governor Torque Limiter + +Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle + +- Range: 10 60 + +- Units: % + +- Increment: 1 + +# HRSCAROT Parameters + +## H_RSC_AROT_ENBL: Enable autorotation handling in RSC + +Allows you to enable (1) or disable (0) the autorotation functionality within the Rotor Speed Controller. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## H_RSC_AROT_RAMP: Time for in-flight power re-engagement when exiting autorotations + +When exiting an autorotation in a bailout manoeuvre, this is the time in seconds for the throttle output (HeliRSC servo) to ramp from idle (H_RSC_AROT_IDLE) to flight throttle setting when motor interlock is re-enabled. When using an ESC with an autorotation bailout function, this parameter should be set to 0.1 (minimum value). + +- Range: 0.1 10 + +- Units: s + +- Increment: 0.1 + +## H_RSC_AROT_IDLE: Idle throttle percentage during autorotation + +Idle throttle used for during autotoration. For external governors, this would be set to a value that is within the autorotation window of the governer/ESC to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable. + +- Range: 0 40 + +- Units: % + +- Increment: 1 + +## H_RSC_AROT_RUNUP: Time allowed for in-flight power re-engagement + +When exiting an autorotation in a bailout manoeuvre, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled. Must be at least one second longer than the H_RSC_AROT_RAMP time that is set. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power. Failure to heed this warning could result in early entry into autonomously controlled collective modes (e.g. alt hold, loiter, etc), whereby the collective could be raised before the engine has reached full power, with a subsequently dangerous slowing of head speed. + +- Range: 1 10 + +- Units: s + +- Increment: 0.1 + +# IM Parameters + +## IM_ACRO_COL_EXP: Acro Mode Collective Expo + +*Note: This parameter is for advanced users* + +Used to soften collective pitch inputs near center point in Acro mode. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +## IM_STB_COL_1: Stabilize Collective Low + +Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## IM_STB_COL_2: Stabilize Collective Mid-Low + +Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## IM_STB_COL_3: Stabilize Collective Mid-High + +Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## IM_STB_COL_4: Stabilize Collective High + +Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +# INS Parameters + +## INS_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_X: Gyro2 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Y: Gyro2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Z: Gyro2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_X: Gyro3 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Y: Gyro3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Z: Gyro3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2SCAL_X: Accelerometer2 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2OFFS_X: Accelerometer2 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3SCAL_X: Accelerometer3 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3OFFS_X: Accelerometer3 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_GYRO_FILTER: Gyro filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_ACCEL_FILTER: Accel filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE2: Use second IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use second IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE3: Use third IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use third IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_STILL_THRESH: Stillness threshold for detecting if we are moving + +*Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5 + +- Range: 0.05 50 + +## INS_GYR_CAL: Gyro Calibration scheme + +*Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + +|Value|Meaning| +|:---:|:---:| +|0|Never| +|1|Start-up only| + +## INS_TRIM_OPTION: Accel cal trim option + +*Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + +|Value|Meaning| +|:---:|:---:| +|0|Don't adjust the trims| +|1|Assume first orientation was level| +|2|Assume ACC_BODYFIX is perfectly aligned to the vehicle| + +## INS_ACC_BODYFIX: Body-fixed accelerometer + +*Note: This parameter is for advanced users* + +The body-fixed accelerometer to be used for trim calculation + +|Value|Meaning| +|:---:|:---:| +|1|IMU 1| +|2|IMU 2| +|3|IMU 3| + +## INS_POS1_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -10 10 + +## INS_POS3_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR2_ID: Gyro2 ID + +*Note: This parameter is for advanced users* + +Gyro2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR3_ID: Gyro3 ID + +*Note: This parameter is for advanced users* + +Gyro3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC2_ID: Accelerometer2 ID + +*Note: This parameter is for advanced users* + +Accelerometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC3_ID: Accelerometer3 ID + +*Note: This parameter is for advanced users* + +Accelerometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_FAST_SAMPLE: Fast sampling mask + +*Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on, if available + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU + +## INS_ENABLE_MASK: IMU enable mask + +*Note: This parameter is for advanced users* + +Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU,6:SeventhIMU + +## INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled + +*Note: This parameter is for advanced users* + +Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used. + +|Value|Meaning| +|:---:|:---:| +|0|1kHz| +|1|2kHz| +|2|4kHz| +|3|8kHz| + +- RebootRequired: True + +## INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_TCAL_OPTIONS: Options for temperature calibration + +*Note: This parameter is for advanced users* + +This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader. + +- Bitmask: 0:PersistTemps, 1:PersistAccels + +## INS_RAW_LOG_OPT: Raw logging options + +*Note: This parameter is for advanced users* + +Raw logging options bitmask + +- Bitmask: 0:Log primary gyro only, 1:Log all gyros, 2:Post filter, 3: Pre and post filter + +# INS4 Parameters + +## INS4_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS4_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS4_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS4TCAL Parameters + +## INS4_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS4_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INS5 Parameters + +## INS5_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS5_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS5_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS5TCAL Parameters + +## INS5_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS5_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSHNTC2 Parameters + +## INS_HNTC2_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTC2_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTC2_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTC2_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTC2_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTC2_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTC2_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSHNTCH Parameters + +## INS_HNTCH_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTCH_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTCH_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTCH_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTCH_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTCH_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTCH_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSLOG Parameters + +## INS_LOG_BAT_CNT: sample count per batch + +*Note: This parameter is for advanced users* + +Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot. + +- Increment: 32 + +- RebootRequired: True + +## INS_LOG_BAT_MASK: Sensor Bitmask + +*Note: This parameter is for advanced users* + +Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot. + +- Bitmask: 0:IMU1,1:IMU2,2:IMU3 + +- RebootRequired: True + +## INS_LOG_BAT_OPT: Batch Logging Options Mask + +*Note: This parameter is for advanced users* + +Options for the BatchSampler. + +- Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering, 2: Sample pre- and post-filter + +## INS_LOG_BAT_LGIN: logging interval + +Interval between pushing samples to the AP_Logger log + +- Units: ms + +- Increment: 10 + +## INS_LOG_BAT_LGCT: logging count + +Number of samples to push to count every INS_LOG_BAT_LGIN + +- Increment: 1 + +# INSTCAL1 Parameters + +## INS_TCAL1_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL1_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL2 Parameters + +## INS_TCAL2_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL2_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL3 Parameters + +## INS_TCAL3_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL3_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# KDE Parameters + +## KDE_NPOLE: Number of motor poles + +Sets the number of motor poles to calculate the correct RPM value + +# LGR Parameters + +## LGR_ENABLE: Enable landing gear + +Enable landing gear control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LGR_STARTUP: Landing Gear Startup position + +Landing Gear Startup behaviour control + +|Value|Meaning| +|:---:|:---:| +|0|WaitForPilotInput| +|1|Retract| +|2|Deploy| + +## LGR_DEPLOY_PIN: Chassis deployment feedback pin + +Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## LGR_DEPLOY_POL: Chassis deployment feedback pin polarity + +Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low. + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## LGR_WOW_PIN: Weight on wheels feedback pin + +Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## LGR_WOW_POL: Weight on wheels feedback pin polarity + +Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low. + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## LGR_DEPLOY_ALT: Landing gear deployment altitude + +Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed. + +- Units: m + +- Range: 0 1000 + +- Increment: 1 + +## LGR_RETRACT_ALT: Landing gear retract altitude + +Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed. + +- Units: m + +- Range: 0 1000 + +- Increment: 1 + +## LGR_OPTIONS: Landing gear auto retract/deploy options + +Options to retract or deploy landing gear in Auto or Guided mode + +- Bitmask: 0:Retract after Takeoff,1:Deploy during Land + +# LOG Parameters + +## LOG_BACKEND_TYPE: AP_Logger Backend Storage type + +Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected. + +- Bitmask: 0:File,1:MAVLink,2:Block + +## LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes) + +The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes. + +## LOG_DISARMED: Enable logging while disarmed + +If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Disabled on USB connection| +|3|Discard log on reboot if never armed| + +## LOG_REPLAY: Enable logging of information needed for Replay + +If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_FILE_DSRMROT: Stop logging to current file on disarm + +When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size + +*Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP_Logger-over-mavlink + +- Units: kB + +## LOG_FILE_TIMEOUT: Timeout before giving up on file writes + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped. + +- Units: s + +## LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space + +Set this such that the free space is larger than your largest typical flight log + +- Units: MB + +- Range: 10 1000 + +## LOG_FILE_RATEMAX: Maximum logging rate for file backend + +This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_BLK_RATEMAX: Maximum logging rate for block backend + +This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_DARM_RATEMAX: Maximum logging rate when disarmed + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAX_FILES: Maximum number of log files + +*Note: This parameter is for advanced users* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs. + +- Range: 2 500 + +- Increment: 1 + +- RebootRequired: True + +# LOIT Parameters + +## LOIT_ANG_MAX: Loiter pilot angle max + +*Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX + +- Units: deg + +- Range: 0 45 + +- Increment: 1 + +## LOIT_SPEED: Loiter Horizontal Maximum Speed + +Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode + +- Units: cm/s + +- Range: 20 3500 + +- Increment: 50 + +## LOIT_ACC_MAX: Loiter maximum correction acceleration + +*Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively. + +- Units: cm/s/s + +- Range: 100 981 + +- Increment: 1 + +## LOIT_BRK_ACCEL: Loiter braking acceleration + +*Note: This parameter is for advanced users* + +Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered. + +- Units: cm/s/s + +- Range: 25 250 + +- Increment: 1 + +## LOIT_BRK_JERK: Loiter braking jerk + +*Note: This parameter is for advanced users* + +Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver. + +- Units: cm/s/s/s + +- Range: 500 5000 + +- Increment: 1 + +## LOIT_BRK_DELAY: Loiter brake start delay (in seconds) + +*Note: This parameter is for advanced users* + +Loiter brake start delay (in seconds) + +- Units: s + +- Range: 0 2 + +- Increment: 0.1 + +# MIS Parameters + +## MIS_TOTAL: Total mission commands + +*Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station. Do not change this manually. + +- Range: 0 32766 + +- Increment: 1 + +- ReadOnly: True + +## MIS_RESTART: Mission Restart when entering Auto mode + +*Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run) + +|Value|Meaning| +|:---:|:---:| +|0|Resume Mission| +|1|Restart Mission| + +## MIS_OPTIONS: Mission options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of what options to use in missions. + +- Bitmask: 0:Clear Mission on reboot, 2:ContinueAfterLand + +# MNT1 Parameters + +## MNT1_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT1_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT1_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT1_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT1_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT1_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MNT2 Parameters + +## MNT2_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT2_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT2_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT2_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT2_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT2_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MOT Parameters + +## MOT_YAW_HEADROOM: Matrix Yaw Min + +*Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + +- Range: 0 500 + +- Units: PWM + +## MOT_THST_EXPO: Thrust Curve Expo + +*Note: This parameter is for advanced users* + +Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve) + +- Range: -1.0 1.0 + +## MOT_SPIN_MAX: Motor Spin maximum + +*Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + +|Value|Meaning| +|:---:|:---:| +|0.9|Low| +|0.95|Default| +|1.0|High| + +## MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage + +*Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled + +- Range: 6 53 + +- Units: V + +## MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage + +*Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled + +- Range: 6 42 + +- Units: V + +## MOT_BAT_CURR_MAX: Motor Current Max + +*Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited (0 = Disabled) + +- Range: 0 200 + +- Units: A + +## MOT_PWM_TYPE: Output PWM type + +*Note: This parameter is for advanced users* + +This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|OneShot| +|2|OneShot125| +|3|Brushed| +|4|DShot150| +|5|DShot300| +|6|DShot600| +|7|DShot1200| +|8|PWMRange| +|9|PWMAngle| + +- RebootRequired: True + +## MOT_PWM_MIN: PWM output minimum + +*Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + +- Units: PWM + +- Range: 0 2000 + +## MOT_PWM_MAX: PWM output maximum + +*Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + +- Units: PWM + +- Range: 0 2000 + +## MOT_SPIN_MIN: Motor Spin minimum + +*Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM. + +|Value|Meaning| +|:---:|:---:| +|0.0|Low| +|0.15|Default| +|0.25|High| + +## MOT_SPIN_ARM: Motor Spin armed + +*Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN. + +|Value|Meaning| +|:---:|:---:| +|0.0|Low| +|0.1|Default| +|0.2|High| + +## MOT_BAT_CURR_TC: Motor Current Max Time Constant + +*Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + +- Range: 0 10 + +- Units: s + +## MOT_THST_HOVER: Thrust Hover Value + +*Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + +- Range: 0.2 0.8 + +## MOT_HOVER_LEARN: Hover Value Learning + +*Note: This parameter is for advanced users* + +Enable/Disable automatic learning of hover throttle + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Learn| +|2|Learn and Save| + +## MOT_SAFE_DISARM: Motor PWM output disabled when disarmed + +*Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + +|Value|Meaning| +|:---:|:---:| +|0|PWM enabled while disarmed| +|1|PWM disabled while disarmed| + +## MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle + +Yaw servo's maximum lean angle (Tricopter only) + +- Range: 5 80 + +- Units: deg + +- Increment: 1 + +## MOT_SPOOL_TIME: Spool up time + +*Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle. + +- Range: 0.05 2 + +- Units: s + +- Increment: 0.1 + +## MOT_BOOST_SCALE: Motor boost scale + +*Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle. + +- Range: 0 5 + +- Increment: 0.1 + +## MOT_BAT_IDX: Battery compensation index + +*Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + +|Value|Meaning| +|:---:|:---:| +|0|First battery| +|1|Second battery| + +## MOT_SLEW_UP_TIME: Output slew time for increasing throttle + +*Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5. + +- Range: 0 .5 + +- Units: s + +- Increment: 0.001 + +## MOT_SLEW_DN_TIME: Output slew time for decreasing throttle + +*Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5. + +- Range: 0 .5 + +- Units: s + +- Increment: 0.001 + +## MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed. + +*Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed. + +- Range: 0 5 + +- Units: s + +- Increment: 0.001 + +## MOT_OPTIONS: Motor options + +*Note: This parameter is for advanced users* + +Motor options + +- Bitmask: 0:Voltage compensation uses raw voltage + +## MOT_SPOOL_TIM_DN: Spool down time + +*Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead. + +- Range: 0 2 + +- Units: s + +- Increment: 0.001 + +# MSP Parameters + +## MSP_OSD_NCELLS: Cell count override + +Used for average cell voltage calculation + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|1| +|2|2| +|3|3| +|4|4| +|5|5| +|6|6| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| + +## MSP_OPTIONS: MSP OSD Options + +A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. + +- Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts + +# NET Parameters + +## NET_ENABLE: Networking Enable + +*Note: This parameter is for advanced users* + +Networking Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_NETMASK: IP Subnet mask + +*Note: This parameter is for advanced users* + +Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0 + +- Range: 0 32 + +- RebootRequired: True + +## NET_DHCP: DHCP client + +*Note: This parameter is for advanced users* + +Enable/Disable DHCP client + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_TESTS: Test enable flags + +*Note: This parameter is for advanced users* + +Enable/Disable networking tests + +- Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test, 3:TCP reflect test + +- RebootRequired: True + +## NET_OPTIONS: Networking options + +*Note: This parameter is for advanced users* + +Networking options + +- Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway + +- RebootRequired: True + +# NETGWADDR Parameters + +## NET_GWADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETIPADDR Parameters + +## NET_IPADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETMACADDR Parameters + +## NET_MACADDR0: MAC Address 1st byte + +*Note: This parameter is for advanced users* + +MAC address 1st byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR1: MAC Address 2nd byte + +*Note: This parameter is for advanced users* + +MAC address 2nd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR2: MAC Address 3rd byte + +*Note: This parameter is for advanced users* + +MAC address 3rd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR3: MAC Address 4th byte + +*Note: This parameter is for advanced users* + +MAC address 4th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR4: MAC Address 5th byte + +*Note: This parameter is for advanced users* + +MAC address 5th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR5: MAC Address 6th byte + +*Note: This parameter is for advanced users* + +MAC address 6th byte + +- Range: 0 255 + +- RebootRequired: True + +# NETP1 Parameters + +## NET_P1_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P1_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P1_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP1IP Parameters + +## NET_P1_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP2 Parameters + +## NET_P2_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P2_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P2_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP2IP Parameters + +## NET_P2_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP3 Parameters + +## NET_P3_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P3_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P3_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP3IP Parameters + +## NET_P3_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP4 Parameters + +## NET_P4_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P4_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P4_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP4IP Parameters + +## NET_P4_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETREMPPPIP Parameters + +## NET_REMPPP_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETTESTIP Parameters + +## NET_TEST_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NMEA Parameters + +## NMEA_RATE_MS: NMEA Output rate + +NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower. + +- Range: 20 2000 + +- Increment: 1 + +- Units: ms + +## NMEA_MSG_EN: Messages Enable bitmask + +This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval + +- Bitmask: 0:GPGGA,1:GPRMC,2:PASHR + +# NTF Parameters + +## NTF_LED_BRIGHT: LED Brightness + +*Note: This parameter is for advanced users* + +Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|Low| +|2|Medium| +|3|High| + +## NTF_BUZZ_TYPES: Buzzer Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + +- Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN + +## NTF_LED_OVERRIDE: Specifies colour source for the RGBLed + +*Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks. + +|Value|Meaning| +|:---:|:---:| +|0|Standard| +|1|MAVLink/Scripting/AP_Periph| +|2|OutbackChallenge| +|3|TrafficLight| + +## NTF_DISPLAY_TYPE: Type of on-board I2C display + +*Note: This parameter is for advanced users* + +This sets up the type of on-board I2C display. Disabled by default. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|ssd1306| +|2|sh1106| +|10|SITL| + +## NTF_OREO_THEME: OreoLED Theme + +*Note: This parameter is for advanced users* + +Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Aircraft| +|2|Rover| + +## NTF_BUZZ_PIN: Buzzer pin + +*Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| + +## NTF_LED_TYPES: LED Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + +- Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB + +## NTF_BUZZ_ON_LVL: Buzzer-on pin logic level + +*Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + +|Value|Meaning| +|:---:|:---:| +|0|LowIsOn| +|1|HighIsOn| + +## NTF_BUZZ_VOLUME: Buzzer volume + +Control the volume of the buzzer + +- Range: 0 100 + +- Units: % + +## NTF_LED_LEN: Serial LED String Length + +*Note: This parameter is for advanced users* + +The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED) + +- Range: 1 32 + +- RebootRequired: True + +# OA Parameters + +## OA_TYPE: Object Avoidance Path Planning algorithm to use + +Enabled/disable path planning around obstacles + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|BendyRuler| +|2|Dijkstra| +|3|Dijkstra with BendyRuler| + +## OA_MARGIN_MAX: Object Avoidance wide margin distance + +Object Avoidance will ignore objects more than this many meters from vehicle + +- Units: m + +- Range: 0.1 100 + +- Increment: 1 + +## OA_OPTIONS: Options while recovering from Object Avoidance + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). + +- Bitmask: 1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only) + +# OABR Parameters + +## OA_BR_LOOKAHEAD: Object Avoidance look ahead distance maximum + +Object Avoidance will look this many meters ahead of vehicle + +- Units: m + +- Range: 1 100 + +- Increment: 1 + +## OA_BR_CONT_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much. + +- Range: 1.1 2 + +- Increment: 0.1 + +## OA_BR_CONT_ANGLE: BendyRuler's bearing change resistance threshold angle + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + +- Range: 20 180 + +- Increment: 5 + +## OA_BR_TYPE: Type of BendyRuler + +BendyRuler will search for clear path along the direction defined by this parameter + +|Value|Meaning| +|:---:|:---:| +|1|Horizontal search| +|2|Vertical search| + +# OADB Parameters + +## OA_DB_SIZE: OADatabase maximum number of points + +*Note: This parameter is for advanced users* + +OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process + +- Range: 0 10000 + +- RebootRequired: True + +## OA_DB_EXPIRE: OADatabase item timeout + +*Note: This parameter is for advanced users* + +OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones. + +- Units: s + +- Range: 0 127 + +- Increment: 1 + +## OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points + +*Note: This parameter is for advanced users* + +OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data. + +- Range: 1 200 + +- RebootRequired: True + +## OA_DB_OUTPUT: OADatabase output level + +*Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Send only HIGH importance items| +|2|Send HIGH and NORMAL importance items| +|3|Send all items| + +## OA_DB_BEAM_WIDTH: OADatabase beam width + +*Note: This parameter is for advanced users* + +Beam width of incoming lidar data + +- Units: deg + +- Range: 1 10 + +- RebootRequired: True + +## OA_DB_RADIUS_MIN: OADatabase Minimum radius + +*Note: This parameter is for advanced users* + +Minimum radius of objects held in database + +- Units: m + +- Range: 0 10 + +## OA_DB_DIST_MAX: OADatabase Distance Maximum + +*Note: This parameter is for advanced users* + +Maximum distance of objects held in database. Set to zero to disable the limits + +- Units: m + +- Range: 0 10 + +## OA_DB_ALT_MIN: OADatabase minimum altitude above home before storing obstacles + +*Note: This parameter is for advanced users* + +OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature. + +- Units: m + +- Range: 0 4 + +# OSD Parameters + +## OSD_TYPE: OSD type + +OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +## OSD_CHAN: Screen switch transmitter channel + +This sets the channel used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## OSD_SW_METHOD: Screen switch method + +This sets the method used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|switch to next screen if channel value was changed| +|1|select screen based on pwm ranges specified for each screen| +|2|switch to next screen after low to high transition and every 1s while channel value is high| + +## OSD_OPTIONS: OSD Options + +This sets options that change the display + +- Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode + +## OSD_FONT: OSD Font + +This sets which OSD font to use. It is an integer from 0 to the number of fonts available + +- RebootRequired: True + +## OSD_V_OFFSET: OSD vertical offset + +Sets vertical offset of the osd inside image + +- Range: 0 31 + +- RebootRequired: True + +## OSD_H_OFFSET: OSD horizontal offset + +Sets horizontal offset of the osd inside image + +- Range: 0 63 + +- RebootRequired: True + +## OSD_W_RSSI: RSSI warn level (in %) + +Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults. + +- Range: -128 100 + +## OSD_W_NSAT: NSAT warn level + +Set level at which NSAT item will flash + +- Range: 1 30 + +## OSD_W_BATVOLT: BAT_VOLT warn level + +Set level at which BAT_VOLT item will flash + +- Range: 0 100 + +## OSD_UNITS: Display Units + +Sets the units to use in displaying items + +|Value|Meaning| +|:---:|:---:| +|0|Metric| +|1|Imperial| +|2|SI| +|3|Aviation| + +## OSD_MSG_TIME: Message display duration in seconds + +Sets message duration seconds + +- Range: 1 20 + +## OSD_ARM_SCR: Arm screen + +Screen to be shown on Arm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_DSARM_SCR: Disarm screen + +Screen to be shown on disarm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_FS_SCR: Failsafe screen + +Screen to be shown on failsafe event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_BTN_DELAY: Button delay + +*Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation. + +- Range: 0 3000 + +## OSD_W_TERR: Terrain warn level + +Set level below which TER_HGT item will flash. -1 disables. + +- Range: -1 3000 + +- Units: m + +## OSD_W_AVGCELLV: AVGCELLV warn level + +Set level at which AVGCELLV item will flash + +- Range: 0 100 + +## OSD_CELL_COUNT: Battery cell count + +*Note: This parameter is for advanced users* + +Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used. + +- Increment: 1 + +## OSD_W_RESTVOLT: RESTVOLT warn level + +Set level at which RESTVOLT item will flash + +- Range: 0 100 + +## OSD_W_ACRVOLT: Avg Cell Resting Volt warn level + +Set level at which ACRVOLT item will flash + +- Range: 0 100 + +## OSD_W_LQ: RC link quality warn level (in %) + +Set level at which RC_LQ item will flash (%) + +- Range: 0 100 + +## OSD_W_SNR: RC link SNR warn level (in %) + +Set level at which RC_SNR item will flash (in db) + +- Range: -20 10 + +## OSD_SB_H_OFS: Sidebar horizontal offset + +Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen. + +- Range: 0 20 + +## OSD_SB_V_EXT: Sidebar vertical extension + +Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting. + +- Range: 0 10 + +## OSD_TYPE2: OSD type 2 + +OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +# OSD1 Parameters + +## OSD1_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD1_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD1_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD1_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD1_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD1_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD2 Parameters + +## OSD2_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD2_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD2_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD2_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD2_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD2_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD3 Parameters + +## OSD3_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD3_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD3_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD3_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD3_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD3_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD4 Parameters + +## OSD4_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD4_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD4_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD4_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD4_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD4_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD5 Parameters + +## OSD5_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD5_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD5_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD5_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD5PARAM1 Parameters + +## OSD5_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM2 Parameters + +## OSD5_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM3 Parameters + +## OSD5_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM4 Parameters + +## OSD5_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM5 Parameters + +## OSD5_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM6 Parameters + +## OSD5_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM7 Parameters + +## OSD5_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM8 Parameters + +## OSD5_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM9 Parameters + +## OSD5_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6 Parameters + +## OSD6_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD6_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD6_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD6_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD6PARAM1 Parameters + +## OSD6_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM2 Parameters + +## OSD6_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM3 Parameters + +## OSD6_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM4 Parameters + +## OSD6_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM5 Parameters + +## OSD6_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM6 Parameters + +## OSD6_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM7 Parameters + +## OSD6_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM8 Parameters + +## OSD6_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM9 Parameters + +## OSD6_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# PLND Parameters + +## PLND_ENABLED: Precision Land enabled/disabled + +*Note: This parameter is for advanced users* + +Precision Land enabled/disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PLND_TYPE: Precision Land Type + +*Note: This parameter is for advanced users* + +Precision Land Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IRLock| +|3|SITL_Gazebo| +|4|SITL| + +## PLND_YAW_ALIGN: Sensor yaw alignment + +*Note: This parameter is for advanced users* + +Yaw angle from body x-axis to sensor x-axis. + +- Range: 0 36000 + +- Increment: 10 + +- Units: cdeg + +## PLND_LAND_OFS_X: Land offset forward + +*Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_LAND_OFS_Y: Land offset right + +*Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_EST_TYPE: Precision Land Estimator Type + +*Note: This parameter is for advanced users* + +Specifies the estimation method to be used + +|Value|Meaning| +|:---:|:---:| +|0|RawSensor| +|1|KalmanFilter| + +## PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise + +*Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less + +- Range: 0.5 5 + +## PLND_CAM_POS_X: Camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Y: Camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Z: Camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_BUS: Sensor Bus + +*Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors. + +|Value|Meaning| +|:---:|:---:| +|-1|DefaultBus| +|0|InternalI2C| +|1|ExternalI2C| + +## PLND_LAG: Precision Landing sensor lag + +*Note: This parameter is for advanced users* + +Precision Landing sensor lag, to cope with variable landing_target latency + +- Range: 0.02 0.250 + +- Increment: 1 + +- Units: s + +- RebootRequired: True + +## PLND_XY_DIST_MAX: Precision Landing maximum distance to target before descending + +*Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend. + +- Range: 0 10 + +- Units: m + +## PLND_STRICT: PrecLand strictness + +How strictly should the vehicle land on the target if target is lost + +|Value|Meaning| +|:---:|:---:| +|0|Land Vertically (Not strict)| +|1|Retry Landing(Normal Strictness)| +|2|Do not land (just Hover) (Very Strict)| + +## PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing + +PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry. + +- Range: 0 10 + +- Increment: 1 + +## PLND_TIMEOUT: PrecLand retry timeout + +Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter. + +- Range: 0 20 + +- Units: s + +## PLND_RET_BEHAVE: PrecLand retry behaviour + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + +|Value|Meaning| +|:---:|:---:| +|0|Go to the last location where landing target was detected| +|1|Go towards the approximate location of the detected landing target| + +## PLND_ALT_MIN: PrecLand minimum alt for retry + +Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 5 + +- Units: m + +## PLND_ALT_MAX: PrecLand maximum alt for retry + +Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 50 + +- Units: m + +## PLND_OPTIONS: Precision Landing Extra Options + +*Note: This parameter is for advanced users* + +Precision Landing Extra Options + +- Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent + +## PLND_ORIENT: Camera Orientation + +*Note: This parameter is for advanced users* + +Orientation of camera/sensor on body + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|4|Back| +|25|Down| + +- RebootRequired: True + +# PRX Parameters + +## PRX_IGN_GND: Proximity sensor land detection + +Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PRX_LOG_RAW: Proximity raw distances log + +*Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| + +## PRX_FILT: Proximity filter cutoff frequency + +*Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + +- Units: Hz + +- Range: 0 20 + +## PRX_ALT_MIN: Proximity lowest altitude. + +*Note: This parameter is for advanced users* + +Minimum altitude below which proximity should not work. + +- Units: m + +- Range: 0 10 + +# PRX1 Parameters + +## PRX1_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX1_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX1_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX1_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX1_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX1_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX1_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX1 Parameters + +## PRX1_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX2 Parameters + +## PRX2_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX2_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX2_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX2_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX2_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX2_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX2_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX2 Parameters + +## PRX2_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX3 Parameters + +## PRX3_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX3_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX3_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX3_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX3_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX3_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX3_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX3 Parameters + +## PRX3_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX4 Parameters + +## PRX4_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX4_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX4_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX4_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX4_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX4_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX4_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX4 Parameters + +## PRX4_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PSC Parameters + +## PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency + +*Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + +- Units: Hz + +- Range: 0.5 5 + +- Increment: 0.1 + +## PSC_POSZ_P: Position (vertical) controller P gain + +Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + +- Range: 1.000 3.000 + +## PSC_VELZ_P: Velocity (vertical) controller P gain + +Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + +- Range: 1.000 8.000 + +## PSC_VELZ_I: Velocity (vertical) controller I gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration + +- Range: 0.02 1.00 + +- Increment: 0.01 + +## PSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum + +Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output + +- Range: 1.000 8.000 + +## PSC_VELZ_D: Velocity (vertical) controller D gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller D gain. Corrects short-term changes in velocity + +- Range: 0.00 1.00 + +- Increment: 0.001 + +## PSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target + +- Range: 0 1 + +- Increment: 0.01 + +## PSC_VELZ_FLTE: Velocity (vertical) error filter + +*Note: This parameter is for advanced users* + +Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms + +- Range: 0 100 + +- Units: Hz + +## PSC_VELZ_FLTD: Velocity (vertical) input filter for D term + +*Note: This parameter is for advanced users* + +Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms + +- Range: 0 100 + +- Units: Hz + +## PSC_ACCZ_P: Acceleration (vertical) controller P gain + +Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + +- Range: 0.200 1.500 + +- Increment: 0.05 + +## PSC_ACCZ_I: Acceleration (vertical) controller I gain + +Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration + +- Range: 0.000 3.000 + +## PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum + +Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate + +- Range: 0 1000 + +- Units: d% + +## PSC_ACCZ_D: Acceleration (vertical) controller D gain + +Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration + +- Range: 0.000 0.400 + +## PSC_ACCZ_FF: Acceleration (vertical) controller feed forward + +Acceleration (vertical) controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz + +Acceleration (vertical) controller target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz + +Acceleration (vertical) controller error frequency in Hz + +- Range: 1 100 + +- Increment: 1 + +- Units: Hz + +## PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz + +Acceleration (vertical) controller derivative frequency in Hz + +- Range: 1 100 + +- Increment: 1 + +- Units: Hz + +## PSC_ACCZ_SMAX: Accel (vertical) slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## PSC_ACCZ_PDMX: Acceleration (vertical) controller PD sum maximum + +Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1000 + +- Units: d% + +## PSC_ACCZ_D_FF: Accel (vertical) Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## PSC_ACCZ_NTF: Accel (vertical) Target notch filter index + +*Note: This parameter is for advanced users* + +Accel (vertical) Target notch filter index + +- Range: 1 8 + +## PSC_ACCZ_NEF: Accel (vertical) Error notch filter index + +*Note: This parameter is for advanced users* + +Accel (vertical) Error notch filter index + +- Range: 1 8 + +## PSC_POSXY_P: Position (horizontal) controller P gain + +Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller + +- Range: 0.500 2.000 + +## PSC_VELXY_P: Velocity (horizontal) P gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration + +- Range: 0.1 6.0 + +- Increment: 0.1 + +## PSC_VELXY_I: Velocity (horizontal) I gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration + +- Range: 0.02 1.00 + +- Increment: 0.01 + +## PSC_VELXY_D: Velocity (horizontal) D gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) D gain. Corrects short-term changes in velocity + +- Range: 0.00 1.00 + +- Increment: 0.001 + +## PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum + +*Note: This parameter is for advanced users* + +Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output + +- Range: 0 4500 + +- Increment: 10 + +- Units: cm/s/s + +## PSC_VELXY_FLTE: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms + +- Range: 0 100 + +- Units: Hz + +## PSC_VELXY_FLTD: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term + +- Range: 0 100 + +- Units: Hz + +## PSC_VELXY_FF: Velocity (horizontal) feed forward gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration + +- Range: 0 6 + +- Increment: 0.01 + +## PSC_ANGLE_MAX: Position Control Angle Max + +*Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value + +- Units: deg + +- Range: 0 45 + +- Increment: 1 + +## PSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping + +*Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + +- Units: m/s/s/s + +- Range: 1 20 + +- Increment: 1 + +## PSC_JERK_Z: Jerk limit for the vertical kinematic input shaping + +*Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + +- Units: m/s/s/s + +- Range: 5 50 + +- Increment: 1 + +# RALLY Parameters + +## RALLY_TOTAL: Rally Total + +*Note: This parameter is for advanced users* + +Number of rally points currently loaded + +## RALLY_LIMIT_KM: Rally Limit + +*Note: This parameter is for advanced users* + +Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used. + +- Units: km + +- Increment: 0.1 + +## RALLY_INCL_HOME: Rally Include Home + +Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL + +|Value|Meaning| +|:---:|:---:| +|0|DoNotIncludeHome| +|1|IncludeHome| + +# RC Parameters + +## RC_OVERRIDE_TIME: RC override timeout + +*Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled + +- Range: 0.0 120.0 + +- Units: s + +## RC_OPTIONS: RC options + +*Note: This parameter is for advanced users* + +RC input options + +- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol + +## RC_PROTOCOLS: RC protocols enabled + +*Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols. + +- Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio + +## RC_FS_TIMEOUT: RC Failsafe timeout + +RC failsafe will trigger this many seconds after loss of RC + +- Range: 0.5 10.0 + +- Units: s + +# RCn Parameters + +## RCn_MIN: RC min PWM + +*Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_TRIM: RC trim PWM + +*Note: This parameter is for advanced users* + +RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_MAX: RC max PWM + +*Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_REVERSED: RC reversed + +*Note: This parameter is for advanced users* + +Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## RCn_DZ: RC dead-zone + +*Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + +- Units: PWM + +- Range: 0 200 + +## RCn_OPTION: RC input option + +Function assigned to this RC channel + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|2|FLIP Mode| +|3|Simple Mode| +|4|RTL| +|5|Save Trim| +|7|Save WP| +|9|Camera Trigger| +|10|RangeFinder Enable| +|11|Fence Enable| +|13|Super Simple Mode| +|14|Acro Trainer| +|15|Sprayer Enable| +|16|AUTO Mode| +|17|AUTOTUNE Mode| +|18|LAND Mode| +|19|Gripper Release| +|21|Parachute Enable| +|22|Parachute Release| +|23|Parachute 3pos| +|24|Auto Mission Reset| +|25|AttCon Feed Forward| +|26|AttCon Accel Limits| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Copter Sound| +|31|Motor Emergency Stop| +|32|Motor Interlock| +|33|BRAKE Mode| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|37|THROW Mode| +|38|ADSB Avoidance Enable| +|39|PrecLoiter Enable| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|43|InvertedFlight Enable| +|44|Winch Enable| +|45|Winch Control| +|46|RC Override Enable| +|47|User Function 1| +|48|User Function 2| +|49|User Function 3| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|60|ZigZag Mode| +|61|ZigZag SaveWP| +|62|Compass Learn| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|68|STABILIZE Mode| +|69|POSHOLD Mode| +|70|ALTHOLD Mode| +|71|FLOWHOLD Mode| +|72|CIRCLE Mode| +|73|DRIFT Mode| +|75|SurfaceTrackingUpDown| +|76|STANDBY Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisOdom Align| +|81|Disarm| +|83|ZigZag Auto| +|84|AirMode| +|85|Generator| +|90|EKF Source Set| +|94|VTX Power| +|99|AUTO RTL| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|109|use Custom Controller| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|151|TURTLE Mode| +|152|SIMPLE heading reset| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with AirMode (4.2 and higher)| +|158|Optflow Calibration| +|159|Force IS_Flying| +|161|Turbine Start(heli)| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|178|FlightMode Pause/Resume| +|180|Test autotuned gains after tune is complete| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|219|Transmitter Tuning| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# RCMAP Parameters + +## RCMAP_ROLL: Roll channel + +*Note: This parameter is for advanced users* + +Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_PITCH: Pitch channel + +*Note: This parameter is for advanced users* + +Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_THROTTLE: Throttle channel + +*Note: This parameter is for advanced users* + +Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_YAW: Yaw channel + +*Note: This parameter is for advanced users* + +Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +# RELAY10 Parameters + +## RELAY10_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY10_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY10_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY10_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY11 Parameters + +## RELAY11_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY11_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY11_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY11_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY12 Parameters + +## RELAY12_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY12_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY12_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY12_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY13 Parameters + +## RELAY13_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY13_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY13_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY13_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY14 Parameters + +## RELAY14_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY14_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY14_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY14_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY15 Parameters + +## RELAY15_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY15_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY15_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY15_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY16 Parameters + +## RELAY16_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY16_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY16_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY16_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY1 Parameters + +## RELAY1_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY1_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY1_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY1_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY2 Parameters + +## RELAY2_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY2_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY2_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY2_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY3 Parameters + +## RELAY3_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY3_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY3_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY3_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY4 Parameters + +## RELAY4_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY4_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY4_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY4_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY5 Parameters + +## RELAY5_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY5_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY5_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY5_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY6 Parameters + +## RELAY6_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY6_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY6_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY6_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY7 Parameters + +## RELAY7_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY7_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY7_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY7_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY8 Parameters + +## RELAY8_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY8_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY8_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY8_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY9 Parameters + +## RELAY9_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|3|Parachute| +|4|Camera| + +## RELAY9_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY9_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY9_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RNGFND1 Parameters + +## RNGFND1_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND1_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND1_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND1_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND1_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND1_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND1_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND1_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND1_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND1_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND1_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND1_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND1_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND1_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND1_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND1_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND1_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND1_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND2 Parameters + +## RNGFND2_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND2_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND2_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND2_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND2_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND2_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND2_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND2_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND2_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND2_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND2_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND2_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND2_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND2_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND2_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND2_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND2_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND2_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND3 Parameters + +## RNGFND3_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND3_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND3_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND3_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND3_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND3_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND3_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND3_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND3_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND3_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND3_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND3_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND3_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND3_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND3_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND3_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND3_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND3_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND4 Parameters + +## RNGFND4_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND4_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND4_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND4_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND4_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND4_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND4_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND4_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND4_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND4_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND4_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND4_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND4_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND4_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND4_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND4_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND4_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND4_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND5 Parameters + +## RNGFND5_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND5_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND5_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND5_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND5_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND5_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND5_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND5_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND5_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND5_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND5_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND5_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND5_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND5_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND5_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND5_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND5_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND5_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND6 Parameters + +## RNGFND6_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND6_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND6_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND6_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND6_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND6_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND6_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND6_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND6_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND6_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND6_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND6_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND6_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND6_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND6_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND6_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND6_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND6_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND7 Parameters + +## RNGFND7_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND7_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND7_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND7_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND7_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND7_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND7_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND7_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND7_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND7_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND7_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND7_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND7_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND7_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND7_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND7_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND7_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND7_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND8 Parameters + +## RNGFND8_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND8_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND8_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND8_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND8_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND8_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND8_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND8_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND8_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND8_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND8_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND8_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND8_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND8_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND8_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND8_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND8_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND8_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND9 Parameters + +## RNGFND9_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND9_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND9_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND9_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND9_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND9_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND9_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND9_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND9_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND9_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND9_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND9_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND9_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND9_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND9_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND9_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND9_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND9_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFNDA Parameters + +## RNGFNDA_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFNDA_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFNDA_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFNDA_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFNDA_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFNDA_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFNDA_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFNDA_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFNDA_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFNDA_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFNDA_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFNDA_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFNDA_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFNDA_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFNDA_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFNDA_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFNDA_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFNDA_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RPM1 Parameters + +## RPM1_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM1_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM1_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM1_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM1_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM2 Parameters + +## RPM2_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM2_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM2_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM2_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM2_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM3 Parameters + +## RPM3_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM3_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM3_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM3_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM3_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM3_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM4 Parameters + +## RPM4_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM4_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM4_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM4_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM4_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM4_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RSSI Parameters + +## RSSI_TYPE: RSSI Type + +Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|AnalogPin| +|2|RCChannelPwmValue| +|3|ReceiverProtocol| +|4|PWMInputPin| +|5|TelemetryRadioRSSI| + +## RSSI_ANA_PIN: Receiver RSSI sensing pin + +Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|8|V5 Nano| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RSSI_PIN_LOW: RSSI pin's lowest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_PIN_HIGH: RSSI pin's highest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_CHANNEL: Receiver RSSI channel number + +The channel number where RSSI will be output by the radio receiver (5 and above). + +- Range: 0 16 + +## RSSI_CHAN_LOW: RSSI PWM low value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH + +- Units: PWM + +- Range: 0 2000 + +## RSSI_CHAN_HIGH: Receiver RSSI PWM high value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW + +- Units: PWM + +- Range: 0 2000 + +# SCHED Parameters + +## SCHED_DEBUG: Scheduler debug level + +*Note: This parameter is for advanced users* + +Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|ShowSlips| +|3|ShowOverruns| + +## SCHED_LOOP_RATE: Scheduling main loop rate + +*Note: This parameter is for advanced users* + +This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental. + +- Range: 50 400 + +- RebootRequired: True + +- Units: Hz + +## SCHED_OPTIONS: Scheduling options + +*Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler. + +- Bitmask: 0:Enable per-task perf info + +# SCR Parameters + +## SCR_ENABLE: Enable Scripting + +*Note: This parameter is for advanced users* + +Controls if scripting is enabled + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Lua Scripts| + +- RebootRequired: True + +## SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count + +*Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + +- Range: 1000 1000000 + +- Increment: 10000 + +## SCR_HEAP_SIZE: Scripting Heap Size + +*Note: This parameter is for advanced users* + +Amount of memory available for scripting + +- Range: 1024 1048576 + +- Increment: 1024 + +- RebootRequired: True + +## SCR_DEBUG_OPTS: Scripting Debug Level + +*Note: This parameter is for advanced users* + +Debugging options + +- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + +## SCR_USER1: Scripting User Parameter1 + +General purpose user variable input for scripts + +## SCR_USER2: Scripting User Parameter2 + +General purpose user variable input for scripts + +## SCR_USER3: Scripting User Parameter3 + +General purpose user variable input for scripts + +## SCR_USER4: Scripting User Parameter4 + +General purpose user variable input for scripts + +## SCR_USER5: Scripting User Parameter5 + +General purpose user variable input for scripts + +## SCR_USER6: Scripting User Parameter6 + +General purpose user variable input for scripts + +## SCR_DIR_DISABLE: Directory disable + +*Note: This parameter is for advanced users* + +This will stop scripts being loaded from the given locations + +- Bitmask: 0:ROMFS, 1:APM/scripts + +- RebootRequired: True + +## SCR_LD_CHECKSUM: Loaded script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables + +## SCR_RUN_CHECKSUM: Running script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables + +## SCR_THD_PRIORITY: Scripting thread priority + +*Note: This parameter is for advanced users* + +This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|IO Priority| +|2|Storage Priority| +|3|UART Priority| +|4|I2C Priority| +|5|SPI Priority| +|6|Timer Priority| +|7|Main Priority| +|8|Boost Priority| + +- RebootRequired: True + +## SCR_SDEV_EN: Scripting serial device enable + +*Note: This parameter is for advanced users* + +Enable scripting serial devices + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SCR_SDEV1_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV2_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV3_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# SERIAL Parameters + +## SERIAL0_BAUD: Serial0 baud rate + +The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL0_PROTOCOL: Console protocol selection + +Control what protocol to use on the console. + +|Value|Meaning| +|:---:|:---:| +|1|MAVLink1| +|2|MAVLink2| + +- RebootRequired: True + +## SERIAL1_PROTOCOL: Telem1 protocol selection + +Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +- RebootRequired: True + +## SERIAL1_BAUD: Telem1 Baud Rate + +The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL2_PROTOCOL: Telemetry 2 protocol selection + +Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL2_BAUD: Telemetry 2 Baud Rate + +The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection + +Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL3_BAUD: Serial 3 (GPS) Baud Rate + +The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL4_PROTOCOL: Serial4 protocol selection + +Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL4_BAUD: Serial 4 Baud Rate + +The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL5_PROTOCOL: Serial5 protocol selection + +Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL5_BAUD: Serial 5 Baud Rate + +The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL6_PROTOCOL: Serial6 protocol selection + +Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL6_BAUD: Serial 6 Baud Rate + +The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL1_OPTIONS: Telem1 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL2_OPTIONS: Telem2 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL3_OPTIONS: Serial3 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL4_OPTIONS: Serial4 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL5_OPTIONS: Serial5 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL6_OPTIONS: Serial6 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL_PASS1: Serial passthru first port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASS2: Serial passthru second port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASSTIMO: Serial passthru timeout + +*Note: This parameter is for advanced users* + +This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. + +- Range: 0 120 + +- Units: s + +## SERIAL7_PROTOCOL: Serial7 protocol selection + +Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL7_BAUD: Serial 7 Baud Rate + +The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL7_OPTIONS: Serial7 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL8_PROTOCOL: Serial8 protocol selection + +Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL8_BAUD: Serial 8 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL8_OPTIONS: Serial8 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL9_PROTOCOL: Serial9 protocol selection + +Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL9_BAUD: Serial 9 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL9_OPTIONS: Serial9 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +# SERVO Parameters + +## SERVO_RATE: Servo default output rate + +*Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs. + +- Range: 25 400 + +- Units: Hz + +## SERVO_DSHOT_RATE: Servo DShot output rate + +*Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz. + +|Value|Meaning| +|:---:|:---:| +|0|1Khz| +|1|loop-rate| +|2|double loop-rate| +|3|triple loop-rate| +|4|quadruple loop rate| + +## SERVO_DSHOT_ESC: Servo DShot ESC type + +*Note: This parameter is for advanced users* + +DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|BLHeli32/Kiss/AM32| +|2|BLHeli_S/BlueJay| +|3|BLHeli32/AM32/Kiss+EDT| +|4|BLHeli_S/BlueJay+EDT| + +## SERVO_GPIO_MASK: Servo GPIO mask + +*Note: This parameter is for advanced users* + +Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + +- Bitmask: 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + +- RebootRequired: True + +## SERVO_RC_FS_MSK: Servo RC Failsafe Mask + +*Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe. + +- Bitmask: 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + +## SERVO_32_ENABLE: Enable outputs 17 to 31 + +*Note: This parameter is for advanced users* + +This allows for up to 32 outputs, enabling parameters for outputs above 16 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SERVOn Parameters + +## SERVOn_MIN: Minimum PWM + +minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_MAX: Maximum PWM + +maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_TRIM: Trim PWM + +Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_REVERSED: Servo reverse + +Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## SERVOn_FUNCTION: Servo output function + +Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function + +|Value|Meaning| +|:---:|:---:| +|-1|GPIO| +|0|Disabled| +|1|RCPassThru| +|6|Mount1Yaw| +|7|Mount1Pitch| +|8|Mount1Roll| +|9|Mount1Retract| +|10|CameraTrigger| +|12|Mount2Yaw| +|13|Mount2Pitch| +|14|Mount2Roll| +|15|Mount2Retract| +|22|SprayerPump| +|23|SprayerSpinner| +|27|Parachute| +|28|Gripper| +|29|LandingGear| +|30|EngineRunEnable| +|31|HeliRSC| +|32|HeliTailRSC| +|33|Motor1| +|34|Motor2| +|35|Motor3| +|36|Motor4| +|37|Motor5| +|38|Motor6| +|39|Motor7| +|40|Motor8| +|51|RCIN1| +|52|RCIN2| +|53|RCIN3| +|54|RCIN4| +|55|RCIN5| +|56|RCIN6| +|57|RCIN7| +|58|RCIN8| +|59|RCIN9| +|60|RCIN10| +|61|RCIN11| +|62|RCIN12| +|63|RCIN13| +|64|RCIN14| +|65|RCIN15| +|66|RCIN16| +|73|ThrottleLeft| +|74|ThrottleRight| +|75|TiltMotorFrontLeft| +|76|TiltMotorFrontRight| +|81|BoostThrottle| +|82|Motor9| +|83|Motor10| +|84|Motor11| +|85|Motor12| +|88|Winch| +|90|CameraISO| +|91|CameraAperture| +|92|CameraFocus| +|93|CameraShutterSpeed| +|94|Script1| +|95|Script2| +|96|Script3| +|97|Script4| +|98|Script5| +|99|Script6| +|100|Script7| +|101|Script8| +|102|Script9| +|103|Script10| +|104|Script11| +|105|Script12| +|106|Script13| +|107|Script14| +|108|Script15| +|109|Script16| +|120|NeoPixel1| +|121|NeoPixel2| +|122|NeoPixel3| +|123|NeoPixel4| +|124|RateRoll| +|125|RatePitch| +|126|RateThrust| +|127|RateYaw| +|129|ProfiLED1| +|130|ProfiLED2| +|131|ProfiLED3| +|132|ProfiLEDClock| +|133|Winch Clutch| +|134|SERVOn_MIN| +|135|SERVOn_TRIM| +|136|SERVOn_MAX| +|138|Alarm| +|139|Alarm Inverted| +|140|RCIN1Scaled| +|141|RCIN2Scaled| +|142|RCIN3Scaled| +|143|RCIN4Scaled| +|144|RCIN5Scaled| +|145|RCIN6Scaled| +|146|RCIN7Scaled| +|147|RCIN8Scaled| +|148|RCIN9Scaled| +|149|RCIN10Scaled| +|150|RCIN11Scaled| +|151|RCIN12Scaled| +|152|RCIN13Scaled| +|153|RCIN14Scaled| +|154|RCIN15Scaled| +|155|RCIN16Scaled| + +- RebootRequired: True + +# SERVOBLH Parameters + +## SERVO_BLH_MASK: BLHeli Channel Bitmask + +*Note: This parameter is for advanced users* + +Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any) + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors + +If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SERVO_BLH_TEST: BLHeli internal interface test + +*Note: This parameter is for advanced users* + +Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestMotor1| +|2|TestMotor2| +|3|TestMotor3| +|4|TestMotor4| +|5|TestMotor5| +|6|TestMotor6| +|7|TestMotor7| +|8|TestMotor8| + +## SERVO_BLH_TMOUT: BLHeli protocol timeout + +This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout + +- Units: s + +- Range: 0 300 + +## SERVO_BLH_TRATE: BLHeli telemetry rate + +This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests + +- Units: Hz + +- Range: 0 500 + +## SERVO_BLH_DEBUG: BLHeli debug level + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SERVO_BLH_OTYPE: BLHeli output type override + +*Note: This parameter is for advanced users* + +When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|OneShot| +|2|OneShot125| +|3|Brushed| +|4|DShot150| +|5|DShot300| +|6|DShot600| +|7|DShot1200| + +- RebootRequired: True + +## SERVO_BLH_PORT: Control port + +*Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on. + +|Value|Meaning| +|:---:|:---:| +|0|Console| +|1|Mavlink Serial Channel1| +|2|Mavlink Serial Channel2| +|3|Mavlink Serial Channel3| +|4|Mavlink Serial Channel4| +|5|Mavlink Serial Channel5| + +## SERVO_BLH_POLES: BLHeli Motor Poles + +*Note: This parameter is for advanced users* + +This allows calculation of true RPM from ESC's eRPM. The default is 14. + +- Range: 1 127 + +- RebootRequired: True + +## SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels + +*Note: This parameter is for advanced users* + +Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels + +*Note: This parameter is for advanced users* + +Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels + +*Note: This parameter is for advanced users* + +Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +# SERVOFTW Parameters + +## SERVO_FTW_MASK: Servo channel output bitmask + +Servo channel mask specifying FETtec ESC output. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +- RebootRequired: True + +## SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask + +Servo channel mask to reverse rotation of FETtec ESC outputs. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +## SERVO_FTW_POLES: Nr. electrical poles + +Number of motor electrical poles + +- Range: 2 50 + +# SERVOROB Parameters + +## SERVO_ROB_POSMIN: Robotis servo position min + +Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +## SERVO_ROB_POSMAX: Robotis servo position max + +Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +# SERVOSBUS Parameters + +## SERVO_SBUS_RATE: SBUS default output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz. + +- Range: 25 250 + +- Units: Hz + +# SERVOVOLZ Parameters + +## SERVO_VOLZ_MASK: Channel Bitmask + +Enable of volz servo protocol to specific channels + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16,16:Channel17,17:Channel18,18:Channel19,19:Channel20,20:Channel21,21:Channel22,22:Channel23,23:Channel24,24:Channel25,25:Channel26,26:Channel27,28:Channel29,29:Channel30,30:Channel31,31:Channel32 + +## SERVO_VOLZ_RANGE: Range of travel + +Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator. + +- Units: deg + +# SID Parameters + +## SID_AXIS: System identification axis + +Controls which axis are being excited. Set to non-zero to see more parameters + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Input Roll Angle| +|2|Input Pitch Angle| +|3|Input Yaw Angle| +|4|Recovery Roll Angle| +|5|Recovery Pitch Angle| +|6|Recovery Yaw Angle| +|7|Rate Roll| +|8|Rate Pitch| +|9|Rate Yaw| +|10|Mixer Roll| +|11|Mixer Pitch| +|12|Mixer Yaw| +|13|Mixer Thrust| +|14|Measured Lateral Position| +|15|Measured Longitudinal Position| +|16|Measured Lateral Velocity| +|17|Measured Longitudinal Velocity| +|18|Input Lateral Velocity| +|19|Input Longitudinal Velocity| + +## SID_MAGNITUDE: System identification Chirp Magnitude + +Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs. + +## SID_F_START_HZ: System identification Start Frequency + +Frequency at the start of the sweep + +- Range: 0.01 100 + +- Units: Hz + +## SID_F_STOP_HZ: System identification Stop Frequency + +Frequency at the end of the sweep + +- Range: 0.01 100 + +- Units: Hz + +## SID_T_FADE_IN: System identification Fade in time + +Time to reach maximum amplitude of sweep + +- Range: 0 20 + +- Units: s + +## SID_T_REC: System identification Total Sweep length + +Time taken to complete the sweep + +- Range: 0 255 + +- Units: s + +## SID_T_FADE_OUT: System identification Fade out time + +Time to reach zero amplitude at the end of the sweep + +- Range: 0 5 + +- Units: s + +# SIM Parameters + +## SIM_DRIFT_SPEED: Gyro drift speed + +Gyro drift rate of change in degrees/second/minute + +## SIM_DRIFT_TIME: Gyro drift time + +Gyro drift duration of one full drift cycle (period in minutes) + +## SIM_ENGINE_MUL: Engine failure thrust scaler + +Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor + +- Units: ms + +## SIM_WIND_SPD: Simulated Wind speed + +*Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + +- Units: m/s + +## SIM_WIND_DIR: Direction simulated wind is coming from + +*Note: This parameter is for advanced users* + +Allows you to set wind direction (true deg) in sim + +- Units: deg + +## SIM_WIND_TURB: Simulated Wind variation + +*Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + +- Units: m/s + +## SIM_WIND_TC: Wind variation time constant + +*Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + +- Units: s + +## SIM_SONAR_ROT: Sonar rotation + +Sonar rotation from rotations enumeration + +## SIM_BATT_VOLTAGE: Simulated battery voltage + +*Note: This parameter is for advanced users* + +Simulated battery (constant) voltage + +- Units: V + +## SIM_BATT_CAP_AH: Simulated battery capacity + +*Note: This parameter is for advanced users* + +Simulated battery capacity + +- Units: Ah + +## SIM_SONAR_GLITCH: Sonar glitch probablility + +*Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + +- Range: 0 1 + +## SIM_SONAR_RND: Sonar noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + +## SIM_RC_FAIL: Simulated RC signal failure + +*Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|No RC pusles| +|2|All Channels neutral except Throttle is 950us| + +## SIM_FLOAT_EXCEPT: Generate floating point exceptions + +*Note: This parameter is for advanced users* + +If set, if a numerical error occurs SITL will die with a floating point exception. + +## SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs + +*Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP_Periph + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## SIM_CAN_TYPE1: transport type for first CAN interface + +*Note: This parameter is for advanced users* + +transport type for first CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_CAN_TYPE2: transport type for second CAN interface + +*Note: This parameter is for advanced users* + +transport type for second CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_SONAR_SCALE: Sonar conversion scale + +Sonar conversion scale from distance to voltage + +- Units: m/V + +## SIM_FLOW_ENABLE: Opflow Enable + +Enable simulated Optical Flow sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_TERRAIN: Terrain Enable + +Enable using terrain for height + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_FLOW_RATE: Opflow Rate + +Opflow Data Rate + +- Units: Hz + +## SIM_FLOW_DELAY: Opflow Delay + +Opflow data delay + +- Units: ms + +## SIM_ADSB_COUNT: Number of ADSB aircrafts + +Total number of ADSB simulated aircraft + +## SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft + +Simulated standard deviation of radius in ADSB of another aircraft + +- Units: m + +## SIM_ADSB_ALT: ADSB altitude of another aircraft + +Simulated ADSB altitude of another aircraft + +- Units: m + +## SIM_PIN_MASK: GPIO emulation + +SITL GPIO emulation + +## SIM_ADSB_TX: ADSB transmit enable + +ADSB transceiever enable and disable + +|Value|Meaning| +|:---:|:---:| +|0|Transceiever disable| +|1|Transceiever enable| + +## SIM_SPEEDUP: Sim Speedup + +Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used + +- Range: 1 10 + +## SIM_IMU_POS_X: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (X-axis) + +- Units: m + +## SIM_IMU_POS_Y: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_IMU_POS_Z: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_FLOW_POS_X: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis) + +- Units: m + +## SIM_FLOW_POS_Y: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_FLOW_POS_Z: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_ENGINE_FAIL: Engine Fail Mask + +mask of motors which SIM_ENGINE_MUL will be applied to + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8 + +## SIM_TEMP_START: Start temperature + +*Note: This parameter is for advanced users* + +Baro start temperature + +- Units: degC + +## SIM_TEMP_BRD_OFF: Baro temperature offset + +*Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + +- Units: degC + +## SIM_TEMP_TCONST: Warmup time constant + +*Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + +- Units: degC + +## SIM_TEMP_BFACTOR: Baro temperature factor + +*Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM-20789 + +## SIM_WIND_DIR_Z: Simulated wind vertical direction + +*Note: This parameter is for advanced users* + +Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft. + +- Units: deg + +## SIM_WIND_T: Wind Profile Type + +Selects how wind varies from surface to WIND_T_ALT + +|Value|Meaning| +|:---:|:---:| +|0|square law| +|1|none| +|2|linear-see WIND_T_COEF| + +## SIM_WIND_T_ALT: Full Wind Altitude + +*Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level + +- Units: m + +## SIM_WIND_T_COEF: Linear Wind Curve Coeff + +*Note: This parameter is for advanced users* + +For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value + +## SIM_RC_CHANCOUNT: RC channel count + +SITL RC channel count + +## SIM_WOW_PIN: Weight on Wheels Pin + +*Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + +## SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting + +SITL enable bandwidth limitting on telemetry ports with non-zero values + +## SIM_SHOVE_X: Acceleration of shove x + +Acceleration of shove to vehicle in x axis + +- Units: m/s/s + +## SIM_SHOVE_Y: Acceleration of shove y + +Acceleration of shove to vehicle in y axis + +- Units: m/s/s + +## SIM_SHOVE_Z: Acceleration of shove z + +Acceleration of shove to vehicle in z axis + +- Units: m/s/s + +## SIM_SHOVE_TIME: Time length for shove + +Force to the vehicle over a period of time + +- Units: ms + +## SIM_FLOW_RND: Opflow noise + +Optical Flow sensor measurement noise + +- Units: rad/s + +## SIM_TWIST_X: Twist x + +Rotational acceleration of twist x axis + +- Units: rad/s/s + +## SIM_TWIST_Y: Twist y + +Rotational acceleration of twist y axis + +- Units: rad/s/s + +## SIM_TWIST_Z: Twist z + +Rotational acceleration of twist z axis + +- Units: rad/s/s + +## SIM_TWIST_TIME: Twist time + +Time that twist is applied on the vehicle + +- Units: ms + +## SIM_GND_BEHAV: Ground behavior + +Ground behavior of aircraft (tailsitter, no movement, forward only) + +## SIM_WAVE_ENABLE: Wave enable + +Wave enable and modes + +|Value|Meaning| +|:---:|:---:| +|0|disabled| +|1|roll and pitch| +|2|roll and pitch and heave| + +## SIM_WAVE_LENGTH: Wave length + +Wave length in SITL + +- Units: m + +## SIM_WAVE_AMP: Wave amplitude + +Wave amplitude in SITL + +- Units: m + +## SIM_WAVE_DIR: Wave direction + +Direction wave is coming from + +- Units: deg + +## SIM_WAVE_SPEED: Wave speed + +Wave speed in SITL + +- Units: m/s + +## SIM_TIDE_DIR: Tide direction + +Tide direction wave is coming from + +- Units: deg + +## SIM_TIDE_SPEED: Tide speed + +Tide speed in simulation + +- Units: m/s + +## SIM_OPOS_LAT: Original Position (Latitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup latitude + +## SIM_OPOS_LNG: Original Position (Longitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup longitude + +## SIM_OPOS_ALT: Original Position (Altitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup altitude (AMSL) + +## SIM_OPOS_HDG: Original Position (Heading) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup heading (0-360) + +## SIM_LOOP_DELAY: Extra delay per main loop + +Extra time delay per main loop + +- Units: us + +## SIM_EFI_TYPE: Type of Electronic Fuel Injection + +Different types of Electronic Fuel Injection (EFI) systems + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MegaSquirt EFI system| +|2|Löweheiser EFI system| +|8|Hirth engines| + +## SIM_VIB_MOT_HMNC: Motor harmonics + +Motor harmonics generated in SITL + +## SIM_VIB_MOT_MASK: Motor mask + +Motor mask, allowing external simulators to mark motors + +## SIM_VIB_MOT_MAX: Max motor vibration frequency + +Max frequency to use as baseline for adding motor noise for the gyros and accels + +- Units: Hz + +## SIM_INS_THR_MIN: Minimum throttle INS noise + +Minimum throttle for simulated ins noise + +## SIM_VIB_MOT_MULT: Vibration motor scale + +Amplitude scaling of motor noise relative to gyro/accel noise + +## SIM_ODOM_ENABLE: Odometry enable + +SITL odometry enabl + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_LED_LAYOUT: LED layout + +LED layout config value + +## SIM_THML_SCENARI: Thermal scenarios + +Scenario for thermalling simulation, for soaring + +## SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction + +SITL vicon position on vehicle in Down direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_GLIT_X: SITL vicon position glitch North + +*Note: This parameter is for advanced users* + +SITL vicon position glitch North + +- Units: m + +## SIM_VICON_GLIT_Y: SITL vicon position glitch East + +*Note: This parameter is for advanced users* + +SITL vicon position glitch East + +- Units: m + +## SIM_VICON_GLIT_Z: SITL vicon position glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon position glitch Down + +- Units: m + +## SIM_VICON_FAIL: SITL vicon failure + +*Note: This parameter is for advanced users* + +SITL vicon failure + +|Value|Meaning| +|:---:|:---:| +|0|Vicon Healthy| +|1|Vicon Failed| + +## SIM_VICON_YAW: SITL vicon yaw angle in earth frame + +*Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + +- Units: deg + +- Range: 0 360 + +## SIM_VICON_YAWERR: SITL vicon yaw error + +*Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + +- Units: deg + +- Range: -180 180 + +## SIM_VICON_TMASK: SITL vicon type mask + +*Note: This parameter is for advanced users* + +SITL vicon messages sent + +- Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY + +## SIM_VICON_VGLI_X: SITL vicon velocity glitch North + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + +- Units: m/s + +## SIM_VICON_VGLI_Y: SITL vicon velocity glitch East + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + +- Units: m/s + +## SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + +- Units: m/s + +## SIM_RATE_HZ: Loop rate + +SITL Loop rate + +- Units: Hz + +## SIM_IMU_COUNT: IMU count + +Number of simulated IMUs to create + +## SIM_BARO_COUNT: Baro count + +Number of simulated baros to create in SITL + +- Range: 0 3 + +## SIM_TIME_JITTER: Loop time jitter + +*Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + +- Units: us + +## SIM_ESC_TELEM: Simulated ESC Telemetry + +*Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + +## SIM_ESC_ARM_RPM: ESC RPM when armed + +*Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + +## SIM_UART_LOSS: UART byte loss percentage + +*Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + +- Units: % + +## SIM_ADSB_TYPES: Simulated ADSB Type mask + +*Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + +- Bitmask: 0:MAVLink,3:SageTechMXS + +## SIM_OSD_COLUMNS: Simulated OSD number of text columns + +Simulated OSD number of text columns + +- Range: 10 100 + +## SIM_OSD_ROWS: Simulated OSD number of text rows + +Simulated OSD number of text rows + +- Range: 10 100 + +## SIM_GPS_DISABLE: GPS 1 disable + +*Note: This parameter is for advanced users* + +Disables GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS_LAG_MS: GPS 1 Lag + +*Note: This parameter is for advanced users* + +GPS 1 lag + +- Units: ms + +## SIM_GPS_TYPE: GPS 1 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS_BYTELOSS: GPS Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + +- Units: % + +## SIM_GPS_NUMSATS: GPS 1 Num Satellites + +Number of satellites GPS 1 has in view + +## SIM_GPS_GLITCH_X: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (X-axis) + +## SIM_GPS_GLITCH_Y: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Y-axis) + +## SIM_GPS_GLITCH_Z: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Z-axis) + +## SIM_GPS_HZ: GPS 1 Hz + +GPS 1 Update rate + +- Units: Hz + +## SIM_GPS_DRIFTALT: GPS 1 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 1 altitude drift error + +- Units: m + +## SIM_GPS_POS_X: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS_POS_Y: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS_POS_Z: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS_NOISE: GPS 1 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + +- Units: m + +## SIM_GPS_LOCKTIME: GPS 1 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + +- Units: s + +## SIM_GPS_ALT_OFS: GPS 1 Altitude Offset + +GPS 1 Altitude Error + +- Units: m + +## SIM_GPS_HDG: GPS 1 Heading + +*Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS_ACC: GPS 1 Accuracy + +*Note: This parameter is for advanced users* + +GPS 1 Accuracy + +## SIM_GPS_VERR_X: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS_VERR_Y: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS_VERR_Z: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Z-axis) + +## SIM_GPS_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_DISABLE: GPS 2 disable + +*Note: This parameter is for advanced users* + +Disables GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS2_LAG_MS: GPS 2 Lag + +*Note: This parameter is for advanced users* + +GPS 2 lag in ms + +- Units: ms + +## SIM_GPS2_TYPE: GPS 2 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS2_BYTELOS: GPS 2 Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + +- Units: % + +## SIM_GPS2_NUMSATS: GPS 2 Num Satellites + +Number of satellites GPS 2 has in view + +## SIM_GPS2_GLTCH_X: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (X-axis) + +## SIM_GPS2_GLTCH_Y: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Y-axis) + +## SIM_GPS2_GLTCH_Z: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Z-axis) + +## SIM_GPS2_HZ: GPS 2 Hz + +GPS 2 Update rate + +- Units: Hz + +## SIM_GPS2_DRFTALT: GPS 2 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 2 altitude drift error + +- Units: m + +## SIM_GPS2_POS_X: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS2_POS_Y: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS2_POS_Z: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS2_NOISE: GPS 2 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + +- Units: m + +## SIM_GPS2_LCKTIME: GPS 2 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + +- Units: s + +## SIM_GPS2_ALT_OFS: GPS 2 Altitude Offset + +GPS 2 Altitude Error + +- Units: m + +## SIM_GPS2_HDG: GPS 2 Heading + +*Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_ACC: GPS 2 Accuracy + +*Note: This parameter is for advanced users* + +GPS 2 Accuracy + +## SIM_GPS2_VERR_X: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS2_VERR_Y: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS2_VERR_Z: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Z-axis) + +## SIM_INIT_LAT_OFS: Initial Latitude Offset + +GPS initial lat offset from origin + +## SIM_INIT_LON_OFS: Initial Longitude Offset + +GPS initial lon offset from origin + +## SIM_INIT_ALT_OFS: Initial Altitude Offset + +GPS initial alt offset from origin + +## SIM_GPS_LOG_NUM: GPS Log Number + +Log number for GPS:update_file() + +## SIM_GPS2_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_MAG_RND: Mag motor noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + +## SIM_MAG_DELAY: Mag measurement delay + +*Note: This parameter is for advanced users* + +Magnetometer measurement delay + +- Units: ms + +## SIM_MAG_ALY_HGT: Magnetic anomaly height + +*Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1/8 of the ground level value + +- Units: m + +## SIM_MAG1_ORIENT: MAG1 Orientation + +*Note: This parameter is for advanced users* + +MAG1 external compass orientation + +## SIM_MAG1_SCALING: MAG1 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + +## SIM_MAG1_DEVID: MAG1 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + +## SIM_MAG2_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + +## SIM_MAG3_DEVID: MAG3 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + +## SIM_MAG4_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + +## SIM_MAG5_DEVID: MAG5 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + +## SIM_MAG6_DEVID: MAG6 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + +## SIM_MAG7_DEVID: MAG7 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + +## SIM_MAG8_DEVID: MAG8 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + +## SIM_MAG1_FAIL: MAG1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG1 Failure| + +## SIM_MAG2_ORIENT: MAG2 Orientation + +*Note: This parameter is for advanced users* + +MAG2 external compass orientation + +## SIM_MAG2_FAIL: MAG2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG2 Failure| + +## SIM_MAG2_SCALING: MAG2 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + +## SIM_MAG3_FAIL: MAG3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG3 Failure| + +## SIM_MAG3_SCALING: MAG3 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + +## SIM_MAG3_ORIENT: MAG3 Orientation + +*Note: This parameter is for advanced users* + +MAG3 external compass orientation + +## SIM_MAG_SAVE_IDS: Save MAG devids on startup + +*Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_IMUT_START: IMU temperature start + +Starting IMU temperature of a curve + +## SIM_IMUT_END: IMU temperature end + +Ending IMU temperature of a curve + +## SIM_IMUT_TCONST: IMU temperature time constant + +IMU temperature time constant of the curve + +## SIM_IMUT_FIXED: IMU fixed temperature + +IMU fixed temperature by user + +## SIM_ACC1_BIAS_X: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC1_BIAS_Y: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC1_BIAS_Z: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC2_BIAS_X: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC2_BIAS_Y: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC2_BIAS_Z: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC3_BIAS_X: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC3_BIAS_Y: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC3_BIAS_Z: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR1_RND: Gyro 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR2_RND: Gyro 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR3_RND: Gyro 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC1_RND: Accel 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC2_RND: Accel 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC3_RND: Accel 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR1_SCALE_X: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR1_SCALE_Y: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR1_SCALE_Z: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR2_SCALE_X: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR2_SCALE_Y: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR2_SCALE_Z: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR3_SCALE_X: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR3_SCALE_Y: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR3_SCALE_Z: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACCEL1_FAIL: ACCEL1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL1 Failure| + +## SIM_ACCEL2_FAIL: ACCEL2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL2 Failure| + +## SIM_ACCEL3_FAIL: ACCEL3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL3 Failure| + +## SIM_GYR_FAIL_MSK: Gyro Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC_FAIL_MSK: Accelerometer Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC1_SCAL_X: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC1_SCAL_Y: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC1_SCAL_Z: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC2_SCAL_X: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC2_SCAL_Y: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC2_SCAL_Z: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC3_SCAL_X: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC3_SCAL_Y: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC3_SCAL_Z: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_JSON_MASTER: JSON master instance + +the instance number to take servos from + +## SIM_OH_MASK: SIM-on_hardware Output Enable Mask + +channels which are passed through to actual hardware when running sim on actual hardware + +## SIM_GYR_FILE_RW: Gyro data to/from files + +Read and write gyro data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_ACC_FILE_RW: Accelerometer data to/from files + +Read and write accelerometer data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_GYR1_BIAS_X: First Gyro bias on X axis + +*Note: This parameter is for advanced users* + +First Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Y: First Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Z: First Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR2_BIAS_X: Second Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR3_BIAS_X: Third Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC4_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC4_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC4_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL4_FAIL: ACCEL4 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL4 Failure| + +## SIM_GYR4_SCALE_X: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR4_SCALE_Y: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR4_SCALE_Z: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC4_RND: Accel 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR4_RND: Gyro 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC4_BIAS_X: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC4_BIAS_Y: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC4_BIAS_Z: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC5_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC5_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC5_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL5_FAIL: ACCEL5 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL5 Failure| + +## SIM_GYR5_SCALE_X: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR5_SCALE_Y: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR5_SCALE_Z: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC5_RND: Accel 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR5_RND: Gyro 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC5_BIAS_X: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC5_BIAS_Y: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC5_BIAS_Z: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + +- Units: rad/s + +## SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask + +Allow relay output operation when running SIM-on-hardware + +## SIM_CLAMP_CH: Simulated Clamp Channel + +If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + +# SIMARSPD2 Parameters + +## SIM_ARSPD2_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD2_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMARSPD Parameters + +## SIM_ARSPD_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMBAR2 Parameters + +## SIM_BAR2_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR2_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR2_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR2_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR2_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR2_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR2_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR2_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR2_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR2_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR2_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR2_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBAR3 Parameters + +## SIM_BAR3_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR3_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR3_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR3_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR3_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR3_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR3_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR3_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR3_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR3_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR3_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR3_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBARO Parameters + +## SIM_BARO_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BARO_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BARO_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BARO_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BARO_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BARO_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BARO_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BARO_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BARO_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BARO_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BARO_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BARO_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMGLD Parameters + +## SIM_GLD_BLN_BRST: balloon burst height + +balloon burst height + +- Units: m + +## SIM_GLD_BLN_RATE: balloon climb rate + +balloon climb rate + +- Units: m/s + +# SIMGRPE Parameters + +## SIM_GRPE_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPE_PIN: Gripper emp pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to. (start at 1) + +- Range: 0 15 + +# SIMGRPS Parameters + +## SIM_GRPS_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPS_PIN: Gripper servo pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to. (start at 1) + +- Range: 0 15 + +## SIM_GRPS_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_REVERSE: Gripper close direction + +*Note: This parameter is for advanced users* + +Reverse the closing direction. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reverse| + +# SIMPLD Parameters + +## SIM_PLD_ENABLE: Preland device Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Preland simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_PLD_LAT: Precland device center's latitude + +*Note: This parameter is for advanced users* + +Precland device center's latitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -90 90 + +## SIM_PLD_LON: Precland device center's longitude + +*Note: This parameter is for advanced users* + +Precland device center's longitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -180 180 + +## SIM_PLD_HEIGHT: Precland device center's height SITL origin + +*Note: This parameter is for advanced users* + +Precland device center's height above SITL origin. Assumes a 2x2m square as station base + +- Units: m + +- Increment: 1 + +- Range: 0 10000 + +## SIM_PLD_YAW: Precland device systems rotation from north + +*Note: This parameter is for advanced users* + +Precland device systems rotation from north + +- Units: deg + +- Increment: 1 + +- Range: -180 +180 + +## SIM_PLD_RATE: Precland device update rate + +*Note: This parameter is for advanced users* + +Precland device rate. e.g led patter refresh rate, RF message rate, etc. + +- Units: Hz + +- Range: 0 200 + +## SIM_PLD_TYPE: Precland device radiance type + +*Note: This parameter is for advanced users* + +Precland device radiance type: it can be a cylinder, a cone, or a sphere. + +|Value|Meaning| +|:---:|:---:| +|0|cylinder| +|1|cone| +|2|sphere| + +## SIM_PLD_ALT_LIMIT: Precland device alt range + +*Note: This parameter is for advanced users* + +Precland device maximum range altitude + +- Units: m + +- Range: 0 100 + +## SIM_PLD_DIST_LIMIT: Precland device lateral range + +*Note: This parameter is for advanced users* + +Precland device maximum lateral range + +- Units: m + +- Range: 5 100 + +## SIM_PLD_ORIENT: Precland device orientation + +*Note: This parameter is for advanced users* + +Precland device orientation vector + +|Value|Meaning| +|:---:|:---:| +|0|Front| +|4|Back| +|24|Up| + +## SIM_PLD_OPTIONS: SIM_Precland extra options + +*Note: This parameter is for advanced users* + +SIM_Precland extra options + +- Bitmask: 0: Enable target distance + +## SIM_PLD_SHIP: SIM_Precland follow ship + +*Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SIMRFL Parameters + +## SIM_RFL_OPTS: FlightAxis options + +*Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + +- Bitmask: 0: Reset position on startup, 1: Swap first 4 and last 4 servos (for quadplane testing), 2: Demix heli servos and send roll/pitch/collective/yaw, 3: Don't print frame rate stats + +# SIMSB Parameters + +## SIM_SB_MASS: mass + +mass of blimp not including lifting gas + +- Units: kg + +## SIM_SB_HMASS: helium mass + +mass of lifting gas + +- Units: kg + +## SIM_SB_ARM_LEN: arm length + +distance from center of mass to one motor + +- Units: m + +## SIM_SB_MOT_THST: motor thrust + +thrust at max throttle for one motor + +- Units: N + +## SIM_SB_DRAG_FWD: drag in forward direction + +drag on X axis + +## SIM_SB_DRAG_SIDE: drag in sidewards direction + +drag on Y axis + +## SIM_SB_DRAG_UP: drag in upward direction + +drag on Z axis + +## SIM_SB_MOI_YAW: moment of inertia in yaw + +moment of inertia in yaw + +## SIM_SB_MOI_ROLL: moment of inertia in roll + +moment of inertia in roll + +## SIM_SB_MOI_PITCH: moment of inertia in pitch + +moment of inertia in pitch + +## SIM_SB_ALT_TARG: altitude target + +altitude target + +- Units: m + +## SIM_SB_CLMB_RT: target climb rate + +target climb rate + +- Units: m/s + +## SIM_SB_YAW_RT: yaw rate + +maximum yaw rate with full left throttle at target altitude + +- Units: deg/s + +## SIM_SB_MOT_ANG: motor angle + +maximum motor tilt angle + +- Units: deg + +## SIM_SB_COL: center of lift + +center of lift position above CoG + +- Units: m + +## SIM_SB_WVANE: weathervaning offset + +center of drag for weathervaning + +- Units: m + +## SIM_SB_FLR: free lift rate + +amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift + +# SIMSERVO Parameters + +## SIM_SERVO_SPEED: servo speed + +servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit + +- Units: s + +## SIM_SERVO_DELAY: servo delay + +servo delay + +- Units: s + +## SIM_SERVO_FILTER: servo filter + +servo filter + +- Units: Hz + +# SIMSLUP Parameters + +## SIM_SLUP_ENABLE: Slung Payload Sim enable/disable + +*Note: This parameter is for advanced users* + +Slung Payload Sim enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SLUP_WEIGHT: Slung Payload weight + +*Note: This parameter is for advanced users* + +Slung Payload weight in kg + +- Units: kg + +- Range: 0 15 + +## SIM_SLUP_LINELEN: Slung Payload line length + +*Note: This parameter is for advanced users* + +Slung Payload line length in meters + +- Units: m + +- Range: 0 100 + +## SIM_SLUP_DRAG: Slung Payload drag coefficient + +*Note: This parameter is for advanced users* + +Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly + +- Units: m + +- Range: 0 10 + +## SIM_SLUP_SYSID: Slung Payload MAVLink system ID + +*Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + +- Range: 0 255 + +# SIMSPR Parameters + +## SIM_SPR_ENABLE: Sprayer Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Sprayer simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SPR_PUMP: Sprayer pump pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to. (start at 1) + +- Range: 0 15 + +## SIM_SPR_SPIN: Sprayer spinner servo pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to. (start at 1) + +- Range: 0 15 + +# SPRAY Parameters + +## SPRAY_ENABLE: Sprayer enable/disable + +Allows you to enable (1) or disable (0) the sprayer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SPRAY_PUMP_RATE: Pump speed + +Desired pump speed when travelling 1m/s expressed as a percentage + +- Units: % + +- Range: 0 100 + +## SPRAY_SPINNER: Spinner rotation speed + +Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally) + +- Units: ms + +- Range: 1000 2000 + +## SPRAY_SPEED_MIN: Speed minimum + +Speed minimum at which we will begin spraying + +- Units: cm/s + +- Range: 0 1000 + +## SPRAY_PUMP_MIN: Pump speed minimum + +Minimum pump speed expressed as a percentage + +- Units: % + +- Range: 0 100 + +# SRn Parameters + +## SRn_RAW_SENS: Raw sensor stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXT_STAT: Extended status stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RC_CHAN: RC Channel stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RAW_CTRL: Unused + +*Note: This parameter is for advanced users* + +Unused + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_POSITION: Position stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA1: Extra data type 1 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA2: Extra data type 2 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of VFR_HUD + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA3: Extra data type 3 stream rate + +MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS + +## SRn_PARAMS: Parameter stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of PARAM_VALUE + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_ADSB: ADSB stream rate + +*Note: This parameter is for advanced users* + +MAVLink ADSB stream rate + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +# SRTL Parameters + +## SRTL_ACCURACY: SmartRTL accuracy + +*Note: This parameter is for advanced users* + +SmartRTL accuracy. The minimum distance between points. + +- Units: m + +- Range: 0 10 + +## SRTL_POINTS: SmartRTL maximum number of points on path + +*Note: This parameter is for advanced users* + +SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory. + +- Range: 0 500 + +- RebootRequired: True + +## SRTL_OPTIONS: SmartRTL options + +Bitmask of SmartRTL options. + +- Bitmask: 2:Ignore pilot yaw + +# STAT Parameters + +## STAT_BOOTCNT: Boot Count + +Number of times board has been booted + +- ReadOnly: True + +## STAT_FLTTIME: Total FlightTime + +Total FlightTime (seconds) + +- Units: s + +- ReadOnly: True + +## STAT_RUNTIME: Total RunTime + +Total time autopilot has run + +- Units: s + +- ReadOnly: True + +## STAT_RESET: Statistics Reset Time + +Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored) + +- Units: s + +- ReadOnly: True + +# TCAL Parameters + +## TCAL_ENABLED: Temperature calibration enable + +*Note: This parameter is for advanced users* + +Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|EnableAndLearn| + +## TCAL_TEMP_MIN: Temperature calibration min learned temperature + +*Note: This parameter is for advanced users* + +Minimum learned temperature. This is automatically set by the learning process + +- Units: degC + +- ReadOnly: True + +- Volatile: True + +## TCAL_TEMP_MAX: Temperature calibration max learned temperature + +*Note: This parameter is for advanced users* + +Maximum learned temperature. This is automatically set by the learning process + +- Units: degC + +- ReadOnly: True + +- Volatile: True + +## TCAL_BARO_EXP: Temperature Calibration barometer exponent + +*Note: This parameter is for advanced users* + +Learned exponent for barometer temperature correction + +- ReadOnly: True + +- Volatile: True + +# TEMP Parameters + +## TEMP_LOG: Logging + +Enables temperature sensor logging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Log all instances| +|2|Log only instances with sensor source set to None| + +# TEMP1 Parameters + +## TEMP1_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP1_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP1_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP1_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP1_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP1_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP1_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP2 Parameters + +## TEMP2_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP2_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP2_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP2_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP2_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP2_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP2_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP3 Parameters + +## TEMP3_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP3_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP3_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP3_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP3_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP3_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP3_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP4 Parameters + +## TEMP4_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP4_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP4_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP4_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP4_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP4_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP4_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP5 Parameters + +## TEMP5_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP5_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP5_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP5_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP5_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP5_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP5_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP6 Parameters + +## TEMP6_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP6_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP6_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP6_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP6_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP6_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP6_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP7 Parameters + +## TEMP7_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP7_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP7_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP7_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP7_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP7_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP7_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP8 Parameters + +## TEMP8_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP8_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP8_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP8_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP8_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP8_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP8_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP9 Parameters + +## TEMP9_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP9_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP9_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP9_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP9_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP9_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP9_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TERRAIN Parameters + +## TERRAIN_ENABLE: Terrain data enable + +*Note: This parameter is for advanced users* + +enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## TERRAIN_SPACING: Terrain grid spacing + +*Note: This parameter is for advanced users* + +Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed. + +- Units: m + +- Increment: 1 + +## TERRAIN_OPTIONS: Terrain options + +*Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + +- Bitmask: 0:Disable Download + +## TERRAIN_MARGIN: Acceptance margin + +*Note: This parameter is for advanced users* + +Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used + +- Units: m + +- Range: 0.05 50000 + +## TERRAIN_OFS_MAX: Terrain reference offset maximum + +*Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment. + +- Units: m + +- Range: 0 50 + +## TERRAIN_CACHE_SZ: Terrain cache size + +*Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory + +- Range: 0 128 + +# TMODE Parameters + +## TMODE_ENABLE: tmode enable + +*Note: This parameter is for advanced users* + +tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|EnableVersion1| +|2|EnableVersion2| + +## TMODE_MODE1: Tmode first mode + +This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|FlowHold| + +## TMODE_MODE2: Tmode second mode + +This is the secondary mode. This mode is assumed to require GPS + +|Value|Meaning| +|:---:|:---:| +|0|Stabilize| +|1|Acro| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|11|Drift| +|13|Sport| +|14|Flip| +|15|AutoTune| +|16|PosHold| +|17|Brake| +|18|Throw| +|19|Avoid_ADSB| +|20|Guided_NoGPS| +|21|FlowHold| + +## TMODE_ACTION1: Tmode action 1 + +This is the action taken when the left action button is pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_ACTION2: Tmode action 2 + +This is the action taken when the right action button is pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_ACTION3: Tmode action 3 + +This is the action taken when the power button is pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_ACTION4: Tmode action 4 + +This is the action taken when the left action button is pressed while the left (Mode) button is held down + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_ACTION5: Tmode action 5 + +This is the action taken when the right action is pressed while the left (Mode) button is held down + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_ACTION6: Tmode action 6 + +This is the action taken when the power button is pressed while the left (Mode) button is held down + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_LEFT: Tmode left action + +This is the action taken when the left (Mode) button is pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_LEFT_LONG: Tmode left long action + +This is the action taken when the left (Mode) button is long-pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| +|24|ModeFlowHold| + +## TMODE_TRIM_AUTO: Stick auto trim limit + +This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500 + +- Range: 0 100 + +## TMODE_RIGHT: Tmode right action + +This is the action taken when the right (Return) button is pressed + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|TakePhoto| +|2|ToggleVideo| +|3|ModeAcro| +|4|ModeAltHold| +|5|ModeAuto| +|6|ModeLoiter| +|7|ModeRTL| +|8|ModeCircle| +|9|ModeLand| +|10|ModeDrift| +|11|ModeSport| +|12|ModeAutoTune| +|13|ModePosHold| +|14|ModeBrake| +|15|ModeThrow| +|16|Flip| +|17|ModeStabilize| +|18|Disarm| +|19|ToggleMode| +|20|Arm-Land-RTL| +|21|ToggleSimpleMode| +|22|ToggleSuperSimpleMode| +|23|MotorLoadTest| + +## TMODE_FLAGS: Tmode flags + +Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged + +- Bitmask: 0:DisarmOnLowThrottle,1:ArmOnHighThrottle,2:UpgradeToLoiter,3:RTLStickCancel + +## TMODE_VMIN: Min voltage for output limiting + +*Note: This parameter is for advanced users* + +This is the battery voltage below which no output limiting is done + +- Range: 0 5 + +- Increment: 0.01 + +## TMODE_VMAX: Max voltage for output limiting + +*Note: This parameter is for advanced users* + +This is the battery voltage above which thrust min is used + +- Range: 0 5 + +- Increment: 0.01 + +## TMODE_TMIN: Min thrust multiplier + +*Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is high + +- Range: 0 1 + +- Increment: 0.01 + +## TMODE_TMAX: Max thrust multiplier + +*Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is low + +- Range: 0 1 + +- Increment: 0.01 + +## TMODE_LOAD_MUL: Load test multiplier + +*Note: This parameter is for advanced users* + +This scales the load test output, as a value between 0 and 1 + +- Range: 0 1 + +- Increment: 0.01 + +## TMODE_LOAD_FILT: Load test filter + +*Note: This parameter is for advanced users* + +This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc + +- Range: 0 100 + +## TMODE_LOAD_TYPE: Load test type + +*Note: This parameter is for advanced users* + +This sets the type of load test + +|Value|Meaning| +|:---:|:---:| +|0|ConstantThrust| +|1|LogReplay1| +|2|LogReplay2| + +# VISO Parameters + +## VISO_TYPE: Visual odometry camera connection type + +*Note: This parameter is for advanced users* + +Visual odometry camera connection type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IntelT265| +|3|VOXL(ModalAI)| + +- RebootRequired: True + +## VISO_POS_X: Visual odometry camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Y: Visual odometry camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Z: Visual odometry camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_ORIENT: Visual odometery camera orientation + +*Note: This parameter is for advanced users* + +Visual odometery camera orientation + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|2|Right| +|4|Back| +|6|Left| +|24|Up| +|25|Down| + +## VISO_SCALE: Visual odometry scaling factor + +*Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + +## VISO_DELAY_MS: Visual odometry sensor delay + +*Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + +- Units: ms + +- Range: 0 250 + +## VISO_VEL_M_NSE: Visual odometry velocity measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m/s + +- Units: m/s + +- Range: 0.05 5.0 + +## VISO_POS_M_NSE: Visual odometry position measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: m + +- Range: 0.1 10.0 + +## VISO_YAW_M_NSE: Visual odometry yaw measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: rad + +- Range: 0.05 1.0 + +## VISO_QUAL_MIN: Visual odometry minimum quality + +*Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown + +- Units: % + +- Range: -1 100 + +# VTX Parameters + +## VTX_ENABLE: Is the Video Transmitter enabled or not + +Toggles the Video Transmitter on and off + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## VTX_POWER: Video Transmitter Power Level + +Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level + +- Range: 1 1000 + +## VTX_CHANNEL: Video Transmitter Channel + +Video Transmitter Channel + +- Range: 0 7 + +## VTX_BAND: Video Transmitter Band + +Video Transmitter Band + +|Value|Meaning| +|:---:|:---:| +|0|Band A| +|1|Band B| +|2|Band E| +|3|Airwave| +|4|RaceBand| +|5|Low RaceBand| +|6|1G3 Band A| +|7|1G3 Band B| +|8|Band X| +|9|3G3 Band A| +|10|3G3 Band B| + +## VTX_FREQ: Video Transmitter Frequency + +Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL + +- ReadOnly: True + +- Range: 1000 6000 + +## VTX_OPTIONS: Video Transmitter Options + +*Note: This parameter is for advanced users* + +Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour. + +- Bitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests,5:Use 1 stop-bit in SmartAudio,6:Ignore CRC in SmartAudio,7:Ignore status updates in CRSF and blindly set VTX options + +## VTX_MAX_POWER: Video Transmitter Max Power Level + +Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting. + +- Range: 25 1000 + +# WINCH Parameters + +## WINCH_TYPE: Winch Type + +Winch Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|PWM| +|2|Daiwa| + +## WINCH_RATE_MAX: Winch deploy or retract rate maximum + +Winch deploy or retract rate maximum. Set to maximum rate with no load. + +- Range: 0 10 + +- Units: m/s + +## WINCH_POS_P: Winch control position error P gain + +Winch control position error P gain + +- Range: 0.01 10.0 + +## WINCH_OPTIONS: Winch options + +Winch options + +- Bitmask: 0:Spin freely on startup, 1:Verbose output, 2:Retry if stuck (Daiwa only) + +# WPNAV Parameters + +## WPNAV_SPEED: Waypoint Horizontal Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission + +- Units: cm/s + +- Range: 10 2000 + +- Increment: 50 + +## WPNAV_RADIUS: Waypoint Radius + +Defines the distance from a waypoint, that when crossed indicates the wp has been hit. + +- Units: cm + +- Range: 5 1000 + +- Increment: 1 + +## WPNAV_SPEED_UP: Waypoint Climb Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission + +- Units: cm/s + +- Range: 10 1000 + +- Increment: 50 + +## WPNAV_SPEED_DN: Waypoint Descent Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission + +- Units: cm/s + +- Range: 10 500 + +- Increment: 10 + +## WPNAV_ACCEL: Waypoint Acceleration + +Defines the horizontal acceleration in cm/s/s used during missions + +- Units: cm/s/s + +- Range: 50 500 + +- Increment: 10 + +## WPNAV_ACCEL_Z: Waypoint Vertical Acceleration + +Defines the vertical acceleration in cm/s/s used during missions + +- Units: cm/s/s + +- Range: 50 500 + +- Increment: 10 + +## WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following + +*Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## WPNAV_JERK: Waypoint Jerk + +Defines the horizontal jerk in m/s/s used during missions + +- Units: m/s/s/s + +- Range: 1 20 + +## WPNAV_TER_MARGIN: Waypoint Terrain following altitude margin + +*Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters) + +- Units: m + +- Range: 0.1 100 + +## WPNAV_ACCEL_C: Waypoint Cornering Acceleration + +Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value. + +- Units: cm/s/s + +- Range: 0 500 + +- Increment: 10 + +# WVANE Parameters + +## WVANE_ENABLE: Enable + +Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action. + +|Value|Meaning| +|:---:|:---:| +|-1|Only use during takeoffs or landing see weathervane takeoff and land override parameters| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## WVANE_GAIN: Weathervaning gain + +This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s. + +- Range: 0.5 4 + +- Increment: 0.1 + +## WVANE_ANG_MIN: Weathervaning min angle + +The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes. + +- Units: deg + +- Range: 0 10 + +- Increment: 0.1 + +## WVANE_HGT_MIN: Weathervaning min height + +Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning. + +- Units: m + +- Range: 0 50 + +- Increment: 1 + +## WVANE_SPD_MAX: Weathervaning max ground speed + +Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane. + +- Units: m/s + +- Range: 0 50 + +- Increment: 0.1 + +## WVANE_VELZ_MAX: Weathervaning max vertical speed + +The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent. + +- Units: m/s + +- Range: 0 5 + +- Increment: 0.1 + +## WVANE_TAKEOFF: Takeoff override + +Override the weather vaning behaviour when in takeoffs + +|Value|Meaning| +|:---:|:---:| +|-1|No override| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## WVANE_LAND: Landing override + +Override the weather vaning behaviour when in landing + +|Value|Meaning| +|:---:|:---:| +|-1|No override| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## WVANE_OPTIONS: Weathervaning options + +Options impacting weathervaning behaviour + +- Bitmask: 0:Use pitch when nose or tail-in for faster weathervaning + +# ZIGZ Parameters + +## ZIGZ_AUTO_ENABLE: ZigZag auto enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) ZigZag auto feature + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ZIGZ_SPRAYER: Auto sprayer in ZigZag + +*Note: This parameter is for advanced users* + +Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ZIGZ_WP_DELAY: The delay for zigzag waypoint + +*Note: This parameter is for advanced users* + +Waiting time after reached the destination + +- Units: s + +- Range: 0 127 + +## ZIGZ_SIDE_DIST: Sideways distance in ZigZag auto + +*Note: This parameter is for advanced users* + +The distance to move sideways in ZigZag mode + +- Units: m + +- Range: 0.1 100 + +## ZIGZ_DIRECTION: Sideways direction in ZigZag auto + +*Note: This parameter is for advanced users* + +The direction to move sideways in ZigZag mode + +|Value|Meaning| +|:---:|:---:| +|0|forward| +|1|right| +|2|backward| +|3|left| + +## ZIGZ_LINE_NUM: Total number of lines + +*Note: This parameter is for advanced users* + +Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways + +- Range: -1 32767 \ No newline at end of file diff --git a/Copter-4.6/Parameters.rst b/Copter-4.6/Parameters.rst new file mode 100644 index 0000000..8461df2 --- /dev/null +++ b/Copter-4.6/Parameters.rst @@ -0,0 +1,118471 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_ArduCopter: + +ArduCopter Parameters +--------------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: My ground station number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows restricting radio overrides to only come from my ground station + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _PILOT_THR_FILT: + +PILOT\_THR\_FILT: Throttle filter cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle filter cutoff \(Hz\) \- active whenever altitude control is inactive \- 0 to disable + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| .5 | 0 to 10 | hertz | ++-----------+---------+-------+ + + + + +.. _PILOT_TKOFF_ALT: + +PILOT\_TKOFF\_ALT: Pilot takeoff altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick\. + + ++-----------+---------------+-------------+ +| Increment | Range | Units | ++===========+===============+=============+ +| 10 | 0.0 to 1000.0 | centimeters | ++-----------+---------------+-------------+ + + + + +.. _PILOT_THR_BHV: + +PILOT\_THR\_BHV: Throttle stick behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask containing various throttle stick options\. TX with sprung throttle can set PILOT\_THR\_BHV to \"1\" so motor feedback when landed starts from mid\-stick instead of bottom of stick\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | Feedback from mid stick | | +| +-----+-------------------------------+ | +| | 1 | High throttle cancels landing | | +| +-----+-------------------------------+ | +| | 2 | Disarm on land detection | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | 3 | AccelZ | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _RTL_ALT: + +RTL\_ALT: RTL Altitude +~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum alt above home the vehicle will climb to before returning\. If the vehicle is flying higher than this value it will return at its current altitude\. + + ++-----------+--------------+-------------+ +| Increment | Range | Units | ++===========+==============+=============+ +| 1 | 30 to 300000 | centimeters | ++-----------+--------------+-------------+ + + + + +.. _RTL_CONE_SLOPE: + +RTL\_CONE\_SLOPE: RTL cone slope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines a cone above home which determines maximum climb + + ++-----------+-------------+----------------------+ +| Increment | Range | Values | ++===========+=============+======================+ +| .1 | 0.5 to 10.0 | +-------+----------+ | +| | | | Value | Meaning | | +| | | +=======+==========+ | +| | | | 0 | Disabled | | +| | | +-------+----------+ | +| | | | 1 | Shallow | | +| | | +-------+----------+ | +| | | | 3 | Steep | | +| | | +-------+----------+ | +| | | | ++-----------+-------------+----------------------+ + + + + +.. _RTL_SPEED: + +RTL\_SPEED: RTL speed +~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally while flying home\. If this is set to zero\, WPNAV\_SPEED will be used instead\. + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 50 | 0 to 2000 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _RTL_ALT_FINAL: + +RTL\_ALT\_FINAL: RTL Final Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission\. Set to zero to land\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 0 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _RTL_CLIMB_MIN: + +RTL\_CLIMB\_MIN: RTL minimum climb +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle will climb this many cm during the initial climb portion of the RTL + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 10 | 0 to 3000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _RTL_LOIT_TIME: + +RTL\_LOIT\_TIME: RTL loiter time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time \(in milliseconds\) to loiter above home before beginning final descent + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1000 | 0 to 60000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _RTL_ALT_TYPE: + +RTL\_ALT\_TYPE: RTL mode altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RTL altitude type\. Set to 1 for Terrain following during RTL and then set WPNAV\_RFND\_USE\=1 to use rangefinder or WPNAV\_RFND\_USE\=0 to use Terrain database + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Relative to Home | | +| +-------+------------------+ | +| | 1 | Terrain | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _FS_GCS_ENABLE: + +FS\_GCS\_ENABLE: Ground Station Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls whether failsafe will be invoked \(and what action to take\) when connection with Ground station is lost for at least 5 seconds\. See FS\_OPTIONS param for additional actions\, or for cases allowing Mission continuation\, when GCS failsafe is enabled\. + + ++----------------------------------------------------------------------------------------+ +| Values | ++========================================================================================+ +| +-------+----------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+============================================================================+ | +| | 0 | Disabled/NoAction | | +| +-------+----------------------------------------------------------------------------+ | +| | 1 | RTL | | +| +-------+----------------------------------------------------------------------------+ | +| | 2 | RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS) | | +| +-------+----------------------------------------------------------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+----------------------------------------------------------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+----------------------------------------------------------------------------+ | +| | 5 | Land | | +| +-------+----------------------------------------------------------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+----------------------------------------------------------------------------+ | +| | 7 | Brake or Land | | +| +-------+----------------------------------------------------------------------------+ | +| | ++----------------------------------------------------------------------------------------+ + + + + +.. _GPS_HDOP_GOOD: + +GPS\_HDOP\_GOOD: GPS Hdop Good +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Hdop value at or below this value represent a good position\. Used for pre\-arm checks + + ++------------+ +| Range | ++============+ +| 100 to 900 | ++------------+ + + + + +.. _SUPER_SIMPLE: + +SUPER\_SIMPLE: Super Simple Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask to enable Super Simple mode for some flight modes\. Setting this to Disabled\(0\) will disable Super Simple Mode\. The bitmask is for flight mode switch positions + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | SwitchPos1 | | +| +-----+------------+ | +| | 1 | SwitchPos2 | | +| +-----+------------+ | +| | 2 | SwitchPos3 | | +| +-----+------------+ | +| | 3 | SwitchPos4 | | +| +-----+------------+ | +| | 4 | SwitchPos5 | | +| +-----+------------+ | +| | 5 | SwitchPos6 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _WP_YAW_BEHAVIOR: + +WP\_YAW\_BEHAVIOR: Yaw behaviour during missions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Determines how the autopilot controls the yaw during missions and RTL + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | Never change yaw | | +| +-------+-------------------------------+ | +| | 1 | Face next waypoint | | +| +-------+-------------------------------+ | +| | 2 | Face next waypoint except RTL | | +| +-------+-------------------------------+ | +| | 3 | Face along GPS course | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _LAND_SPEED: + +LAND\_SPEED: Land speed +~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the final stage of landing in cm\/s + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 30 to 200 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _LAND_SPEED_HIGH: + +LAND\_SPEED\_HIGH: Land speed high +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the first stage of landing in cm\/s\. If this is zero then WPNAV\_SPEED\_DN is used + + ++-----------+----------+------------------------+ +| Increment | Range | Units | ++===========+==========+========================+ +| 10 | 0 to 500 | centimeters per second | ++-----------+----------+------------------------+ + + + + +.. _PILOT_SPEED_UP: + +PILOT\_SPEED\_UP: Pilot maximum vertical speed ascending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical ascending velocity the pilot may request in cm\/s + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 50 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _PILOT_ACCEL_Z: + +PILOT\_ACCEL\_Z: Pilot vertical acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vertical acceleration used when pilot is controlling the altitude + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _FS_THR_ENABLE: + +FS\_THR\_ENABLE: Throttle Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel + + ++--------------------------------------------------------------------------+ +| Values | ++==========================================================================+ +| +-------+--------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==============================================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------------------------------+ | +| | 1 | Enabled always RTL | | +| +-------+--------------------------------------------------------------+ | +| | 2 | Enabled Continue with Mission in Auto Mode (Removed in 4.0+) | | +| +-------+--------------------------------------------------------------+ | +| | 3 | Enabled always Land | | +| +-------+--------------------------------------------------------------+ | +| | 4 | Enabled always SmartRTL or RTL | | +| +-------+--------------------------------------------------------------+ | +| | 5 | Enabled always SmartRTL or Land | | +| +-------+--------------------------------------------------------------+ | +| | 6 | Enabled Auto DO_LAND_START or RTL | | +| +-------+--------------------------------------------------------------+ | +| | 7 | Enabled always Brake or Land | | +| +-------+--------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------+ + + + + +.. _FS_THR_VALUE: + +FS\_THR\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level in microseconds on channel 3 below which throttle failsafe triggers + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 910 to 1100 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _THR_DZ: + +THR\_DZ: Throttle deadzone +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The deadzone above and below mid throttle in PWM microseconds\. Used in AltHold\, Loiter\, PosHold flight modes + + ++-----------+----------+---------------------+ +| Increment | Range | Units | ++===========+==========+=====================+ +| 1 | 0 to 300 | PWM in microseconds | ++-----------+----------+---------------------+ + + + + +.. _FLTMODE1: + +FLTMODE1: Flight Mode 1 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \<\= 1230 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE2: + +FLTMODE2: Flight Mode 2 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1230\, \<\= 1360 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE3: + +FLTMODE3: Flight Mode 3 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1360\, \<\= 1490 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE4: + +FLTMODE4: Flight Mode 4 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1490\, \<\= 1620 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE5: + +FLTMODE5: Flight Mode 5 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1620\, \<\= 1749 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE6: + +FLTMODE6: Flight Mode 6 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>\=1750 + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | 27 | Auto RTL | | +| +-------+-----------------+ | +| | 28 | Turtle | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE_CH: + +FLTMODE\_CH: Flightmode channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 5 | Channel5 | | +| +-------+------------+ | +| | 6 | Channel6 | | +| +-------+------------+ | +| | 7 | Channel7 | | +| +-------+------------+ | +| | 8 | Channel8 | | +| +-------+------------+ | +| | 9 | Channel9 | | +| +-------+------------+ | +| | 10 | Channel 10 | | +| +-------+------------+ | +| | 11 | Channel 11 | | +| +-------+------------+ | +| | 12 | Channel 12 | | +| +-------+------------+ | +| | 13 | Channel 13 | | +| +-------+------------+ | +| | 14 | Channel 14 | | +| +-------+------------+ | +| | 15 | Channel 15 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial flight mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Stabilize | | +| +-------+-----------------+ | +| | 1 | Acro | | +| +-------+-----------------+ | +| | 2 | AltHold | | +| +-------+-----------------+ | +| | 3 | Auto | | +| +-------+-----------------+ | +| | 4 | Guided | | +| +-------+-----------------+ | +| | 5 | Loiter | | +| +-------+-----------------+ | +| | 6 | RTL | | +| +-------+-----------------+ | +| | 7 | Circle | | +| +-------+-----------------+ | +| | 9 | Land | | +| +-------+-----------------+ | +| | 11 | Drift | | +| +-------+-----------------+ | +| | 13 | Sport | | +| +-------+-----------------+ | +| | 14 | Flip | | +| +-------+-----------------+ | +| | 15 | AutoTune | | +| +-------+-----------------+ | +| | 16 | PosHold | | +| +-------+-----------------+ | +| | 17 | Brake | | +| +-------+-----------------+ | +| | 18 | Throw | | +| +-------+-----------------+ | +| | 19 | Avoid_ADSB | | +| +-------+-----------------+ | +| | 20 | Guided_NoGPS | | +| +-------+-----------------+ | +| | 21 | Smart_RTL | | +| +-------+-----------------+ | +| | 22 | FlowHold | | +| +-------+-----------------+ | +| | 23 | Follow | | +| +-------+-----------------+ | +| | 24 | ZigZag | | +| +-------+-----------------+ | +| | 25 | SystemID | | +| +-------+-----------------+ | +| | 26 | Heli_Autorotate | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _SIMPLE: + +SIMPLE: Simple mode bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask which holds which flight modes use simple heading mode \(eg bit 0 \= 1 means Flight Mode 0 uses simple mode\)\. The bitmask is for flightmode switch positions\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | SwitchPos1 | | +| +-----+------------+ | +| | 1 | SwitchPos2 | | +| +-----+------------+ | +| | 2 | SwitchPos3 | | +| +-----+------------+ | +| | 3 | SwitchPos4 | | +| +-----+------------+ | +| | 4 | SwitchPos5 | | +| +-----+------------+ | +| | 5 | SwitchPos6 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what on\-board log types to enable\. This value is made up of the sum of each of the log types you want to be saved\. It is usually best just to enable all basiclog types by setting this to 65535\. + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 0 | Fast Attitude | | +| +-----+-----------------------------+ | +| | 1 | Medium Attitude | | +| +-----+-----------------------------+ | +| | 2 | GPS | | +| +-----+-----------------------------+ | +| | 3 | System Performance | | +| +-----+-----------------------------+ | +| | 4 | Control Tuning | | +| +-----+-----------------------------+ | +| | 5 | Navigation Tuning | | +| +-----+-----------------------------+ | +| | 6 | RC input | | +| +-----+-----------------------------+ | +| | 7 | IMU | | +| +-----+-----------------------------+ | +| | 8 | Mission Commands | | +| +-----+-----------------------------+ | +| | 9 | Battery Monitor | | +| +-----+-----------------------------+ | +| | 10 | RC output | | +| +-----+-----------------------------+ | +| | 11 | Optical Flow | | +| +-----+-----------------------------+ | +| | 12 | PID | | +| +-----+-----------------------------+ | +| | 13 | Compass | | +| +-----+-----------------------------+ | +| | 15 | Camera | | +| +-----+-----------------------------+ | +| | 17 | Motors | | +| +-----+-----------------------------+ | +| | 18 | Fast IMU | | +| +-----+-----------------------------+ | +| | 19 | Raw IMU | | +| +-----+-----------------------------+ | +| | 20 | Video Stabilization | | +| +-----+-----------------------------+ | +| | 21 | Fast harmonic notch logging | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + +.. _ESC_CALIBRATION: + +ESC\_CALIBRATION: ESC Calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether ArduCopter will enter ESC calibration on the next restart\. Do not adjust this parameter manually\. + + ++---------------------------------------------------------------------+ +| Values | ++=====================================================================+ +| +-------+---------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=========================================================+ | +| | 0 | Normal Start-up | | +| +-------+---------------------------------------------------------+ | +| | 1 | Start-up in ESC Calibration mode if throttle high | | +| +-------+---------------------------------------------------------+ | +| | 2 | Start-up in ESC Calibration mode regardless of throttle | | +| +-------+---------------------------------------------------------+ | +| | 3 | Start-up and automatically calibrate ESCs | | +| +-------+---------------------------------------------------------+ | +| | 9 | Disabled | | +| +-------+---------------------------------------------------------+ | +| | ++---------------------------------------------------------------------+ + + + + +.. _TUNE: + +TUNE: Channel 6 Tuning +~~~~~~~~~~~~~~~~~~~~~~ + + +Controls which parameters \(normally PID gains\) are being tuned with transmitter\'s channel 6 knob + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | Stab Roll/Pitch kP | | +| +-------+-----------------------+ | +| | 4 | Rate Roll/Pitch kP | | +| +-------+-----------------------+ | +| | 5 | Rate Roll/Pitch kI | | +| +-------+-----------------------+ | +| | 21 | Rate Roll/Pitch kD | | +| +-------+-----------------------+ | +| | 3 | Stab Yaw kP | | +| +-------+-----------------------+ | +| | 6 | Rate Yaw kP | | +| +-------+-----------------------+ | +| | 26 | Rate Yaw kD | | +| +-------+-----------------------+ | +| | 56 | Rate Yaw Filter | | +| +-------+-----------------------+ | +| | 55 | Motor Yaw Headroom | | +| +-------+-----------------------+ | +| | 14 | AltHold kP | | +| +-------+-----------------------+ | +| | 7 | Throttle Rate kP | | +| +-------+-----------------------+ | +| | 34 | Throttle Accel kP | | +| +-------+-----------------------+ | +| | 35 | Throttle Accel kI | | +| +-------+-----------------------+ | +| | 36 | Throttle Accel kD | | +| +-------+-----------------------+ | +| | 12 | Loiter Pos kP | | +| +-------+-----------------------+ | +| | 22 | Velocity XY kP | | +| +-------+-----------------------+ | +| | 28 | Velocity XY kI | | +| +-------+-----------------------+ | +| | 10 | WP Speed | | +| +-------+-----------------------+ | +| | 25 | Acro Roll/Pitch deg/s | | +| +-------+-----------------------+ | +| | 40 | Acro Yaw deg/s | | +| +-------+-----------------------+ | +| | 45 | RC Feel | | +| +-------+-----------------------+ | +| | 13 | Heli Ext Gyro | | +| +-------+-----------------------+ | +| | 38 | Declination | | +| +-------+-----------------------+ | +| | 39 | Circle Rate | | +| +-------+-----------------------+ | +| | 46 | Rate Pitch kP | | +| +-------+-----------------------+ | +| | 47 | Rate Pitch kI | | +| +-------+-----------------------+ | +| | 48 | Rate Pitch kD | | +| +-------+-----------------------+ | +| | 49 | Rate Roll kP | | +| +-------+-----------------------+ | +| | 50 | Rate Roll kI | | +| +-------+-----------------------+ | +| | 51 | Rate Roll kD | | +| +-------+-----------------------+ | +| | 52 | Rate Pitch FF | | +| +-------+-----------------------+ | +| | 53 | Rate Roll FF | | +| +-------+-----------------------+ | +| | 54 | Rate Yaw FF | | +| +-------+-----------------------+ | +| | 58 | SysID Magnitude | | +| +-------+-----------------------+ | +| | 59 | PSC Angle Max | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _FRAME_TYPE: + +FRAME\_TYPE: Frame Type \(\+\, X\, V\, etc\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls motor mixing for multicopters\. Not used for Tri or Traditional Helicopters\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | Plus | | +| +-------+---------------------+ | +| | 1 | X | | +| +-------+---------------------+ | +| | 2 | V | | +| +-------+---------------------+ | +| | 3 | H | | +| +-------+---------------------+ | +| | 4 | V-Tail | | +| +-------+---------------------+ | +| | 5 | A-Tail | | +| +-------+---------------------+ | +| | 10 | Y6B | | +| +-------+---------------------+ | +| | 11 | Y6F | | +| +-------+---------------------+ | +| | 12 | BetaFlightX | | +| +-------+---------------------+ | +| | 13 | DJIX | | +| +-------+---------------------+ | +| | 14 | ClockwiseX | | +| +-------+---------------------+ | +| | 15 | I | | +| +-------+---------------------+ | +| | 18 | BetaFlightXReversed | | +| +-------+---------------------+ | +| | 19 | Y4 | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _DISARM_DELAY: + +DISARM\_DELAY: Disarm delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay before automatic disarm in seconds after landing touchdown detection\. A value of zero disables auto disarm\. If Emergency Motor stop active\, delay time is half this value\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | seconds | ++----------+---------+ + + + + +.. _ANGLE_MAX: + +ANGLE\_MAX: Angle Max +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle in all flight modes + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 1000 to 8000 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _PHLD_BRAKE_RATE: + +PHLD\_BRAKE\_RATE: PosHold braking rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PosHold flight mode\'s rotation rate during braking in deg\/sec + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 4 to 12 | degrees per second | ++---------+--------------------+ + + + + +.. _PHLD_BRAKE_ANGLE: + +PHLD\_BRAKE\_ANGLE: PosHold braking angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PosHold flight mode\'s max lean angle during braking in centi\-degrees + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 2000 to 4500 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _LAND_REPOSITION: + +LAND\_REPOSITION: Land repositioning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables user input during LAND mode\, the landing phase of RTL\, and auto mode landings\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | No repositioning | | +| +-------+------------------+ | +| | 1 | Repositioning | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _FS_EKF_ACTION: + +FS\_EKF\_ACTION: EKF Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 1 | Land | | +| +-------+------------------------+ | +| | 2 | AltHold | | +| +-------+------------------------+ | +| | 3 | Land even in Stabilize | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass\, velocity\, position and height variances\. Used in arming check and EKF failsafe\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.6 | Strict | | +| +-------+---------+ | +| | 0.8 | Default | | +| +-------+---------+ | +| | 1.0 | Relaxed | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FS_CRASH_CHECK: + +FS\_CRASH\_CHECK: Crash check enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables automatic crash checking\. When enabled the motors will disarm if a crash is detected\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC_SPEED: + +RC\_SPEED: ESC Update Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the speed in Hertz that your ESCs will receive updates + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 1 | 50 to 490 | hertz | ++-----------+-----------+-------+ + + + + +.. _ACRO_BAL_ROLL: + +ACRO\_BAL\_ROLL: Acro Balance Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +rate at which roll angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\. For helicopter sets the decay rate of the virtual flybar in the roll axis\. A higher value causes faster decay of desired to actual attitude\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 3 | ++-----------+--------+ + + + + +.. _ACRO_BAL_PITCH: + +ACRO\_BAL\_PITCH: Acro Balance Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +rate at which pitch angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\. For helicopter sets the decay rate of the virtual flybar in the pitch axis\. A higher value causes faster decay of desired to actual attitude\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 3 | ++-----------+--------+ + + + + +.. _ACRO_TRAINER: + +ACRO\_TRAINER: Acro Trainer +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Type of trainer used in acro mode + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Disabled | | +| +-------+----------------------+ | +| | 1 | Leveling | | +| +-------+----------------------+ | +| | 2 | Leveling and Limited | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _THROW_MOT_START: + +THROW\_MOT\_START: Start motors before throwing is detected +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used by Throw mode\. Controls whether motors will run at the speed set by MOT\_SPIN\_MIN or will be stopped when armed and waiting for the throw\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Stopped | | +| +-------+---------+ | +| | 1 | Running | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _THROW_ALT_MIN: + +THROW\_ALT\_MIN: Throw mode minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum altitude above which Throw mode will detect a throw or a drop \- 0 to disable the check + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _THROW_ALT_MAX: + +THROW\_ALT\_MAX: Throw mode maximum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum altitude under which Throw mode will detect a throw or a drop \- 0 to disable the check + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _WP_NAVALT_MIN: + +WP\_NAVALT\_MIN: Minimum navigation altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude in meters above which for navigation can begin\. This applies in auto takeoff and auto landing\. + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _THROW_NEXTMODE: + +THROW\_NEXTMODE: Throw mode\'s follow up mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will switch to this mode after the throw is successfully completed\. Default is to stay in throw mode \(18\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 3 | Auto | | +| +-------+---------+ | +| | 4 | Guided | | +| +-------+---------+ | +| | 5 | LOITER | | +| +-------+---------+ | +| | 6 | RTL | | +| +-------+---------+ | +| | 9 | Land | | +| +-------+---------+ | +| | 17 | Brake | | +| +-------+---------+ | +| | 18 | Throw | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _THROW_TYPE: + +THROW\_TYPE: Type of Type +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used by Throw mode\. Specifies whether Copter is thrown upward or dropped\. + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Upward Throw | | +| +-------+--------------+ | +| | 1 | Drop | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _GND_EFFECT_COMP: + +GND\_EFFECT\_COMP: Ground Effect Compensation Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ground Effect Compensation Enable\/Disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DEV_OPTIONS: + +DEV\_OPTIONS: Development options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of developer options\. The meanings of the bit fields in this parameter may vary at any time\. Developers should check the source code for current meaning + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 0 | ADSBMavlinkProcessing | | +| +-----+-----------------------------+ | +| | 1 | DevOptionVFR_HUDRelativeAlt | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + +.. _ACRO_THR_MID: + +ACRO\_THR\_MID: Acro Thr Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro Throttle Mid + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotEnforced | | +| +-------+-------------+ | +| | 1 | Enforced | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _FRAME_CLASS: + +FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls major frame class for multicopter component + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Undefined | | +| +-------+--------------------------+ | +| | 1 | Quad | | +| +-------+--------------------------+ | +| | 2 | Hexa | | +| +-------+--------------------------+ | +| | 3 | Octa | | +| +-------+--------------------------+ | +| | 4 | OctaQuad | | +| +-------+--------------------------+ | +| | 5 | Y6 | | +| +-------+--------------------------+ | +| | 6 | Heli | | +| +-------+--------------------------+ | +| | 7 | Tri | | +| +-------+--------------------------+ | +| | 8 | SingleCopter | | +| +-------+--------------------------+ | +| | 9 | CoaxCopter | | +| +-------+--------------------------+ | +| | 10 | BiCopter | | +| +-------+--------------------------+ | +| | 11 | Heli_Dual | | +| +-------+--------------------------+ | +| | 12 | DodecaHexa | | +| +-------+--------------------------+ | +| | 13 | HeliQuad | | +| +-------+--------------------------+ | +| | 14 | Deca | | +| +-------+--------------------------+ | +| | 15 | Scripting Matrix | | +| +-------+--------------------------+ | +| | 16 | 6DoF Scripting | | +| +-------+--------------------------+ | +| | 17 | Dynamic Scripting Matrix | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _PILOT_SPEED_DN: + +PILOT\_SPEED\_DN: Pilot maximum vertical speed descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical descending velocity the pilot may request in cm\/s\. If 0 PILOT\_SPEED\_UP value is used\. + + ++-----------+----------+------------------------+ +| Increment | Range | Units | ++===========+==========+========================+ +| 10 | 0 to 500 | centimeters per second | ++-----------+----------+------------------------+ + + + + +.. _LAND_ALT_LOW: + +LAND\_ALT\_LOW: Land alt low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude during Landing at which vehicle slows to LAND\_SPEED + + ++-----------+--------------+-------------+ +| Increment | Range | Units | ++===========+==============+=============+ +| 10 | 100 to 10000 | centimeters | ++-----------+--------------+-------------+ + + + + +.. _TUNE_MIN: + +TUNE\_MIN: Tuning minimum +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value that the parameter currently being tuned with the transmitter\'s channel 6 knob will be set to + + +.. _TUNE_MAX: + +TUNE\_MAX: Tuning maximum +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value that the parameter currently being tuned with the transmitter\'s channel 6 knob will be set to + + +.. _FS_VIBE_ENABLE: + +FS\_VIBE\_ENABLE: Vibration Failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FS_OPTIONS: + +FS\_OPTIONS: Failsafe options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of additional options for battery\, radio\, \& GCS failsafes\. 0 \(default\) disables all options\. + + ++-----------------------------------------------------------------+ +| Bitmask | ++=================================================================+ +| +-----+-------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================================+ | +| | 0 | Continue if in Auto on RC failsafe | | +| +-----+-------------------------------------------------------+ | +| | 1 | Continue if in Auto on GCS failsafe | | +| +-----+-------------------------------------------------------+ | +| | 2 | Continue if in Guided on RC failsafe | | +| +-----+-------------------------------------------------------+ | +| | 3 | Continue if landing on any failsafe | | +| +-----+-------------------------------------------------------+ | +| | 4 | Continue if in pilot controlled modes on GCS failsafe | | +| +-----+-------------------------------------------------------+ | +| | 5 | Release Gripper | | +| +-----+-------------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _ACRO_OPTIONS: + +ACRO\_OPTIONS: Acro mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A range of options that can be applied to change acro mode behaviour\. Air\-mode enables ATC\_THR\_MIX\_MAN at all times \(air\-mode has no effect on helicopters\)\. Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | Air-mode | | +| +-----+----------------+ | +| | 1 | Rate Loop Only | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _AUTO_OPTIONS: + +AUTO\_OPTIONS: Auto mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A range of options that can be applied to change auto mode behaviour\. Allow Arming allows the copter to be armed in Auto\. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle\. Ignore pilot yaw overrides the pilot\'s yaw stick being used while in auto\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Allow Arming | | +| +-----+----------------------------------------+ | +| | 1 | Allow Takeoff Without Raising Throttle | | +| +-----+----------------------------------------+ | +| | 2 | Ignore pilot yaw | | +| +-----+----------------------------------------+ | +| | 7 | Allow weathervaning | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _GUID_OPTIONS: + +GUID\_OPTIONS: Guided mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + + ++---------------------------------------------------------+ +| Bitmask | ++=========================================================+ +| +-----+-----------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================================+ | +| | 0 | Allow Arming from Transmitter | | +| +-----+-----------------------------------------------+ | +| | 2 | Ignore pilot yaw | | +| +-----+-----------------------------------------------+ | +| | 3 | SetAttitudeTarget interprets Thrust As Thrust | | +| +-----+-----------------------------------------------+ | +| | 4 | Do not stabilize PositionXY | | +| +-----+-----------------------------------------------+ | +| | 5 | Do not stabilize VelocityXY | | +| +-----+-----------------------------------------------+ | +| | 6 | Waypoint navigation used for position targets | | +| +-----+-----------------------------------------------+ | +| | 7 | Allow weathervaning | | +| +-----+-----------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + +.. _FS_GCS_TIMEOUT: + +FS\_GCS\_TIMEOUT: GCS failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Timeout before triggering the GCS failsafe + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 2 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _RTL_OPTIONS: + +RTL\_OPTIONS: RTL mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change RTL mode behaviour + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 2 | Ignore pilot yaw | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _FLIGHT_OPTIONS: + +FLIGHT\_OPTIONS: Flight mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Flight mode specific options + + ++------------------------------------------+ +| Bitmask | ++==========================================+ +| +-----+--------------------------------+ | +| | Bit | Meaning | | +| +=====+================================+ | +| | 0 | Disable thrust loss check | | +| +-----+--------------------------------+ | +| | 1 | Disable yaw imbalance warning | | +| +-----+--------------------------------+ | +| | 2 | Release gripper on thrust loss | | +| +-----+--------------------------------+ | +| | 3 | Require position for arming | | +| +-----+--------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RNGFND_FILT: + +RNGFND\_FILT: Rangefinder filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Rangefinder filter to smooth distance\. Set to zero to disable filtering + + ++-----------+--------+-------+ +| Increment | Range | Units | ++===========+========+=======+ +| 0.05 | 0 to 5 | hertz | ++-----------+--------+-------+ + + + + +.. _GUID_TIMEOUT: + +GUID\_TIMEOUT: Guided mode timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller\. Only applicable during any combination of velocity\, acceleration\, angle control\, and\/or angular rate control + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0.1 to 5 | seconds | ++----------+---------+ + + + + +.. _SURFTRAK_MODE: + +SURFTRAK\_MODE: Surface Tracking Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +set which surface to track in surface tracking + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Do not track | | +| +-------+--------------+ | +| | 1 | Ground | | +| +-------+--------------+ | +| | 2 | Ceiling | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FS_DR_ENABLE: + +FS\_DR\_ENABLE: DeadReckon Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Failsafe action taken immediately as deadreckoning starts\. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | Disabled/NoAction | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _FS_DR_TIMEOUT: + +FS\_DR\_TIMEOUT: DeadReckon Failsafe Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DeadReckoning is available for this many seconds after losing position and\/or velocity source\. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _ACRO_RP_RATE: + +ACRO\_RP\_RATE: Acro Roll and Pitch Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode maximum roll and pitch rate\. Higher values mean faster rate of rotation + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 1 to 1080 | degrees per second | ++-----------+--------------------+ + + + + +.. _ACRO_RP_EXPO: + +ACRO\_RP\_EXPO: Acro Roll\/Pitch Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro roll\/pitch Expo to allow faster rotation when stick at edges + + ++--------------+-----------------------+ +| Range | Values | ++==============+=======================+ +| -0.5 to 0.95 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | Disabled | | +| | +-------+-----------+ | +| | | 0.1 | Very Low | | +| | +-------+-----------+ | +| | | 0.2 | Low | | +| | +-------+-----------+ | +| | | 0.3 | Medium | | +| | +-------+-----------+ | +| | | 0.4 | High | | +| | +-------+-----------+ | +| | | 0.5 | Very High | | +| | +-------+-----------+ | +| | | ++--------------+-----------------------+ + + + + +.. _ACRO_RP_RATE_TC: + +ACRO\_RP\_RATE\_TC: Acro roll\/pitch rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro roll and pitch rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _ACRO_Y_RATE: + +ACRO\_Y\_RATE: Acro Yaw Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode maximum yaw rate\. Higher value means faster rate of rotation + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _ACRO_Y_EXPO: + +ACRO\_Y\_EXPO: Acro Yaw Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro yaw expo to allow faster rotation when stick at edges + + ++--------------+-----------------------+ +| Range | Values | ++==============+=======================+ +| -1.0 to 0.95 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | Disabled | | +| | +-------+-----------+ | +| | | 0.1 | Very Low | | +| | +-------+-----------+ | +| | | 0.2 | Low | | +| | +-------+-----------+ | +| | | 0.3 | Medium | | +| | +-------+-----------+ | +| | | 0.4 | High | | +| | +-------+-----------+ | +| | | 0.5 | Very High | | +| | +-------+-----------+ | +| | | ++--------------+-----------------------+ + + + + +.. _ACRO_Y_RATE_TC: + +ACRO\_Y\_RATE\_TC: Acro yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _PILOT_Y_RATE: + +PILOT\_Y\_RATE: Pilot controlled yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot controlled yaw rate max\. Used in all pilot controlled modes except Acro + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _PILOT_Y_EXPO: + +PILOT\_Y\_EXPO: Pilot controlled yaw expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + + ++-------------+-----------------------+ +| Range | Values | ++=============+=======================+ +| -0.5 to 1.0 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | Disabled | | +| | +-------+-----------+ | +| | | 0.1 | Very Low | | +| | +-------+-----------+ | +| | | 0.2 | Low | | +| | +-------+-----------+ | +| | | 0.3 | Medium | | +| | +-------+-----------+ | +| | | 0.4 | High | | +| | +-------+-----------+ | +| | | 0.5 | Very High | | +| | +-------+-----------+ | +| | | ++-------------+-----------------------+ + + + + +.. _PILOT_Y_RATE_TC: + +PILOT\_Y\_RATE\_TC: Pilot yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _TKOFF_SLEW_TIME: + +TKOFF\_SLEW\_TIME: Slew time of throttle during take\-off +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 5.0 | seconds | ++-------------+---------+ + + + + +.. _TKOFF_RPM_MIN: + +TKOFF\_RPM\_MIN: Takeoff Check RPM minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Takeoff is not permitted until motors report at least this RPM\. Set to zero to disable check + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _PLDP_THRESH: + +PLDP\_THRESH: Payload Place thrust ratio threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio of vertical thrust during decent below which payload touchdown will trigger\. + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _PLDP_RNG_MAX: + +PLDP\_RNG\_MAX: Payload Place maximum range finder altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum range finder altitude in m to trigger payload touchdown\, set to zero to disable\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _PLDP_DELAY: + +PLDP\_DELAY: Payload Place climb delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay after release\, in seconds\, before aircraft starts to climb back to starting altitude\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _PLDP_SPEED_DN: + +PLDP\_SPEED\_DN: Payload Place decent speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical decent velocity in m\/s\. If 0 LAND\_SPEED value is used\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 5 | meters per second | ++--------+-------------------+ + + + + +.. _SURFTRAK_TC: + +SURFTRAK\_TC: Surface Tracking Filter Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time to achieve 63\.2\% of the surface altitude measurement change\. If 0 filtering is disabled + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _TKOFF_THR_MAX: + +TKOFF\_THR\_MAX: Takeoff maximum throttle during take\-off ramp up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process\. + + ++------------+ +| Range | ++============+ +| 0.0 to 0.9 | ++------------+ + + + + +.. _TKOFF_RPM_MAX: + +TKOFF\_RPM\_MAX: Takeoff Check RPM maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Takeoff is not permitted until motors report no more than this RPM\. Set to zero to disable check + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _FS_EKF_FILT: + +FS\_EKF\_FILT: EKF Failsafe filter cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Failsafe filter cutoff frequency\. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances\. A higher value means the failsafe is more likely to trigger\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 10 | hertz | ++---------+-------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Stabilize | | +| +-----+-----------------+ | +| | 1 | Acro | | +| +-----+-----------------+ | +| | 2 | AltHold | | +| +-----+-----------------+ | +| | 3 | Auto | | +| +-----+-----------------+ | +| | 4 | Guided | | +| +-----+-----------------+ | +| | 5 | Loiter | | +| +-----+-----------------+ | +| | 6 | Circle | | +| +-----+-----------------+ | +| | 7 | Drift | | +| +-----+-----------------+ | +| | 8 | Sport | | +| +-----+-----------------+ | +| | 9 | Flip | | +| +-----+-----------------+ | +| | 10 | AutoTune | | +| +-----+-----------------+ | +| | 11 | PosHold | | +| +-----+-----------------+ | +| | 12 | Brake | | +| +-----+-----------------+ | +| | 13 | Throw | | +| +-----+-----------------+ | +| | 14 | Avoid_ADSB | | +| +-----+-----------------+ | +| | 15 | Guided_NoGPS | | +| +-----+-----------------+ | +| | 16 | Smart_RTL | | +| +-----+-----------------+ | +| | 17 | FlowHold | | +| +-----+-----------------+ | +| | 18 | Follow | | +| +-----+-----------------+ | +| | 19 | ZigZag | | +| +-----+-----------------+ | +| | 20 | SystemID | | +| +-----+-----------------+ | +| | 21 | Heli_Autorotate | | +| +-----+-----------------+ | +| | 22 | Auto RTL | | +| +-----+-----------------+ | +| | 23 | Turtle | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + + +.. _parameters_ADSB_: + +ADSB\_ Parameters +----------------- + + +.. _ADSB_TYPE: + +ADSB\_TYPE: ADSB Type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Type of ADS\-B hardware for ADSB\-in and ADSB\-out configuration and operation\. If any type is selected then MAVLink based ADSB\-in messages will always be enabled + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | uAvionix-MAVLink | | +| +-------+--------------------+ | +| | 2 | Sagetech | | +| +-------+--------------------+ | +| | 3 | uAvionix-UCP | | +| +-------+--------------------+ | +| | 4 | Sagetech MX Series | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _ADSB_LIST_MAX: + +ADSB\_LIST\_MAX: ADSB vehicle list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +ADSB list size of nearest vehicles\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _ADSB_LIST_RADIUS: + +ADSB\_LIST\_RADIUS: ADSB vehicle list radius filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 100000 | meters | ++-------------+--------+ + + + + +.. _ADSB_ICAO_ID: + +ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID unique vehicle identification number of this aircraft\. This is an integer limited to 24bits\. If set to 0 then one will be randomly generated\. If set to \-1 then static information is not sent\, transceiver is assumed pre\-programmed\. + + ++----------------+ +| Range | ++================+ +| -1 to 16777215 | ++----------------+ + + + + +.. _ADSB_EMIT_TYPE: + +ADSB\_EMIT\_TYPE: Emitter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | NoInfo | | +| +-------+------------------+ | +| | 1 | Light | | +| +-------+------------------+ | +| | 2 | Small | | +| +-------+------------------+ | +| | 3 | Large | | +| +-------+------------------+ | +| | 4 | HighVortexlarge | | +| +-------+------------------+ | +| | 5 | Heavy | | +| +-------+------------------+ | +| | 6 | HighlyManuv | | +| +-------+------------------+ | +| | 7 | Rotocraft | | +| +-------+------------------+ | +| | 8 | RESERVED | | +| +-------+------------------+ | +| | 9 | Glider | | +| +-------+------------------+ | +| | 10 | LightAir | | +| +-------+------------------+ | +| | 11 | Parachute | | +| +-------+------------------+ | +| | 12 | UltraLight | | +| +-------+------------------+ | +| | 13 | RESERVED | | +| +-------+------------------+ | +| | 14 | UAV | | +| +-------+------------------+ | +| | 15 | Space | | +| +-------+------------------+ | +| | 16 | RESERVED | | +| +-------+------------------+ | +| | 17 | EmergencySurface | | +| +-------+------------------+ | +| | 18 | ServiceSurface | | +| +-------+------------------+ | +| | 19 | PointObstacle | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _ADSB_LEN_WIDTH: + +ADSB\_LEN\_WIDTH: Aircraft length and width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters\. In most cases\, use a value of 1 for smallest size\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | NO_DATA | | +| +-------+----------+ | +| | 1 | L15W23 | | +| +-------+----------+ | +| | 2 | L25W28P5 | | +| +-------+----------+ | +| | 3 | L25W34 | | +| +-------+----------+ | +| | 4 | L35W33 | | +| +-------+----------+ | +| | 5 | L35W38 | | +| +-------+----------+ | +| | 6 | L45W39P5 | | +| +-------+----------+ | +| | 7 | L45W45 | | +| +-------+----------+ | +| | 8 | L55W45 | | +| +-------+----------+ | +| | 9 | L55W52 | | +| +-------+----------+ | +| | 10 | L65W59P5 | | +| +-------+----------+ | +| | 11 | L65W67 | | +| +-------+----------+ | +| | 12 | L75W72P5 | | +| +-------+----------+ | +| | 13 | L75W80 | | +| +-------+----------+ | +| | 14 | L85W80 | | +| +-------+----------+ | +| | 15 | L85W90 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ADSB_OFFSET_LAT: + +ADSB\_OFFSET\_LAT: GPS antenna lateral offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna lateral offset\. This describes the physical location offset from center of the GPS antenna on the aircraft\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | NoData | | +| +-------+---------+ | +| | 1 | Left2m | | +| +-------+---------+ | +| | 2 | Left4m | | +| +-------+---------+ | +| | 3 | Left6m | | +| +-------+---------+ | +| | 4 | Center | | +| +-------+---------+ | +| | 5 | Right2m | | +| +-------+---------+ | +| | 6 | Right4m | | +| +-------+---------+ | +| | 7 | Right6m | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ADSB_OFFSET_LON: + +ADSB\_OFFSET\_LON: GPS antenna longitudinal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna longitudinal offset\. This is usually set to 1\, Applied By Sensor + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | NO_DATA | | +| +-------+-----------------+ | +| | 1 | AppliedBySensor | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _ADSB_RF_SELECT: + +ADSB\_RF\_SELECT: Transceiver RF selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and\/or Rx\. Rx\-only devices should override this to always be Rx\-only\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Rx | | +| +-----+---------+ | +| | 1 | Tx | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _ADSB_SQUAWK: + +ADSB\_SQUAWK: Squawk code +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 0 to 7777 | octal | ++-----------+-------+ + + + + +.. _ADSB_RF_CAPABLE: + +ADSB\_RF\_CAPABLE: RF capabilities +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Describes your hardware RF In\/Out capabilities\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | UAT_in | | +| +-----+------------+ | +| | 1 | 1090ES_in | | +| +-----+------------+ | +| | 2 | UAT_out | | +| +-----+------------+ | +| | 3 | 1090ES_out | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _ADSB_LIST_ALT: + +ADSB\_LIST\_ALT: ADSB vehicle list altitude filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter\. Vehicles detected above this altitude will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _ADSB_ICAO_SPECL: + +ADSB\_ICAO\_SPECL: ICAO\_ID of special vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID of special vehicle that ignores ADSB\_LIST\_RADIUS and ADSB\_LIST\_ALT\. The vehicle is always tracked\. Use 0 to disable\. + + +.. _ADSB_LOG: + +ADSB\_LOG: ADS\-B logging +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +0\: no logging\, 1\: log only special ID\, 2\:log all + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | no logging | | +| +-------+---------------------+ | +| | 1 | log only special ID | | +| +-------+---------------------+ | +| | 2 | log all | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ADSB_OPTIONS: + +ADSB\_OPTIONS: ADS\-B Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | Ping200X Send GPS | | +| +-----+----------------------------------+ | +| | 1 | Squawk 7400 on RC failsafe | | +| +-----+----------------------------------+ | +| | 2 | Squawk 7400 on GCS failsafe | | +| +-----+----------------------------------+ | +| | 3 | Sagetech MXS use External Config | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----------------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=============================================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================================================================================+ | +| | 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | 1 | Enable AFS for all autonomous modes (not just AUTO) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | Use GPS for DCM position | | +| +-------+-------------------------------------+ | +| | 2 | Use GPS for DCM position and height | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | Enable EKF2 | | +| +-------+--------------+ | +| | 3 | Enable EKF3 | | +| +-------+--------------+ | +| | 11 | ExternalAHRS | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 0 | DisableDCMFallbackFW | | +| +-----+-----------------------------+ | +| | 1 | DisableDCMFallbackVTOL | | +| +-----+-----------------------------+ | +| | 2 | DontDisableAirspeedUsingEKF | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 1 | NMEA AIVDM message | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----------------------------------------------+ +| Bitmask | ++===============================================+ +| +-----+-------------------------------------+ | +| | Bit | Meaning | | +| +=====+=====================================+ | +| | 0 | Log all AIVDM messages | | +| +-----+-------------------------------------+ | +| | 1 | Log only unsupported AIVDM messages | | +| +-----+-------------------------------------+ | +| | 2 | Log decoded messages | | +| +-----+-------------------------------------+ | +| | ++-----------------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Disabled | | +| +-------+-------------+ | +| | 1 | ArmingOnly | | +| +-------+-------------+ | +| | 2 | ArmOrDisarm | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | Land | | +| +-----+---------------+ | +| | 1 | VTOL Land | | +| +-----+---------------+ | +| | 2 | DO_LAND_START | | +| +-----+---------------+ | +| | 3 | Takeoff | | +| +-----+---------------+ | +| | 4 | VTOL Takeoff | | +| +-----+---------------+ | +| | 5 | Rallypoint | | +| +-----+---------------+ | +| | 6 | RTL | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | All | | +| +-----+------------------------+ | +| | 1 | Barometer | | +| +-----+------------------------+ | +| | 2 | Compass | | +| +-----+------------------------+ | +| | 3 | GPS lock | | +| +-----+------------------------+ | +| | 4 | INS | | +| +-----+------------------------+ | +| | 5 | Parameters | | +| +-----+------------------------+ | +| | 6 | RC Channels | | +| +-----+------------------------+ | +| | 7 | Board voltage | | +| +-----+------------------------+ | +| | 8 | Battery Level | | +| +-----+------------------------+ | +| | 10 | Logging Available | | +| +-----+------------------------+ | +| | 11 | Hardware safety switch | | +| +-----+------------------------+ | +| | 12 | GPS Configuration | | +| +-----+------------------------+ | +| | 13 | System | | +| +-----+------------------------+ | +| | 14 | Mission | | +| +-----+------------------------+ | +| | 15 | Rangefinder | | +| +-----+------------------------+ | +| | 16 | Camera | | +| +-----+------------------------+ | +| | 17 | AuxAuth | | +| +-----+------------------------+ | +| | 18 | VisualOdometry | | +| +-----+------------------------+ | +| | 19 | FFT | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++---------------------------------------------------+ +| Bitmask | ++===================================================+ +| +-----+-----------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================+ | +| | 0 | Disable prearm display | | +| +-----+-----------------------------------------+ | +| | 1 | Do not send status text on state change | | +| +-----+-----------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Crash Dump arming check active | | +| +-------+-------------------------------------+ | +| | 1 | Crash Dump arming check deactivated | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + + +.. _parameters_AROT_: + +AROT\_ Parameters +----------------- + + +.. _AROT_ENABLE: + +AROT\_ENABLE: Enable settings for RSC Setpoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the autonomous autorotation capability\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _AROT_HS_P: + +AROT\_HS\_P: P gain for head speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Increase value to increase sensitivity of head speed controller during autonomous autorotation\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0.3 to 1 | ++-----------+----------+ + + + + +.. _AROT_HS_SET_PT: + +AROT\_HS\_SET\_PT: Target Head Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The target head speed in RPM during autorotation\. Start by setting to desired hover speed and tune from there as necessary\. + + ++-----------+--------------+------------------------+ +| Increment | Range | Units | ++===========+==============+========================+ +| 1 | 1000 to 2800 | Revolutions Per Minute | ++-----------+--------------+------------------------+ + + + + +.. _AROT_TARG_SP: + +AROT\_TARG\_SP: Target Glide Ground Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target ground speed in cm\/s for the autorotation controller to try and achieve\/ maintain during the glide phase\. + + ++-----------+-------------+------------------------+ +| Increment | Range | Units | ++===========+=============+========================+ +| 50 | 800 to 2000 | centimeters per second | ++-----------+-------------+------------------------+ + + + + +.. _AROT_COL_FILT_E: + +AROT\_COL\_FILT\_E: Entry Phase Collective Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut\-off frequency for collective low pass filter\. For the entry phase\. Acts as a following trim\. Must be higher than AROT\_COL\_FILT\_G\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.01 | 0.2 to 0.5 | hertz | ++-----------+------------+-------+ + + + + +.. _AROT_COL_FILT_G: + +AROT\_COL\_FILT\_G: Glide Phase Collective Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut\-off frequency for collective low pass filter\. For the glide phase\. Acts as a following trim\. Must be lower than AROT\_COL\_FILT\_E\. + + ++-----------+--------------+-------+ +| Increment | Range | Units | ++===========+==============+=======+ +| 0.01 | 0.03 to 0.15 | hertz | ++-----------+--------------+-------+ + + + + +.. _AROT_AS_ACC_MAX: + +AROT\_AS\_ACC\_MAX: Forward Acceleration Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum forward acceleration to apply in speed controller\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 30 to 60 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + +.. _AROT_HS_SENSOR: + +AROT\_HS\_SENSOR: Main Rotor RPM Sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allocate the RPM sensor instance to use for measuring head speed\. RPM1 \= 0\. RPM2 \= 1\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0.5 to 3 | seconds | ++-----------+----------+---------+ + + + + +.. _AROT_FW_V_P: + +AROT\_FW\_V\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Determines the proportion of the target acceleration based on the velocity error\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _AROT_FW_V_FF: + +AROT\_FW\_V\_FF: Velocity \(horizontal\) feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. Corrects the target acceleration proportionally to the desired velocity\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | FirstSensor | | +| +-------+-------------+ | +| | 1 | 2ndSensor | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++--------------------------------------+ +| Bitmask | ++======================================+ +| +-----+----------------------------+ | +| | Bit | Meaning | | +| +=====+============================+ | +| | 0 | SpeedMismatchDisable | | +| +-----+----------------------------+ | +| | 1 | AllowSpeedMismatchRecovery | | +| +-----+----------------------------+ | +| | 2 | DisableVoltageCorrection | | +| +-----+----------------------------+ | +| | 3 | UseEkf3Consistency | | +| +-----+----------------------------+ | +| | 4 | ReportOffset | | +| +-----+----------------------------+ | +| | ++--------------------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ATC_: + +ATC\_ Parameters +---------------- + + +.. _ATC_SLEW_YAW: + +ATC\_SLEW\_YAW: Yaw target slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + + ++-----------+--------------+-------------------------+ +| Increment | Range | Units | ++===========+==============+=========================+ +| 100 | 500 to 18000 | centidegrees per second | ++-----------+--------------+-------------------------+ + + + + +.. _ATC_ACCEL_Y_MAX: + +ATC\_ACCEL\_Y\_MAX: Acceleration Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + + ++-----------+------------+--------------------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+============+================================+======================+ +| 1000 | 0 to 72000 | centidegrees per square second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 9000 | VerySlow | | +| | | | +-------+----------+ | +| | | | | 18000 | Slow | | +| | | | +-------+----------+ | +| | | | | 36000 | Medium | | +| | | | +-------+----------+ | +| | | | | 54000 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+------------+--------------------------------+----------------------+ + + + + +.. _ATC_RATE_FF_ENAB: + +ATC\_RATE\_FF\_ENAB: Rate Feedforward Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether body\-frame rate feedforward is enabled or disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ATC_ACCEL_R_MAX: + +ATC\_ACCEL\_R\_MAX: Acceleration Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + + ++-----------+-------------+--------------------------------+-----------------------+ +| Increment | Range | Units | Values | ++===========+=============+================================+=======================+ +| 1000 | 0 to 180000 | centidegrees per square second | +--------+----------+ | +| | | | | Value | Meaning | | +| | | | +========+==========+ | +| | | | | 0 | Disabled | | +| | | | +--------+----------+ | +| | | | | 30000 | VerySlow | | +| | | | +--------+----------+ | +| | | | | 72000 | Slow | | +| | | | +--------+----------+ | +| | | | | 108000 | Medium | | +| | | | +--------+----------+ | +| | | | | 162000 | Fast | | +| | | | +--------+----------+ | +| | | | | ++-----------+-------------+--------------------------------+-----------------------+ + + + + +.. _ATC_ACCEL_P_MAX: + +ATC\_ACCEL\_P\_MAX: Acceleration Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + + ++-----------+-------------+--------------------------------+-----------------------+ +| Increment | Range | Units | Values | ++===========+=============+================================+=======================+ +| 1000 | 0 to 180000 | centidegrees per square second | +--------+----------+ | +| | | | | Value | Meaning | | +| | | | +========+==========+ | +| | | | | 0 | Disabled | | +| | | | +--------+----------+ | +| | | | | 30000 | VerySlow | | +| | | | +--------+----------+ | +| | | | | 72000 | Slow | | +| | | | +--------+----------+ | +| | | | | 108000 | Medium | | +| | | | +--------+----------+ | +| | | | | 162000 | Fast | | +| | | | +--------+----------+ | +| | | | | ++-----------+-------------+--------------------------------+-----------------------+ + + + + +.. _ATC_ANGLE_BOOST: + +ATC\_ANGLE\_BOOST: Angle Boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ATC_ANG_RLL_P: + +ATC\_ANG\_RLL\_P: Roll axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_PIT_P: + +ATC\_ANG\_PIT\_P: Pitch axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_YAW_P: + +ATC\_ANG\_YAW\_P: Yaw axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_LIM_TC: + +ATC\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Limit \(to maintain altitude\) Time Constant + + ++-------------+ +| Range | ++=============+ +| 0.5 to 10.0 | ++-------------+ + + + + +.. _ATC_RATE_R_MAX: + +ATC\_RATE\_R\_MAX: Angular Velocity Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _ATC_RATE_P_MAX: + +ATC\_RATE\_P\_MAX: Angular Velocity Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _ATC_RATE_Y_MAX: + +ATC\_RATE\_Y\_MAX: Angular Velocity Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _ATC_INPUT_TC: + +ATC\_INPUT\_TC: Attitude control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _ATC_LAND_R_MULT: + +ATC\_LAND\_R\_MULT: Landed roll gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the roll axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_LAND_P_MULT: + +ATC\_LAND\_P\_MULT: Landed pitch gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the pitch axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_LAND_Y_MULT: + +ATC\_LAND\_Y\_MULT: Landed yaw gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the yaw axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_RAT_RLL_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_P \(AC\_AttitudeControl\_Multi\): Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.01 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_I \(AC\_AttitudeControl\_Multi\): Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_IMAX \(AC\_AttitudeControl\_Multi\): Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_D \(AC\_AttitudeControl\_Multi\): Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FF \(AC\_AttitudeControl\_Multi\): Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTT \(AC\_AttitudeControl\_Multi\): Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTE \(AC\_AttitudeControl\_Multi\): Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTD \(AC\_AttitudeControl\_Multi\): Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_SMAX \(AC\_AttitudeControl\_Multi\): Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_PDMX: + +ATC\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_D\_FF \(AC\_AttitudeControl\_Multi\): Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_RLL_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_NTF \(AC\_AttitudeControl\_Multi\): Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_RLL_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_NEF \(AC\_AttitudeControl\_Multi\): Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_P \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.01 to 0.50 | ++-----------+--------------+ + + + + +.. _ATC_RAT_PIT_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_I \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_IMAX \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_D \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FF \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTT \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTE \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTD \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_SMAX \(AC\_AttitudeControl\_Multi\): Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_PDMX: + +ATC\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_D\_FF \(AC\_AttitudeControl\_Multi\): Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_PIT_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_NTF \(AC\_AttitudeControl\_Multi\): Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_NEF \(AC\_AttitudeControl\_Multi\): Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_YAW_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_P \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.10 to 2.50 | ++-----------+--------------+ + + + + +.. _ATC_RAT_YAW_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_I \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.010 to 1.0 | ++-----------+--------------+ + + + + +.. _ATC_RAT_YAW_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_IMAX \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_D \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FF \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTT \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTE \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 20 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTD \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_SMAX \(AC\_AttitudeControl\_Multi\): Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_PDMX: + +ATC\_RAT\_YAW\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_D\_FF \(AC\_AttitudeControl\_Multi\): Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_YAW_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_NTF \(AC\_AttitudeControl\_Multi\): Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _ATC_RAT_YAW_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_NEF \(AC\_AttitudeControl\_Multi\): Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_THR_MIX_MIN: + +ATC\_THR\_MIX\_MIN: Throttle Mix Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\) + + ++-------------+ +| Range | ++=============+ +| 0.1 to 0.25 | ++-------------+ + + + + +.. _ATC_THR_MIX_MAX: + +ATC\_THR\_MIX\_MAX: Throttle Mix Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _ATC_THR_MIX_MAN: + +ATC\_THR\_MIX\_MAN: Throttle Mix Manual +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.1 to 0.9 | ++------------+ + + + + +.. _ATC_THR_G_BOOST: + +ATC\_THR\_G\_BOOST: Throttle\-gain boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle\-gain boost ratio\. A value of 0 means no boosting is applied\, a value of 1 means full boosting is applied\. Describes the ratio increase that is applied to angle P and PD on pitch and roll\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_HOVR_ROL_TRM: + +ATC\_HOVR\_ROL\_TRM: Hover Roll Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Trim the hover roll angle to counter tail rotor thrust in a hover + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 1000 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _ATC_RAT_RLL_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_P \(AC\_AttitudeControl\_Heli\): Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.0 to 0.35 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_I \(AC\_AttitudeControl\_Heli\): Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 0.6 | ++-----------+------------+ + + + + +.. _ATC_RAT_RLL_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_IMAX \(AC\_AttitudeControl\_Heli\): Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_ILMI: + +ATC\_RAT\_RLL\_ILMI: Roll axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_RLL_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_D \(AC\_AttitudeControl\_Heli\): Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.03 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FF \(AC\_AttitudeControl\_Heli\): Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.05 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTT \(AC\_AttitudeControl\_Heli\): Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTE \(AC\_AttitudeControl\_Heli\): Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTD \(AC\_AttitudeControl\_Heli\): Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_SMAX \(AC\_AttitudeControl\_Heli\): Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_D\_FF \(AC\_AttitudeControl\_Heli\): Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_RLL_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_NTF \(AC\_AttitudeControl\_Heli\): Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_RLL_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_NEF \(AC\_AttitudeControl\_Heli\): Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_P \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.0 to 0.35 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_I \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 0.6 | ++-----------+------------+ + + + + +.. _ATC_RAT_PIT_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_IMAX \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_ILMI: + +ATC\_RAT\_PIT\_ILMI: Pitch axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_PIT_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_D \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.03 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FF \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.05 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTT \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTE \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTD \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_SMAX \(AC\_AttitudeControl\_Heli\): Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_D\_FF \(AC\_AttitudeControl\_Heli\): Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_PIT_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_NTF \(AC\_AttitudeControl\_Heli\): Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_NEF \(AC\_AttitudeControl\_Heli\): Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_YAW_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_P \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.005 | 0.180 to 0.60 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_I \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.2 | ++-----------+-------------+ + + + + +.. _ATC_RAT_YAW_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_IMAX \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_ILMI: + +ATC\_RAT\_YAW\_ILMI: Yaw axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_YAW_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_D \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FF \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTT \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTE \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTD \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_SMAX \(AC\_AttitudeControl\_Heli\): Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_D\_FF \(AC\_AttitudeControl\_Heli\): Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_YAW_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_NTF \(AC\_AttitudeControl\_Heli\): Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _ATC_RAT_YAW_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_NEF \(AC\_AttitudeControl\_Heli\): Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_PIRO_COMP: + +ATC\_PIRO\_COMP: Piro Comp Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pirouette compensation enabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_AUTOTUNE_: + +AUTOTUNE\_ Parameters +--------------------- + + +.. _AUTOTUNE_AXES__AC_AutoTune_Multi: + +AUTOTUNE\_AXES \(AC\_AutoTune\_Multi\): Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | 3 | YawD | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _AUTOTUNE_AGGR: + +AUTOTUNE\_AGGR: Autotune aggressiveness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\. + + ++--------------+ +| Range | ++==============+ +| 0.05 to 0.10 | ++--------------+ + + + + +.. _AUTOTUNE_MIN_D: + +AUTOTUNE\_MIN\_D: AutoTune minimum D +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the minimum D gain + + ++-----------------+ +| Range | ++=================+ +| 0.0001 to 0.005 | ++-----------------+ + + + + +.. _AUTOTUNE_AXES__AC_AutoTune_Heli: + +AUTOTUNE\_AXES \(AC\_AutoTune\_Heli\): Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _AUTOTUNE_SEQ: + +AUTOTUNE\_SEQ: AutoTune Sequence Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +2\-byte bitmask to select what tuning should be performed\. Max gain automatically performed if Rate D is selected\. Values\: 7\:All\,1\:VFF Only\,2\:Rate D\/Rate P Only\(incl max gain\)\,4\:Angle P Only\,8\:Max Gain Only\,16\:Tune Check\,3\:VFF and Rate D\/Rate P\(incl max gain\)\,5\:VFF and Angle P\,6\:Rate D\/Rate P\(incl max gain\) and angle P + + ++----------------------------------------+ +| Bitmask | ++========================================+ +| +-----+------------------------------+ | +| | Bit | Meaning | | +| +=====+==============================+ | +| | 0 | VFF | | +| +-----+------------------------------+ | +| | 1 | Rate D/Rate P(incl max gain) | | +| +-----+------------------------------+ | +| | 2 | Angle P | | +| +-----+------------------------------+ | +| | 3 | Max Gain Only | | +| +-----+------------------------------+ | +| | 4 | Tune Check | | +| +-----+------------------------------+ | +| | ++----------------------------------------+ + + + + +.. _AUTOTUNE_FRQ_MIN: + +AUTOTUNE\_FRQ\_MIN: AutoTune minimum sweep frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the start frequency for sweeps and dwells + + ++----------+ +| Range | ++==========+ +| 10 to 30 | ++----------+ + + + + +.. _AUTOTUNE_FRQ_MAX: + +AUTOTUNE\_FRQ\_MAX: AutoTune maximum sweep frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the end frequency for sweeps and dwells + + ++-----------+ +| Range | ++===========+ +| 50 to 120 | ++-----------+ + + + + +.. _AUTOTUNE_GN_MAX: + +AUTOTUNE\_GN\_MAX: AutoTune maximum response gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the response gain \(output\/input\) to tune + + ++----------+ +| Range | ++==========+ +| 1 to 2.5 | ++----------+ + + + + +.. _AUTOTUNE_VELXY_P: + +AUTOTUNE\_VELXY\_P: AutoTune velocity xy P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity xy P gain used to hold position during Max Gain\, Rate P\, and Rate D frequency sweeps + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _AUTOTUNE_ACC_MAX: + +AUTOTUNE\_ACC\_MAX: AutoTune maximum allowable angular acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum angular acceleration in deg\/s\/s allowed during autotune maneuvers + + ++-----------+ +| Range | ++===========+ +| 1 to 4000 | ++-----------+ + + + + +.. _AUTOTUNE_RAT_MAX: + +AUTOTUNE\_RAT\_MAX: Autotune maximum allowable angular rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum angular rate in deg\/s allowed during autotune maneuvers + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + + +.. _parameters_AVD_: + +AVD\_ Parameters +---------------- + + +.. _AVD_ENABLE: + +AVD\_ENABLE: Enable Avoidance using ADSB +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _AVD_F_ACTION: + +AVD\_F\_ACTION: Collision Avoidance Behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + + ++----------------------------------------+ +| Values | ++========================================+ +| +-------+----------------------------+ | +| | Value | Meaning | | +| +=======+============================+ | +| | 0 | None | | +| +-------+----------------------------+ | +| | 1 | Report | | +| +-------+----------------------------+ | +| | 2 | Climb Or Descend | | +| +-------+----------------------------+ | +| | 3 | Move Horizontally | | +| +-------+----------------------------+ | +| | 4 | Move Perpendicularly in 3D | | +| +-------+----------------------------+ | +| | 5 | RTL | | +| +-------+----------------------------+ | +| | 6 | Hover | | +| +-------+----------------------------+ | +| | ++----------------------------------------+ + + + + +.. _AVD_W_ACTION: + +AVD\_W\_ACTION: Collision Avoidance Behavior \- Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Report | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _AVD_F_RCVRY: + +AVD\_F\_RCVRY: Recovery behaviour after a fail event +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | Remain in AVOID_ADSB | | +| +-------+-----------------------------+ | +| | 1 | Resume previous flight mode | | +| +-------+-----------------------------+ | +| | 2 | RTL | | +| +-------+-----------------------------+ | +| | 3 | Resume if AUTO else Loiter | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _AVD_OBS_MAX: + +AVD\_OBS\_MAX: Maximum number of obstacles to track +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of obstacles to track + + +.. _AVD_W_TIME: + +AVD\_W\_TIME: Time Horizon Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\) + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_F_TIME: + +AVD\_F\_TIME: Time Horizon Fail +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_W_DIST_XY: + +AVD\_W\_DIST\_XY: Distance Warn XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before W\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_XY: + +AVD\_F\_DIST\_XY: Distance Fail XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before F\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_W_DIST_Z: + +AVD\_W\_DIST\_Z: Distance Warn Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_W is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_Z: + +AVD\_F\_DIST\_Z: Distance Fail Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_F is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_ALT_MIN: + +AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum AMSL \(above mean sea level\) altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_AVOID_: + +AVOID\_ Parameters +------------------ + + +.. _AVOID_ENABLE: + +AVOID\_ENABLE: Avoidance control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable avoidance input sources + + ++------------------------------+ +| Bitmask | ++==============================+ +| +-----+--------------------+ | +| | Bit | Meaning | | +| +=====+====================+ | +| | 0 | UseFence | | +| +-----+--------------------+ | +| | 1 | UseProximitySensor | | +| +-----+--------------------+ | +| | 2 | UseBeaconFence | | +| +-----+--------------------+ | +| | ++------------------------------+ + + + + +.. _AVOID_ANGLE_MAX: + +AVOID\_ANGLE\_MAX: Avoidance max lean angle in non\-GPS flight modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max lean angle used to avoid obstacles while in non\-GPS modes + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _AVOID_DIST_MAX: + +AVOID\_DIST\_MAX: Avoidance distance maximum in non\-GPS flight modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance from object at which obstacle avoidance will begin in non\-GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 30 | meters | ++---------+--------+ + + + + +.. _AVOID_MARGIN: + +AVOID\_MARGIN: Avoidance distance margin in GPS modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _AVOID_BEHAVE: + +AVOID\_BEHAVE: Avoidance behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Avoidance behaviour \(slide or stop\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Slide | | +| +-------+---------+ | +| | 1 | Stop | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _AVOID_BACKUP_SPD: + +AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + +.. _AVOID_ALT_MIN: + +AVOID\_ALT\_MIN: Avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude above which proximity based avoidance will start working\. This requires a valid downward facing rangefinder reading to work\. Set zero to disable + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 6 | meters | ++--------+--------+ + + + + +.. _AVOID_ACCEL_MAX: + +AVOID\_ACCEL\_MAX: Avoidance maximum acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum acceleration with which obstacles will be avoided with\. Set zero to disable acceleration limits + + ++--------+--------------------------+ +| Range | Units | ++========+==========================+ +| 0 to 9 | meters per square second | ++--------+--------------------------+ + + + + +.. _AVOID_BACKUP_DZ: + +AVOID\_BACKUP\_DZ: Avoidance deadzone between stopping and backing away from obstacle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from obstacles\. Increase this parameter if you see vehicle going back and forth in front of obstacle\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 2 | meters | ++--------+--------+ + + + + +.. _AVOID_BACKZ_SPD: + +AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | FirstBaro | | +| +-------+-----------+ | +| | 1 | 2ndBaro | | +| +-------+-----------+ | +| | 2 | 3rdBaro | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Bus0 | | +| +-------+----------+ | +| | 1 | Bus1 | | +| +-------+----------+ | +| | 6 | Bus6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | BMP085 | | +| +-----+---------+ | +| | 1 | BMP280 | | +| +-----+---------+ | +| | 2 | MS5611 | | +| +-----+---------+ | +| | 3 | MS5607 | | +| +-----+---------+ | +| | 4 | MS5637 | | +| +-----+---------+ | +| | 5 | FBM320 | | +| +-----+---------+ | +| | 6 | DPS280 | | +| +-----+---------+ | +| | 7 | LPS25H | | +| +-----+---------+ | +| | 8 | Keller | | +| +-----+---------+ | +| | 9 | MS5837 | | +| +-----+---------+ | +| | 10 | BMP388 | | +| +-----+---------+ | +| | 11 | SPL06 | | +| +-----+---------+ | +| | 12 | MSP | | +| +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Treat MS5611 as MS5607 | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Land | | +| +-------+---------------------------+ | +| | 2 | RTL | | +| +-------+---------------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+---------------------------+ | +| | 4 | SmartRTL or Land | | +| +-------+---------------------------+ | +| | 5 | Terminate | | +| +-------+---------------------------+ | +| | 6 | Auto DO_LAND_START or RTL | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BCN: + +BCN Parameters +-------------- + + +.. _BCN_TYPE: + +BCN\_TYPE: Beacon based position estimation device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Pozyx | | +| +-------+------------+ | +| | 2 | Marvelmind | | +| +-------+------------+ | +| | 3 | Nooploop | | +| +-------+------------+ | +| | 10 | SITL | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _BCN_LATITUDE: + +BCN\_LATITUDE: Beacon origin\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _BCN_LONGITUDE: + +BCN\_LONGITUDE: Beacon origin\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _BCN_ALT: + +BCN\_ALT: Beacon origin\'s altitude above sealevel in meters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s altitude above sealevel in meters + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _BCN_ORIENT_YAW: + +BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | 50Hz | | +| +-------+----------+ | +| | 2 | 75Hz | | +| +-------+----------+ | +| | 3 | 100Hz | | +| +-------+----------+ | +| | 4 | 150Hz | | +| +-------+----------+ | +| | 5 | 200Hz | | +| +-------+----------+ | +| | 6 | 250Hz | | +| +-------+----------+ | +| | 7 | 300Hz | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Output1 | | +| +-----+----------+ | +| | 1 | Output2 | | +| +-----+----------+ | +| | 2 | Output3 | | +| +-----+----------+ | +| | 3 | Output4 | | +| +-----+----------+ | +| | 4 | Output5 | | +| +-----+----------+ | +| | 5 | Output6 | | +| +-----+----------+ | +| | 6 | Output7 | | +| +-----+----------+ | +| | 7 | Output8 | | +| +-----+----------+ | +| | 8 | Output9 | | +| +-----+----------+ | +| | 9 | Output10 | | +| +-----+----------+ | +| | 10 | Output11 | | +| +-----+----------+ | +| | 11 | Output12 | | +| +-----+----------+ | +| | 12 | Output13 | | +| +-----+----------+ | +| | 13 | Output14 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | AUTO | | +| +-------+----------------+ | +| | 1 | PX4V1 | | +| +-------+----------------+ | +| | 2 | Pixhawk | | +| +-------+----------------+ | +| | 3 | Cube/Pixhawk2 | | +| +-------+----------------+ | +| | 4 | Pixracer | | +| +-------+----------------+ | +| | 5 | PixhawkMini | | +| +-------+----------------+ | +| | 6 | Pixhawk2Slim | | +| +-------+----------------+ | +| | 13 | Intel Aero FC | | +| +-------+----------------+ | +| | 14 | Pixhawk Pro | | +| +-------+----------------+ | +| | 20 | AUAV2.1 | | +| +-------+----------------+ | +| | 21 | PCNC1 | | +| +-------+----------------+ | +| | 22 | MINDPXV2 | | +| +-------+----------------+ | +| | 23 | SP01 | | +| +-------+----------------+ | +| | 24 | CUAVv5/FMUV5 | | +| +-------+----------------+ | +| | 30 | VRX BRAIN51 | | +| +-------+----------------+ | +| | 32 | VRX BRAIN52 | | +| +-------+----------------+ | +| | 33 | VRX BRAIN52E | | +| +-------+----------------+ | +| | 34 | VRX UBRAIN51 | | +| +-------+----------------+ | +| | 35 | VRX UBRAIN52 | | +| +-------+----------------+ | +| | 36 | VRX CORE10 | | +| +-------+----------------+ | +| | 38 | VRX BRAIN54 | | +| +-------+----------------+ | +| | 39 | PX4 FMUV6 | | +| +-------+----------------+ | +| | 100 | PX4 OLDDRIVERS | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | EnableNoFWUpdate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----------------------------------------------------+ +| Bitmask | ++=====================================================+ +| +-----+-------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================+ | +| | 0 | ActiveForSafetyDisable | | +| +-----+-------------------------------------------+ | +| | 1 | ActiveForSafetyEnable | | +| +-----+-------------------------------------------+ | +| | 2 | ActiveWhenArmed | | +| +-----+-------------------------------------------+ | +| | 3 | Force safety on when the aircraft disarms | | +| +-----+-------------------------------------------+ | +| | ++-----------------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 3.3V | | +| +-------+---------+ | +| | 1 | 5V | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----------------------------------------------------------------+ +| Bitmask | ++=================================================================+ +| +-----+-------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================================+ | +| | 0 | Enable hardware watchdog | | +| +-----+-------------------------------------------------------+ | +| | 1 | Disable MAVftp | | +| +-----+-------------------------------------------------------+ | +| | 2 | Enable set of internal parameters | | +| +-----+-------------------------------------------------------+ | +| | 3 | Enable Debug Pins | | +| +-----+-------------------------------------------------------+ | +| | 4 | Unlock flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 5 | Write protect firmware flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 6 | Write protect bootloader flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 7 | Skip board validation | | +| +-----+-------------------------------------------------------+ | +| | 8 | Disable board arming gpio output change on arm/disarm | | +| +-----+-------------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | StandardFW | | +| +-------+------------+ | +| | 1 | DshotFW | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | CYRF6936 | | +| +-------+----------+ | +| | 2 | CC2500 | | +| +-------+----------+ | +| | 3 | BK2425 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | DSM2 | | +| +-------+---------+ | +| | 2 | DSMX | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotDisabled | | +| +-------+-------------+ | +| | 1 | Disabled | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MinChannel | | +| +-------+--------------+ | +| | 2 | MidChannel | | +| +-------+--------------+ | +| | 3 | MaxChannel | | +| +-------+--------------+ | +| | 4 | MinChannelCW | | +| +-------+--------------+ | +| | 5 | MidChannelCW | | +| +-------+--------------+ | +| | 6 | MaxChannelCW | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | Mode1 | | +| +-------+---------+ | +| | 2 | Mode2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | Disabled | | +| +-------+-----------+ | +| | 1 | TestChan1 | | +| +-------+-----------+ | +| | 2 | TestChan2 | | +| +-------+-----------+ | +| | 3 | TestChan3 | | +| +-------+-----------+ | +| | 4 | TestChan4 | | +| +-------+-----------+ | +| | 5 | TestChan5 | | +| +-------+-----------+ | +| | 6 | TestChan6 | | +| +-------+-----------+ | +| | 7 | TestChan7 | | +| +-------+-----------+ | +| | 8 | TestChan8 | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | GPS | | +| +-----+---------------------+ | +| | 1 | MAVLINK_SYSTEM_TIME | | +| +-----+---------------------+ | +| | 2 | HW | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Always | | +| +-------+-------------------+ | +| | 1 | Only when in AUTO | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | RunCam Split Micro/RunCam with UART | | +| +-------+-------------------------------------+ | +| | 2 | RunCam Split | | +| +-------+-------------------------------------+ | +| | 3 | RunCam Split4 4k | | +| +-------+-------------------------------------+ | +| | 4 | RunCam Hybrid/RunCam Thumb Pro | | +| +-------+-------------------------------------+ | +| | 5 | Runcam 2 4k | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Power Button | | +| +-----+-----------------+ | +| | 1 | WiFi Button | | +| +-----+-----------------+ | +| | 2 | Change Mode | | +| +-----+-----------------+ | +| | 3 | 5-Key OSD | | +| +-----+-----------------+ | +| | 4 | Settings Access | | +| +-----+-----------------+ | +| | 5 | DisplayPort | | +| +-----+-----------------+ | +| | 6 | Start Recording | | +| +-----+-----------------+ | +| | 7 | Stop Recording | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Stick yaw right | | +| +-----+-----------------------+ | +| | 1 | Stick roll right | | +| +-----+-----------------------+ | +| | 2 | 3-position switch | | +| +-----+-----------------------+ | +| | 3 | 2-position switch | | +| +-----+-----------------------+ | +| | 4 | Autorecording enabled | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++--------+-----------------------------------+ +| Range | Values | ++========+===================================+ +| 0 to 4 | +-------+-----------------------+ | +| | | Value | Meaning | | +| | +=======+=======================+ | +| | | 0 | Log None | | +| | +-------+-----------------------+ | +| | | 1 | Log Error | | +| | +-------+-----------------------+ | +| | | 2 | Log Warning and below | | +| | +-------+-----------------------+ | +| | | 3 | Log Info and below | | +| | +-------+-----------------------+ | +| | | 4 | Log Everything | | +| | +-------+-----------------------+ | +| | | ++--------+-----------------------------------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | First interface | | +| +-------+------------------+ | +| | 2 | Second interface | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CC: + +CC Parameters +------------- + + +.. _CC_TYPE: + +CC\_TYPE: Custom control type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Custom control type to be used + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Empty | | +| +-------+---------+ | +| | 2 | PID | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CC_AXIS_MASK: + +CC\_AXIS\_MASK: Custom Controller bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Custom Controller bitmask to chose which axis to run + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_CHUTE_: + +CHUTE\_ Parameters +------------------ + + +.. _CHUTE_ENABLED: + +CHUTE\_ENABLED: Parachute release enabled or disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release enabled or disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CHUTE_TYPE: + +CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release mechanism type \(relay number in versions prior to 4\.5\, or servo\)\. Values 0\-3 all are relay\. Relay number used for release is set by RELAYx\_FUNCTION in 4\.5 or later\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Relay | | +| +-------+---------+ | +| | 10 | Servo | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CHUTE_SERVO_ON: + +CHUTE\_SERVO\_ON: Parachute Servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_SERVO_OFF: + +CHUTE\_SERVO\_OFF: Servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is not released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_ALT_MIN: + +CHUTE\_ALT\_MIN: Parachute min altitude in meters above home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32000 | meters | ++-----------+------------+--------+ + + + + +.. _CHUTE_DELAY_MS: + +CHUTE\_DELAY\_MS: Parachute release delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay in millseconds between motor stop and chute release + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 1 | 0 to 5000 | milliseconds | ++-----------+-----------+--------------+ + + + + +.. _CHUTE_CRT_SINK: + +CHUTE\_CRT\_SINK: Critical sink speed rate in m\/s to trigger emergency parachute +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Release parachute when critical sink rate is reached + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 15 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CHUTE_OPTIONS: + +CHUTE\_OPTIONS: Parachute options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optional behaviour for parachute + + ++------------------------------------------------+ +| Bitmask | ++================================================+ +| +-----+--------------------------------------+ | +| | Bit | Meaning | | +| +=====+======================================+ | +| | 0 | hold open forever after release | | +| +-----+--------------------------------------+ | +| | 1 | skip disarm before parachute release | | +| +-----+--------------------------------------+ | +| | ++------------------------------------------------+ + + + + + +.. _parameters_CIRCLE_: + +CIRCLE\_ Parameters +------------------- + + +.. _CIRCLE_RADIUS: + +CIRCLE\_RADIUS: Circle Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the radius of the circle the vehicle will fly when in Circle flight mode + + ++-----------+-------------+-------------+ +| Increment | Range | Units | ++===========+=============+=============+ +| 100 | 0 to 200000 | centimeters | ++-----------+-------------+-------------+ + + + + +.. _CIRCLE_RATE: + +CIRCLE\_RATE: Circle rate +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle mode\'s turn rate in deg\/sec\. Positive to turn clockwise\, negative for counter clockwise\. Circle rate must be less than ATC\_SLEW\_YAW parameter\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | -90 to 90 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _CIRCLE_OPTIONS: + +CIRCLE\_OPTIONS: Circle options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\:Enable or disable using the pitch\/roll stick control circle mode\'s radius and rate + + ++----------------------------------------------------+ +| Bitmask | ++====================================================+ +| +-----+------------------------------------------+ | +| | Bit | Meaning | | +| +=====+==========================================+ | +| | 0 | manual control | | +| +-----+------------------------------------------+ | +| | 1 | face direction of travel | | +| +-----+------------------------------------------+ | +| | 2 | Start at center rather than on perimeter | | +| +-----+------------------------------------------+ | +| | 3 | Make Mount ROI the center of the circle | | +| +-----+------------------------------------------+ | +| | ++----------------------------------------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Disabled | | +| +-------+-------------------+ | +| | 1 | Internal-Learning | | +| +-------+-------------------+ | +| | 2 | EKF-Learning | | +| +-------+-------------------+ | +| | 3 | InFlight-Learning | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------------+--------------------------+ +| Calibration | Values | ++=============+==========================+ +| 1 | +-------+--------------+ | +| | | Value | Meaning | | +| | +=======+==============+ | +| | | 0 | Disabled | | +| | +-------+--------------+ | +| | | 1 | Use Throttle | | +| | +-------+--------------+ | +| | | 2 | Use Current | | +| | +-------+--------------+ | +| | | ++-------------+--------------------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-----------+---------+-------------------------+ +| Increment | Range | Values | ++===========+=========+=========================+ +| 0.1 | 4 to 32 | +-------+-------------+ | +| | | | Value | Meaning | | +| | | +=======+=============+ | +| | | | 4 | Very Strict | | +| | | +-------+-------------+ | +| | | | 8 | Strict | | +| | | +-------+-------------+ | +| | | | 16 | Default | | +| | | +-------+-------------+ | +| | | | 32 | Relaxed | | +| | | +-------+-------------+ | +| | | | ++-----------+---------+-------------------------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++------------------------+ +| Bitmask | ++========================+ +| +-----+--------------+ | +| | Bit | Meaning | | +| +=====+==============+ | +| | 0 | HMC5883 | | +| +-----+--------------+ | +| | 1 | LSM303D | | +| +-----+--------------+ | +| | 2 | AK8963 | | +| +-----+--------------+ | +| | 3 | BMM150 | | +| +-----+--------------+ | +| | 4 | LSM9DS1 | | +| +-----+--------------+ | +| | 5 | LIS3MDL | | +| +-----+--------------+ | +| | 6 | AK09916 | | +| +-----+--------------+ | +| | 7 | IST8310 | | +| +-----+--------------+ | +| | 8 | ICM20948 | | +| +-----+--------------+ | +| | 9 | MMC3416 | | +| +-----+--------------+ | +| | 11 | DroneCAN | | +| +-----+--------------+ | +| | 12 | QMC5883 | | +| +-----+--------------+ | +| | 14 | MAG3110 | | +| +-----+--------------+ | +| | 15 | IST8308 | | +| +-----+--------------+ | +| | 16 | RM3100 | | +| +-----+--------------+ | +| | 17 | MSP | | +| +-----+--------------+ | +| | 18 | ExternalAHRS | | +| +-----+--------------+ | +| | 19 | MMC5XX3 | | +| +-----+--------------+ | +| | 20 | QMC5883P | | +| +-----+--------------+ | +| | 21 | BMM350 | | +| +-----+--------------+ | +| | ++------------------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++----------------------------------------------------------------+ +| Values | ++================================================================+ +| +-------+----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================+ | +| | 0 | Disabled | | +| +-------+----------------------------------------------------+ | +| | 1 | CheckOnly | | +| +-------+----------------------------------------------------+ | +| | 2 | CheckAndFix | | +| +-------+----------------------------------------------------+ | +| | 3 | use same tolerance to auto rotate 45 deg rotations | | +| +-------+----------------------------------------------------+ | +| | ++----------------------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----------------------------------------------------------------------------------------------------+ +| Bitmask | ++=====================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================================================+ | +| | 0 | CalRequireGPS | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Driver1 | | +| +-------+----------+ | +| | 2 | Driver2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | EnforceArming | | +| +-----+---------------------------+ | +| | 1 | AllowNonGPSPosition | | +| +-----+---------------------------+ | +| | 2 | LockUASIDOnFirstBasicIDRx | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | VectorNav | | +| +-------+--------------+ | +| | 2 | MicroStrain5 | | +| +-------+--------------+ | +| | 5 | InertialLabs | | +| +-------+--------------+ | +| | 7 | MicroStrain7 | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Vector Nav use uncompensated values for accel gyro and mag. | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | IMU | | +| +-----+---------+ | +| | 2 | Baro | | +| +-----+---------+ | +| | 3 | Compass | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | Serial-MS | | +| +-------+---------------+ | +| | 2 | NWPMU | | +| +-------+---------------+ | +| | 3 | Serial-Lutan | | +| +-------+---------------+ | +| | 5 | DroneCAN | | +| +-------+---------------+ | +| | 6 | Currawong-ECU | | +| +-------+---------------+ | +| | 7 | Scripting | | +| +-------+---------------+ | +| | 8 | Hirth | | +| +-------+---------------+ | +| | 9 | MAVLink | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | GPS 3D Vel and 2D Pos | | +| +-------+-----------------------+ | +| | 1 | GPS 2D vel and 2D pos | | +| +-------+-----------------------+ | +| | 2 | GPS 2D pos | | +| +-------+-----------------------+ | +| | 3 | No GPS | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Use Baro | | +| +-------+------------------+ | +| | 1 | Use Range Finder | | +| +-------+------------------+ | +| | 2 | Use GPS | | +| +-------+------------------+ | +| | 3 | Use Range Beacon | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | When flying | | +| +-------+-----------------------------+ | +| | 1 | When manoeuvring | | +| +-------+-----------------------------+ | +| | 2 | Never | | +| +-------+-----------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+-----------------------------+ | +| | 4 | Always | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | DisableExternalNavigation | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++---------------------------------------------------------------------------------------------+ +| Values | ++=============================================================================================+ +| +-------+---------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=================================================================================+ | +| | 0 | When flying | | +| +-------+---------------------------------------------------------------------------------+ | +| | 1 | When manoeuvring | | +| +-------+---------------------------------------------------------------------------------+ | +| | 2 | Never | | +| +-------+---------------------------------------------------------------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+---------------------------------------------------------------------------------+ | +| | 4 | Always | | +| +-------+---------------------------------------------------------------------------------+ | +| | 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Always | | +| +-----+-----------------+ | +| | 1 | WhenNoYawSensor | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | EnableGPSAffinity | | +| +-----+------------------------+ | +| | 1 | EnableBaroAffinity | | +| +-----+------------------------+ | +| | 2 | EnableCompassAffinity | | +| +-----+------------------------+ | +| | 3 | EnableAirspeedAffinity | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | JammingExpected | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++------------------------------------------+ +| Bitmask | ++==========================================+ +| +-----+--------------------------------+ | +| | Bit | Meaning | | +| +=====+================================+ | +| | 0 | FuseAllVelocities | | +| +-----+--------------------------------+ | +| | 1 | AlignExtNavPosWhenUsingOptFlow | | +| +-----+--------------------------------+ | +| | ++------------------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++------------------------------------------------+ +| Bitmask | ++================================================+ +| +-----+--------------------------------------+ | +| | Bit | Meaning | | +| +=====+======================================+ | +| | 0 | Max altitude | | +| +-----+--------------------------------------+ | +| | 1 | Circle Centered on Home | | +| +-----+--------------------------------------+ | +| | 2 | Inclusion/Exclusion Circles+Polygons | | +| +-----+--------------------------------------+ | +| | 3 | Min altitude | | +| +-----+--------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Report Only | | +| +-------+-------------------------+ | +| | 1 | RTL or Land | | +| +-------+-------------------------+ | +| | 2 | Always Land | | +| +-------+-------------------------+ | +| | 3 | SmartRTL or RTL or Land | | +| +-------+-------------------------+ | +| | 4 | Brake or Land | | +| +-------+-------------------------+ | +| | 5 | SmartRTL or Land | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _FENCE_ALT_MAX: + +FENCE\_ALT\_MAX: Fence Maximum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum altitude allowed before geofence triggers + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 10 to 1000 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _FENCE_ALT_MIN: + +FENCE\_ALT\_MIN: Fence Minimum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude allowed before geofence triggers + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FENCE_AUTOENABLE: + +FENCE\_AUTOENABLE: Fence Auto\-Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auto\-enable of fences\. AutoEnableOnTakeoff enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings the fences will be disabled\. AutoEnableDisableFloorOnLanding enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings only the Minimum Altitude fence will be disabled\. AutoEnableOnlyWhenArmed enables all configured fences on arming\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, but no fences are disabled during autolandings\. However\, fence breaches are ignored while executing prior breach recovery actions which may include autolandings\. + + ++-----------+--------+---------------------------------------------+ +| Increment | Range | Values | ++===========+========+=============================================+ +| 1 | 0 to 3 | +-------+---------------------------------+ | +| | | | Value | Meaning | | +| | | +=======+=================================+ | +| | | | 0 | AutoEnableOff | | +| | | +-------+---------------------------------+ | +| | | | 1 | AutoEnableOnTakeoff | | +| | | +-------+---------------------------------+ | +| | | | 2 | AutoEnableDisableFloorOnLanding | | +| | | +-------+---------------------------------+ | +| | | | 3 | AutoEnableOnlyWhenArmed | | +| | | +-------+---------------------------------+ | +| | | | ++-----------+--------+---------------------------------------------+ + + + + +.. _FENCE_OPTIONS: + +FENCE\_OPTIONS: Fence options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When bit 0 is set sisable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. + + ++------------------------------------------------------------------------------------+ +| Bitmask | ++====================================================================================+ +| +-----+--------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+==========================================================================+ | +| | 0 | Disable mode change following fence action until fence breach is cleared | | +| +-----+--------------------------------------------------------------------------+ | +| | 1 | Allow union of inclusion areas | | +| +-----+--------------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Auto | | +| +-------+--------------------------+ | +| | 1 | Center Frequency | | +| +-------+--------------------------+ | +| | 2 | Lower-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 3 | Upper-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 4 | Roll-Axis | | +| +-------+--------------------------+ | +| | 5 | Pitch-Axis | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable post-filter FFT | | +| +-----+------------------------+ | +| | 1 | Check motor noise | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_FHLD: + +FHLD Parameters +--------------- + + +.. _FHLD_XY_P: + +FHLD\_XY\_P: FlowHold P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) P gain\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _FHLD_XY_I: + +FHLD\_XY\_I: FlowHold I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) I gain + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _FHLD_XY_IMAX: + +FHLD\_XY\_IMAX: FlowHold Integrator Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) integrator maximum + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _FHLD_XY_FILT_HZ: + +FHLD\_XY\_FILT\_HZ: FlowHold filter on input to control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) filter on input to control + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _FHLD_FLOW_MAX: + +FHLD\_FLOW\_MAX: FlowHold Flow Rate Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls maximum apparent flow rate in flowhold + + ++------------+ +| Range | ++============+ +| 0.1 to 2.5 | ++------------+ + + + + +.. _FHLD_FILT_HZ: + +FHLD\_FILT\_HZ: FlowHold Filter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Filter frequency for flow data + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 100 | hertz | ++----------+-------+ + + + + +.. _FHLD_QUAL_MIN: + +FHLD\_QUAL\_MIN: FlowHold Flow quality minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum flow quality to use flow position hold + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FHLD_BRAKE_RATE: + +FHLD\_BRAKE\_RATE: FlowHold Braking rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls deceleration rate on stick release + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 1 to 30 | degrees per second | ++---------+--------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | PX4Flow | | +| +-------+----------+ | +| | 2 | Pixart | | +| +-------+----------+ | +| | 3 | Bebop | | +| +-------+----------+ | +| | 4 | CXOF | | +| +-------+----------+ | +| | 5 | MAVLink | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MSP | | +| +-------+----------+ | +| | 8 | UPFLOW | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | 0 | North-East-Down | | +| +-------+----------------------------------+ | +| | 1 | Relative to lead vehicle heading | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Face Lead Vehicle | | +| +-------+----------------------+ | +| | 2 | Same as Lead vehicle | | +| +-------+----------------------+ | +| | 3 | Direction of Flight | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | absolute | | +| +-------+----------+ | +| | 1 | relative | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | None | | +| +-------+------------------------------------------+ | +| | 1 | Mount Follows lead vehicle on mode enter | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | 27 | 27 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++----------------------------------------+ +| Bitmask | ++========================================+ +| +-----+------------------------------+ | +| | Bit | Meaning | | +| +=====+==============================+ | +| | 0 | EnableAirspeedAndGroundspeed | | +| +-----+------------------------------+ | +| | ++----------------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | IE 650w 800w Fuel Cell | | +| +-------+------------------------+ | +| | 2 | IE 2.4kW Fuel Cell | | +| +-------+------------------------+ | +| | 3 | Richenpower | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Suppress Maintenance-Required Warnings | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Portable | | +| +-------+------------+ | +| | 2 | Stationary | | +| +-------+------------+ | +| | 3 | Pedestrian | | +| +-------+------------+ | +| | 4 | Automotive | | +| +-------+------------+ | +| | 5 | Sea | | +| +-------+------------+ | +| | 6 | Airborne1G | | +| +-------+------------+ | +| | 7 | Airborne2G | | +| +-------+------------+ | +| | 8 | Airborne4G | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++---------------------------------------------+ +| Values | ++=============================================+ +| +-------+---------------------------------+ | +| | Value | Meaning | | +| +=======+=================================+ | +| | 0 | Use primary | | +| +-------+---------------------------------+ | +| | 1 | UseBest | | +| +-------+---------------------------------+ | +| | 2 | Blend | | +| +-------+---------------------------------+ | +| | 4 | Use primary if 3D fix or better | | +| +-------+---------------------------------+ | +| | ++---------------------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | send to first GPS | | +| +-------+-------------------+ | +| | 1 | send to 2nd GPS | | +| +-------+-------------------+ | +| | 127 | send to all | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None (0x0000) | | +| +-------+------------------------+ | +| | -1 | All (0xFFFF) | | +| +-------+------------------------+ | +| | -256 | External only (0xFF00) | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | Ignore | | +| +-------+------------------------------------------+ | +| | 1 | Always log | | +| +-------+------------------------------------------+ | +| | 2 | Stop logging when disarmed (SBF only) | | +| +-------+------------------------------------------+ | +| | 5 | Only log every five samples (uBlox only) | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | Do not save config | | +| +-------+-----------------------+ | +| | 1 | Save config | | +| +-------+-----------------------+ | +| | 2 | Save only when needed | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++------------------------------------------------------------------+ +| Values | ++==================================================================+ +| +-------+------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================================+ | +| | 0 | Disables automatic configuration | | +| +-------+------------------------------------------------------+ | +| | 1 | Enable automatic configuration for Serial GPSes only | | +| +-------+------------------------------------------------------+ | +| | 2 | Enable automatic configuration for DroneCAN as well | | +| +-------+------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Horiz Pos | | +| +-----+-----------+ | +| | 1 | Vert Pos | | +| +-----+-----------+ | +| | 2 | Speed | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++---------------------------------------------------------------------------------------+ +| Bitmask | ++=======================================================================================+ +| +-----+-----------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================================+ | +| | 0 | Use UART2 for moving baseline on ublox | | +| +-----+-----------------------------------------------------------------------------+ | +| | 1 | Use base station for GPS yaw on SBF | | +| +-----+-----------------------------------------------------------------------------+ | +| | 2 | Use baudrate 115200 | | +| +-----+-----------------------------------------------------------------------------+ | +| | 3 | Use dedicated CAN port b/w GPSes for moving baseline | | +| +-----+-----------------------------------------------------------------------------+ | +| | 4 | Use ellipsoid height instead of AMSL | | +| +-----+-----------------------------------------------------------------------------+ | +| | 5 | Override GPS satellite health of L5 band from L1 health | | +| +-----+-----------------------------------------------------------------------------+ | +| | 6 | Enable RTCM full parse even for a single channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-----------+-----------------------+ +| Increment | Values | ++===========+=======================+ +| 1 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | FirstGPS | | +| | +-------+-----------+ | +| | | 1 | SecondGPS | | +| | +-------+-----------+ | +| | | ++-----------+-----------------------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Servo | | +| +-------+---------+ | +| | 2 | EPM | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_H_: + +H\_ Parameters +-------------- + + +.. _H_TAIL_TYPE: + +H\_TAIL\_TYPE: Tail Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tail type selection\. Servo Only uses tail rotor pitch to provide yaw control \(including stabilization\) via an output assigned to Motor4\. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo\. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4\. Direct Drive Variable Pitch\(DDVP\) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC\. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function\. Direct Drive Fixed Pitch \(DDFP\) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4\. Direct Drive Fixed Pitch \(DDFP\) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4\. In both DDFP cases\, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed\. + + ++----------------------------------------+ +| Values | ++========================================+ +| +-------+----------------------------+ | +| | Value | Meaning | | +| +=======+============================+ | +| | 0 | Servo only | | +| +-------+----------------------------+ | +| | 1 | Servo with ExtGyro | | +| +-------+----------------------------+ | +| | 2 | DirectDrive VarPitch | | +| +-------+----------------------------+ | +| | 3 | DirectDrive FixedPitch CW | | +| +-------+----------------------------+ | +| | 4 | DirectDrive FixedPitch CCW | | +| +-------+----------------------------+ | +| | ++----------------------------------------+ + + + + +.. _H_GYR_GAIN: + +H\_GYR\_GAIN: External Gyro Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM in microseconds sent to external gyro on an servo\/output whose function is Motor7 when tail type is Servo w\/ ExtGyro + + ++-----------+-----------+---------------------+ +| Increment | Range | Units | ++===========+===========+=====================+ +| 1 | 0 to 1000 | PWM in microseconds | ++-----------+-----------+---------------------+ + + + + +.. _H_FLYBAR_MODE: + +H\_FLYBAR\_MODE: Flybar Mode Selector +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Flybar present or not\. Affects attitude controller used during ACRO flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | NoFlybar | | +| +-------+----------+ | +| | 1 | Flybar | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_TAIL_SPEED: + +H\_TAIL\_SPEED: DDVP Tail ESC speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direct drive\, variable pitch tail ESC speed in percent output to the tail motor esc \(HeliTailRSC Servo\) when motor interlock enabled \(throttle hold off\) and speed fully ramped up after spoolup\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_GYR_GAIN_ACRO: + +H\_GYR\_GAIN\_ACRO: ACRO External Gyro Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM in microseconds sent to external gyro on an servo\/output whose function is Motor7 when tail type is Servo w\/ ExtGyro in mode ACRO instead of H\_GYR\_GAIN\. A value of zero means to use H\_GYR\_GAIN + + ++-----------+-----------+---------------------+ +| Increment | Range | Units | ++===========+===========+=====================+ +| 1 | 0 to 1000 | PWM in microseconds | ++-----------+-----------+---------------------+ + + + + +.. _H_SW_TYPE__AP_MotorsHeli_Single: + +H\_SW\_TYPE \(AP\_MotorsHeli\_Single\): Swashplate Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | H3 Generic | | +| +-------+-------------+ | +| | 1 | H1 non-CPPM | | +| +-------+-------------+ | +| | 2 | H3_140 | | +| +-------+-------------+ | +| | 3 | H3_120 | | +| +-------+-------------+ | +| | 4 | H4_90 | | +| +-------+-------------+ | +| | 5 | H4_45 | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _H_SW_COL_DIR__AP_MotorsHeli_Single: + +H\_SW\_COL\_DIR \(AP\_MotorsHeli\_Single\): Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_LIN_SVO__AP_MotorsHeli_Single: + +H\_SW\_LIN\_SVO \(AP\_MotorsHeli\_Single\): Linearize Swash Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_H3_ENABLE__AP_MotorsHeli_Single: + +H\_SW\_H3\_ENABLE \(AP\_MotorsHeli\_Single\): H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate\. Do not set manually\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_H3_SV1_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV1\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV2_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV2\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV3_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV3\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_PHANG__AP_MotorsHeli_Single: + +H\_SW\_H3\_PHANG \(AP\_MotorsHeli\_Single\): H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_COL2YAW: + +H\_COL2YAW: Collective\-Yaw Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feed\-forward compensation to automatically add rudder input when collective pitch is increased\. Can be positive or negative depending on mechanics\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.1 | -2 to 2 | ++-----------+---------+ + + + + +.. _H_DDFP_THST_EXPO: + +H\_DDFP\_THST\_EXPO: DDFP Tail Rotor Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tail rotor DDFP motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _H_DDFP_SPIN_MIN: + +H\_DDFP\_SPIN\_MIN: DDFP Tail Rotor Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.0 | Low | | +| +-------+---------+ | +| | 0.15 | Default | | +| +-------+---------+ | +| | 0.3 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _H_DDFP_SPIN_MAX: + +H\_DDFP\_SPIN\_MAX: DDFP Tail Rotor Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.9 | Low | | +| +-------+---------+ | +| | 0.95 | Default | | +| +-------+---------+ | +| | 1.0 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _H_DDFP_BAT_IDX: + +H\_DDFP\_BAT\_IDX: DDFP Tail Rotor Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which battery monitor should be used for doing compensation + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | First battery | | +| +-------+----------------+ | +| | 1 | Second battery | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _H_DDFP_BAT_V_MAX: + +H\_DDFP\_BAT\_V\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _H_DDFP_BAT_V_MIN: + +H\_DDFP\_BAT\_V\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _H_YAW_TRIM: + +H\_YAW\_TRIM: Tail Rotor Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Fixed offset applied to yaw output to minimize yaw I\-term contribution needed to counter rotor drag\. Currently only works of DDFP tails \(H\_TAIL\_TYPE \= 3 or H\_TAIL\_TYPE \= 4\)\. If using the H\_COL2YAW compensation this trim is used to compensate for the main rotor profile drag\. If H\_COL2YAW is not used\, this value can be set to reduce the yaw I contribution to zero when in a steady hover\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _H_DUAL_MODE: + +H\_DUAL\_MODE: Dual Mode +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the dual mode of the heli\, either as tandem\, transverse\, or intermeshing\/coaxial\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Longitudinal | | +| +-------+----------------------+ | +| | 1 | Transverse | | +| +-------+----------------------+ | +| | 2 | Intermeshing/Coaxial | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _H_DCP_SCALER: + +H\_DCP\_SCALER: Differential\-Collective\-Pitch Scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor applied to the differential\-collective\-pitch + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _H_DCP_YAW: + +H\_DCP\_YAW: Differential\-Collective\-Pitch Yaw Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feed\-forward compensation to automatically add yaw input when differential collective pitch is applied\. Disabled for intermeshing mode\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -10 to 10 | ++-----------+-----------+ + + + + +.. _H_YAW_SCALER: + +H\_YAW\_SCALER: Scaler for yaw mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaler for mixing yaw into roll or pitch\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -10 to 10 | ++-----------+-----------+ + + + + +.. _H_COL2_MIN: + +H\_COL2\_MIN: Swash 2 Minimum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest possible servo position in PWM microseconds for swashplate 2 + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_COL2_MAX: + +H\_COL2\_MAX: Swash 2 Maximum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Highest possible servo position in PWM microseconds for swashplate 2 + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_SW_TYPE__AP_MotorsHeli_Dual: + +H\_SW\_TYPE \(AP\_MotorsHeli\_Dual\): Swash 1 Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | H3 Generic | | +| +-------+-------------+ | +| | 1 | H1 non-CPPM | | +| +-------+-------------+ | +| | 2 | H3_140 | | +| +-------+-------------+ | +| | 3 | H3_120 | | +| +-------+-------------+ | +| | 4 | H4_90 | | +| +-------+-------------+ | +| | 5 | H4_45 | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _H_SW_COL_DIR__AP_MotorsHeli_Dual: + +H\_SW\_COL\_DIR \(AP\_MotorsHeli\_Dual\): Swash 1 Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_LIN_SVO__AP_MotorsHeli_Dual: + +H\_SW\_LIN\_SVO \(AP\_MotorsHeli\_Dual\): Linearize Swash 1 Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate 1 servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_H3_ENABLE__AP_MotorsHeli_Dual: + +H\_SW\_H3\_ENABLE \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 1\. Do not set manually\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW_H3_SV1_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV1\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV2_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV2\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV3_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV3\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_PHANG__AP_MotorsHeli_Dual: + +H\_SW\_H3\_PHANG \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_SW2_TYPE: + +H\_SW2\_TYPE: Swash 2 Type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | H3 Generic | | +| +-------+-------------+ | +| | 1 | H1 non-CPPM | | +| +-------+-------------+ | +| | 2 | H3_140 | | +| +-------+-------------+ | +| | 3 | H3_120 | | +| +-------+-------------+ | +| | 4 | H4_90 | | +| +-------+-------------+ | +| | 5 | H4_45 | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _H_SW2_COL_DIR: + +H\_SW2\_COL\_DIR: Swash 2 Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW2_LIN_SVO: + +H\_SW2\_LIN\_SVO: Linearize Swash 2 Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate 2 servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW2_H3_ENABLE: + +H\_SW2\_H3\_ENABLE: Swash 2 H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 2\. Do not set manually\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_SW2_H3_SV1_POS: + +H\_SW2\_H3\_SV1\_POS: Swash 2 H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_SV2_POS: + +H\_SW2\_H3\_SV2\_POS: Swash 2 H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_SV3_POS: + +H\_SW2\_H3\_SV3\_POS: Swash 2 H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_PHANG: + +H\_SW2\_H3\_PHANG: Swash 2 H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_DCP_TRIM: + +H\_DCP\_TRIM: Differential Collective Pitch Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup\. If DCP axis has I term bias while hovering in calm winds\, use value of bias in DCP\_TRIM to re\-center I term\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | -0.2 to 0.2 | ++-----------+-------------+ + + + + +.. _H_YAW_REV_EXPO: + +H\_YAW\_REV\_EXPO: Yaw reverser expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +For intermeshing mode only\. Yaw revereser smoothing exponent\, smoothen transition near zero collective region\. Increase this parameter to shink smoothing range\. Set to \-1 to disable reverser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 1.0 | -1 to 1000 | ++-----------+------------+ + + + + +.. _H_COL_MIN: + +H\_COL\_MIN: Minimum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest possible servo position in PWM microseconds for the swashplate + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_COL_MAX: + +H\_COL\_MAX: Maximum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Highest possible servo position in PWM microseconds for the swashplate + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_SV_MAN: + +H\_SV\_MAN: Manual Servo Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Manual servo override for swash set\-up\. Must be 0 \(Disabled\) for flight\! + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | Passthrough | | +| +-------+------------------------+ | +| | 2 | Max collective | | +| +-------+------------------------+ | +| | 3 | Zero thrust collective | | +| +-------+------------------------+ | +| | 4 | Min collective | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _H_CYC_MAX: + +H\_CYC\_MAX: Maximum Cyclic Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum cyclic pitch angle of the swash plate\. There are no units to this parameter\. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes\. Typically this should be 6\-7 deg \(measured blade pitch angle difference between stick centered and stick max deflection\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 100 | 0 to 4500 | ++-----------+-----------+ + + + + +.. _H_SV_TEST: + +H\_SV\_TEST: Boot\-up Servo Test Cycles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of cycles to run servo test on boot\-up + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _H_COL_HOVER: + +H\_COL\_HOVER: Collective Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Collective needed to hover expressed as a number from 0 to 1 where 0 is H\_COL\_MIN and 1 is H\_COL\_MAX + + ++------------+ +| Range | ++============+ +| 0.3 to 0.8 | ++------------+ + + + + +.. _H_HOVER_LEARN: + +H\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover collective + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | Learn | | +| +-------+----------------+ | +| | 2 | Learn and Save | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _H_OPTIONS: + +H\_OPTIONS: Heli\_Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of heli options\. Bit 0 changes how the pitch\, roll\, and yaw axis integrator term is managed for low speed and takeoff\/landing\. In AC 4\.0 and earlier\, scheme uses a leaky integrator for ground speeds less than 5 m\/s and won\'t let the steady state integrator build above ILMI\. The integrator is allowed to build to the ILMI value when it is landed\. The other integrator management scheme bases integrator limiting on takeoff and landing\. Whenever the aircraft is landed the integrator is set to zero\. When the aicraft is airborne\, the integrator is only limited by IMAX\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | Use Leaky I | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _H_COL_ANG_MIN: + +H\_COL\_ANG\_MIN: Collective Blade Pitch Angle Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch \(H\_COL\_MIN\)\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | -20 to 0 | degrees | ++-----------+----------+---------+ + + + + +.. _H_COL_ANG_MAX: + +H\_COL\_ANG\_MAX: Collective Blade Pitch Angle Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch \(H\_COL\_MAX\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 5 to 20 | degrees | ++-----------+---------+---------+ + + + + +.. _H_COL_ZERO_THRST: + +H\_COL\_ZERO\_THRST: Collective Blade Pitch at Zero Thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Collective blade pitch angle at zero thrust in degrees\. For symetric airfoil blades this value is zero deg\. For chambered airfoil blades this value is typically negative\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -5 to 0 | degrees | ++-----------+---------+---------+ + + + + +.. _H_COL_LAND_MIN: + +H\_COL\_LAND\_MIN: Collective Blade Pitch Minimum when Landed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum collective blade pitch angle when landed in degrees for non\-manual collective modes \(i\.e\. modes that use altitude hold\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -5 to 0 | degrees | ++-----------+---------+---------+ + + + + + +.. _parameters_H_RSC_: + +H\_RSC\_ Parameters +------------------- + + +.. _H_RSC_SETPOINT: + +H\_RSC\_SETPOINT: External Motor Governor Setpoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle \(HeliRSC Servo\) output in percent to the external motor governor when motor interlock enabled \(throttle hold off\)\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_MODE: + +H\_RSC\_MODE: Rotor Speed Control Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled \(throttle hold off\)\. RC Passthrough sends the input from the RC Motor Interlock channel as throttle output\. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output\. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output\. AutoThrottle requires a rotor speed sensor\, contains an advanced autothrottle governor and is primarily for piston and turbine engines\. WARNING\: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 1 | RC Passthrough | | +| +-------+-----------------------+ | +| | 2 | External Gov SetPoint | | +| +-------+-----------------------+ | +| | 3 | Throttle Curve | | +| +-------+-----------------------+ | +| | 4 | AutoThrottle | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _H_RSC_RAMP_TIME: + +H\_RSC\_RAMP\_TIME: Throttle Ramp Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time in seconds for throttle output \(HeliRSC servo\) to ramp from ground idle \(RSC\_IDLE\) to flight idle throttle setting when motor interlock is enabled \(throttle hold off\)\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 60 | seconds | ++---------+---------+ + + + + +.. _H_RSC_RUNUP_TIME: + +H\_RSC\_RUNUP\_TIME: Rotor Runup Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled \(throttle hold off\)\. Must be at least one second longer than the Throttle Ramp Time that is set with RSC\_RAMP\_TIME\. WARNING\: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON\. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power\, ready for takeoff\. Failure to heed this warning could result in the auto\-takeoff mode attempting to lift up into hover before the engine has reached full power\, and subsequent loss of control + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 60 | seconds | ++---------+---------+ + + + + +.. _H_RSC_CRITICAL: + +H\_RSC\_CRITICAL: Critical Rotor Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage of normal rotor speed where flight is no longer possible\. However currently the rotor runup\/rundown is estimated using the RSC\_RUNUP\_TIME parameter\. Estimated rotor speed increases\/decreases between 0 \(rotor stopped\) to 1 \(rotor at normal speed\) in the RSC\_RUNUP\_TIME in seconds\. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds\. So if you had a 10 second runup time then set RSC\_CRITICAL to 70\%\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_IDLE: + +H\_RSC\_IDLE: Throttle Output at Idle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle output \(HeliRSC Servo\) in percent while armed but motor interlock is disabled \(throttle hold on\)\. FOR COMBUSTION ENGINES\. Sets the engine ground idle throttle percentage with clutch disengaged\. This must be set to zero for electric helicopters under most situations\. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC\. Consult the operating manual for your ESC to set it properly for this purpose + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 50 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_SLEWRATE: + +H\_RSC\_SLEWRATE: Throttle Slew Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the maximum rate at which the throttle output \(HeliRSC servo\) can change\, as a percentage per second\. A value of 100 means the throttle can change over its full range in one second\. A value of zero gives unlimited slew rate\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 10 | 0 to 500 | ++-----------+----------+ + + + + +.. _H_RSC_THRCRV_0: + +H\_RSC\_THRCRV\_0: Throttle Curve at 0\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at the minimum collective pitch position\. The 0 percent collective is defined by H\_COL\_MIN\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, this setting would correspond to \-2 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_25: + +H\_RSC\_THRCRV\_25: Throttle Curve at 25\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 25\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 25\% of 12 degrees is 3 degrees\, so this setting would correspond to \+1 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_50: + +H\_RSC\_THRCRV\_50: Throttle Curve at 50\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 50\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 50\% of 12 degrees is 6 degrees\, so this setting would correspond to \+4 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_75: + +H\_RSC\_THRCRV\_75: Throttle Curve at 75\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 75\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 75\% of 12 degrees is 9 degrees\, so this setting would correspond to \+7 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_100: + +H\_RSC\_THRCRV\_100: Throttle Curve at 100\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at the minimum collective pitch position\. The 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, this setting would correspond to \+10 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_RANGE: + +H\_RSC\_GOV\_RANGE: Governor Operational Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RPM range \+\/\- governor rpm reference setting where governor is operational\. If speed sensor fails or rpm falls outside of this range\, the governor will disengage and return to throttle curve\. Recommended range is 100 + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 50 to 200 | Revolutions Per Minute | ++-----------+-----------+------------------------+ + + + + +.. _H_RSC_CLDWN_TIME: + +H\_RSC\_CLDWN\_TIME: Cooldown Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50\% for the number of seconds the timer is set for\. A setting of zero disables the fast idle\. This feature will only apply after the runup complete has been declared\. This will not extend the time before ground idle is declared\, which triggers engine shutdown for autonomous landings\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_COMP: + +H\_RSC\_GOV\_COMP: Governor Torque Compensator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude\. If RPM is low or high by more than 2\-5 RPM\, increase this setting by 1\% at a time until the governor speed matches your RPM setting\. Setting the compensator too high can result in surging and throttle \"hunting\"\. Do not make large adjustments at one time + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 70 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_GOV_DROOP: + +H\_RSC\_GOV\_DROOP: Governor Droop Compensator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +AutoThrottle governor droop response under load\, normal settings of 0\-50\%\. Higher value is quicker response to large speed changes due to load but may cause surging\. Adjust this to be as aggressive as possible without getting surging or RPM over\-run when the governor responds to large load changes on the rotor system + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_FF: + +H\_RSC\_GOV\_FF: Governor Feedforward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feedforward governor gain to throttle response during sudden loading\/unloading of the rotor system\. If RPM drops excessively during full collective climb with the droop response set correctly\, increase the governor feedforward\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_RPM: + +H\_RSC\_GOV\_RPM: Rotor RPM Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Main rotor RPM that governor maintains when engaged + + ++-----------+-------------+------------------------+ +| Increment | Range | Units | ++===========+=============+========================+ +| 10 | 800 to 3500 | Revolutions Per Minute | ++-----------+-------------+------------------------+ + + + + +.. _H_RSC_GOV_TORQUE: + +H\_RSC\_GOV\_TORQUE: Governor Torque Limiter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Adjusts the engine\'s percentage of torque rise on autothrottle during ramp\-up to governor speed\. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50\% of the rotor RPM setting\. The sequence of events engaging the governor is as follows\: Throttle ramp time will engage the clutch and start the main rotor turning\. The collective should be at flat pitch and the throttle curve set to provide at least 50\% of normal RPM at flat pitch\. The autothrottle torque limiter will automatically activate and start accelerating the main rotor\. If the autothrottle consistently fails to accelerate the main rotor during ramp\-in due to engine tune or other factors\, then increase the torque limiter setting\. NOTE\: throttle ramp time and throttle curve should be tuned using RSC\_MODE Throttle Curve before using RSC\_MODE AutoThrottle + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 10 to 60 | percent | ++-----------+----------+---------+ + + + + + +.. _parameters_H_RSC_AROT_: + +H\_RSC\_AROT\_ Parameters +------------------------- + + +.. _H_RSC_AROT_ENBL: + +H\_RSC\_AROT\_ENBL: Enable autorotation handling in RSC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the autorotation functionality within the Rotor Speed Controller\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _H_RSC_AROT_RAMP: + +H\_RSC\_AROT\_RAMP: Time for in\-flight power re\-engagement when exiting autorotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When exiting an autorotation in a bailout manoeuvre\, this is the time in seconds for the throttle output \(HeliRSC servo\) to ramp from idle \(H\_RSC\_AROT\_IDLE\) to flight throttle setting when motor interlock is re\-enabled\. When using an ESC with an autorotation bailout function\, this parameter should be set to 0\.1 \(minimum value\)\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.1 to 10 | seconds | ++-----------+-----------+---------+ + + + + +.. _H_RSC_AROT_IDLE: + +H\_RSC\_AROT\_IDLE: Idle throttle percentage during autorotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Idle throttle used for during autotoration\. For external governors\, this would be set to a value that is within the autorotation window of the governer\/ESC to enable fast spool\-up\, when bailing out of an autorotation\. Set 0 to disable\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 40 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_AROT_RUNUP: + +H\_RSC\_AROT\_RUNUP: Time allowed for in\-flight power re\-engagement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When exiting an autorotation in a bailout manoeuvre\, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled\. Must be at least one second longer than the H\_RSC\_AROT\_RAMP time that is set\. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power\. Failure to heed this warning could result in early entry into autonomously controlled collective modes \(e\.g\. alt hold\, loiter\, etc\)\, whereby the collective could be raised before the engine has reached full power\, with a subsequently dangerous slowing of head speed\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 1 to 10 | seconds | ++-----------+---------+---------+ + + + + + +.. _parameters_IM_: + +IM\_ Parameters +--------------- + + +.. _IM_ACRO_COL_EXP: + +IM\_ACRO\_COL\_EXP: Acro Mode Collective Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to soften collective pitch inputs near center point in Acro mode\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | Disabled | | +| +-------+-----------+ | +| | 0.1 | Very Low | | +| +-------+-----------+ | +| | 0.2 | Low | | +| +-------+-----------+ | +| | 0.3 | Medium | | +| +-------+-----------+ | +| | 0.4 | High | | +| +-------+-----------+ | +| | 0.5 | Very High | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _IM_STB_COL_1: + +IM\_STB\_COL\_1: Stabilize Collective Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s minimum collective pitch setting at zero collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_2: + +IM\_STB\_COL\_2: Stabilize Collective Mid\-Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s collective pitch setting at mid\-low \(40\%\) collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_3: + +IM\_STB\_COL\_3: Stabilize Collective Mid\-High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s collective pitch setting at mid\-high \(60\%\) collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_4: + +IM\_STB\_COL\_4: Stabilize Collective High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s maximum collective pitch setting at full collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Never | | +| +-------+---------------+ | +| | 1 | Start-up only | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++--------------------------------------------------------------------+ +| Values | ++====================================================================+ +| +-------+--------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================================+ | +| | 0 | Don't adjust the trims | | +| +-------+--------------------------------------------------------+ | +| | 1 | Assume first orientation was level | | +| +-------+--------------------------------------------------------+ | +| | 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | | +| +-------+--------------------------------------------------------+ | +| | ++--------------------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | IMU 1 | | +| +-------+---------+ | +| | 2 | IMU 2 | | +| +-------+---------+ | +| | 3 | IMU 3 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | FirstIMU | | +| +-----+------------+ | +| | 1 | SecondIMU | | +| +-----+------------+ | +| | 2 | ThirdIMU | | +| +-----+------------+ | +| | 3 | FourthIMU | | +| +-----+------------+ | +| | 4 | FifthIMU | | +| +-----+------------+ | +| | 5 | SixthIMU | | +| +-----+------------+ | +| | 6 | SeventhIMU | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 1kHz | | +| +-------+---------+ | +| | 1 | 2kHz | | +| +-------+---------+ | +| | 2 | 4kHz | | +| +-------+---------+ | +| | 3 | 8kHz | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | PersistTemps | | +| +-----+---------------+ | +| | 1 | PersistAccels | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Log primary gyro only | | +| +-----+-----------------------+ | +| | 1 | Log all gyros | | +| +-----+-----------------------+ | +| | 2 | Post filter | | +| +-----+-----------------------+ | +| | 3 | Pre and post filter | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | IMU1 | | +| +-----+---------+ | +| | 1 | IMU2 | | +| +-----+---------+ | +| | 2 | IMU3 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | | +| +-----+-------------------------------------------------------------+ | +| | 1 | Sample post-filtering | | +| +-----+-------------------------------------------------------------+ | +| | 2 | Sample pre- and post-filter | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LGR_: + +LGR\_ Parameters +---------------- + + +.. _LGR_ENABLE: + +LGR\_ENABLE: Enable landing gear +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable landing gear control + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_STARTUP: + +LGR\_STARTUP: Landing Gear Startup position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Landing Gear Startup behaviour control + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | WaitForPilotInput | | +| +-------+-------------------+ | +| | 1 | Retract | | +| +-------+-------------------+ | +| | 2 | Deploy | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _LGR_DEPLOY_PIN: + +LGR\_DEPLOY\_PIN: Chassis deployment feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for detection of gear deployment\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_DEPLOY_POL: + +LGR\_DEPLOY\_POL: Chassis deployment feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when gear are deployed\. If set to 0 then then deployed gear level is low\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _LGR_WOW_PIN: + +LGR\_WOW\_PIN: Weight on wheels feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for feedback of weight on wheels condition\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_WOW_POL: + +LGR\_WOW\_POL: Weight on wheels feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when there is weight on wheels\. If set to 0 then then weight on wheels level is low\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _LGR_DEPLOY_ALT: + +LGR\_DEPLOY\_ALT: Landing gear deployment altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be deployed\. This should be lower than the RETRACT\_ALT\. If zero then altitude is not used for deploying landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_RETRACT_ALT: + +LGR\_RETRACT\_ALT: Landing gear retract altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be retracted\. This should be higher than the DEPLOY\_ALT\. If zero then altitude is not used for retracting landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_OPTIONS: + +LGR\_OPTIONS: Landing gear auto retract\/deploy options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to retract or deploy landing gear in Auto or Guided mode + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Retract after Takeoff | | +| +-----+-----------------------+ | +| | 1 | Deploy during Land | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | File | | +| +-----+---------+ | +| | 1 | MAVLink | | +| +-----+---------+ | +| | 2 | Block | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 1 | Enabled | | +| +-------+--------------------------------------+ | +| | 2 | Disabled on USB connection | | +| +-------+--------------------------------------+ | +| | 3 | Discard log on reboot if never armed | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_LOIT_: + +LOIT\_ Parameters +----------------- + + +.. _LOIT_ANG_MAX: + +LOIT\_ANG\_MAX: Loiter pilot angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle\. Set to zero for 2\/3 of PSC\_ANGLE\_MAX\/ANGLE\_MAX\. The maximum vehicle lean angle is still limited by PSC\_ANGLE\_MAX\/ANGLE\_MAX + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _LOIT_SPEED: + +LOIT\_SPEED: Loiter Horizontal Maximum Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum speed in cm\/s which the aircraft will travel horizontally while in loiter mode + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 20 to 3500 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _LOIT_ACC_MAX: + +LOIT\_ACC\_MAX: Loiter maximum correction acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm\/s\/s\. Higher values cause the copter to correct position errors more aggressively\. + + ++-----------+------------+-------------------------------+ +| Increment | Range | Units | ++===========+============+===============================+ +| 1 | 100 to 981 | centimeters per square second | ++-----------+------------+-------------------------------+ + + + + +.. _LOIT_BRK_ACCEL: + +LOIT\_BRK\_ACCEL: Loiter braking acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking acceleration in cm\/s\/s\. Higher values stop the copter more quickly when the stick is centered\. + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 1 | 25 to 250 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _LOIT_BRK_JERK: + +LOIT\_BRK\_JERK: Loiter braking jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking jerk in cm\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 1 | 500 to 5000 | centimeters per cubic second | ++-----------+-------------+------------------------------+ + + + + +.. _LOIT_BRK_DELAY: + +LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter brake start delay \(in seconds\) + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Resume Mission | | +| +-------+-----------------+ | +| | 1 | Restart Mission | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++-----------------------------------+ +| Bitmask | ++===================================+ +| +-----+-------------------------+ | +| | Bit | Meaning | | +| +=====+=========================+ | +| | 0 | Clear Mission on reboot | | +| +-----+-------------------------+ | +| | 2 | ContinueAfterLand | | +| +-----+-------------------------+ | +| | ++-----------------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MOT_: + +MOT\_ Parameters +---------------- + + +.. _MOT_YAW_HEADROOM: + +MOT\_YAW\_HEADROOM: Matrix Yaw Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 500 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _MOT_THST_EXPO: + +MOT\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _MOT_SPIN_MAX: + +MOT\_SPIN\_MAX: Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.9 | Low | | +| +-------+---------+ | +| | 0.95 | Default | | +| +-------+---------+ | +| | 1.0 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MOT_BAT_VOLT_MAX: + +MOT\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _MOT_BAT_VOLT_MIN: + +MOT\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _MOT_BAT_CURR_MAX: + +MOT\_BAT\_CURR\_MAX: Motor Current Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited \(0 \= Disabled\) + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 200 | ampere | ++----------+--------+ + + + + +.. _MOT_PWM_TYPE: + +MOT\_PWM\_TYPE: Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output\.PWMRange and PWMAngle are PWM special\/rare cases for ESCs that dont calibrate normally \(some Sub motors\) or where each ESC must have its PWM range set individually using the Servo params instead of PWM\_MIN\/MAX parameters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Normal | | +| +-------+------------+ | +| | 1 | OneShot | | +| +-------+------------+ | +| | 2 | OneShot125 | | +| +-------+------------+ | +| | 3 | Brushed | | +| +-------+------------+ | +| | 4 | DShot150 | | +| +-------+------------+ | +| | 5 | DShot300 | | +| +-------+------------+ | +| | 6 | DShot600 | | +| +-------+------------+ | +| | 7 | DShot1200 | | +| +-------+------------+ | +| | 8 | PWMRange | | +| +-------+------------+ | +| | 9 | PWMAngle | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _MOT_PWM_MIN: + +MOT\_PWM\_MIN: PWM output minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _MOT_PWM_MAX: + +MOT\_PWM\_MAX: PWM output maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _MOT_SPIN_MIN: + +MOT\_SPIN\_MIN: Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.0 | Low | | +| +-------+---------+ | +| | 0.15 | Default | | +| +-------+---------+ | +| | 0.25 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MOT_SPIN_ARM: + +MOT\_SPIN\_ARM: Motor Spin armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.0 | Low | | +| +-------+---------+ | +| | 0.1 | Default | | +| +-------+---------+ | +| | 0.2 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MOT_BAT_CURR_TC: + +MOT\_BAT\_CURR\_TC: Motor Current Max Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _MOT_THST_HOVER: + +MOT\_THST\_HOVER: Thrust Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + + ++------------+ +| Range | ++============+ +| 0.2 to 0.8 | ++------------+ + + + + +.. _MOT_HOVER_LEARN: + +MOT\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover throttle + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | Learn | | +| +-------+----------------+ | +| | 2 | Learn and Save | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _MOT_SAFE_DISARM: + +MOT\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | PWM enabled while disarmed | | +| +-------+-----------------------------+ | +| | 1 | PWM disabled while disarmed | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _MOT_YAW_SV_ANGLE: + +MOT\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw servo\'s maximum lean angle \(Tricopter only\) + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 5 to 80 | degrees | ++-----------+---------+---------+ + + + + +.. _MOT_SPOOL_TIME: + +MOT\_SPOOL\_TIME: Spool up time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.05 to 2 | seconds | ++-----------+-----------+---------+ + + + + +.. _MOT_BOOST_SCALE: + +MOT\_BOOST\_SCALE: Motor boost scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle\. The output to the BoostThrottle servo will be the main throttle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 5 | ++-----------+--------+ + + + + +.. _MOT_BAT_IDX: + +MOT\_BAT\_IDX: Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | First battery | | +| +-------+----------------+ | +| | 1 | Second battery | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _MOT_SLEW_UP_TIME: + +MOT\_SLEW\_UP\_TIME: Output slew time for increasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _MOT_SLEW_DN_TIME: + +MOT\_SLEW\_DN\_TIME: Output slew time for decreasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _MOT_SAFE_TIME: + +MOT\_SAFE\_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _MOT_OPTIONS: + +MOT\_OPTIONS: Motor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor options + + ++-------------------------------------------------+ +| Bitmask | ++=================================================+ +| +-----+---------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================+ | +| | 0 | Voltage compensation uses raw voltage | | +| +-----+---------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _MOT_SPOOL_TIM_DN: + +MOT\_SPOOL\_TIM\_DN: Spool down time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle\. If set to 0 then SPOOL\_TIME is used instead\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | 1 | | +| +-------+---------+ | +| | 2 | 2 | | +| +-------+---------+ | +| | 3 | 3 | | +| +-------+---------+ | +| | 4 | 4 | | +| +-------+---------+ | +| | 5 | 5 | | +| +-------+---------+ | +| | 6 | 6 | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | EnableTelemetryMode | | +| +-----+---------------------+ | +| | 1 | unused | | +| +-----+---------------------+ | +| | 2 | EnableBTFLFonts | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | UDP echo test | | +| +-----+------------------+ | +| | 1 | TCP echo test | | +| +-----+------------------+ | +| | 2 | TCP discard test | | +| +-----+------------------+ | +| | 3 | TCP reflect test | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | EnablePPP Ethernet gateway | | +| +-----+-------------------------------+ | +| | 1 | Enable CAN1 multicast gateway | | +| +-----+-------------------------------+ | +| | 2 | Enable CAN2 multicast gateway | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPGGA | | +| +-----+---------+ | +| | 1 | GPRMC | | +| +-----+---------+ | +| | 2 | PASHR | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Off | | +| +-------+---------+ | +| | 1 | Low | | +| +-------+---------+ | +| | 2 | Medium | | +| +-------+---------+ | +| | 3 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Built-in buzzer | | +| +-----+-----------------+ | +| | 1 | DShot | | +| +-----+-----------------+ | +| | 2 | DroneCAN | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | Standard | | +| +-------+-----------------------------+ | +| | 1 | MAVLink/Scripting/AP_Periph | | +| +-------+-----------------------------+ | +| | 2 | OutbackChallenge | | +| +-------+-----------------------------+ | +| | 3 | TrafficLight | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | ssd1306 | | +| +-------+---------+ | +| | 2 | sh1106 | | +| +-------+---------+ | +| | 10 | SITL | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Aircraft | | +| +-------+----------+ | +| | 2 | Rover | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Built-in LED | | +| +-----+---------------------+ | +| | 1 | Internal ToshibaLED | | +| +-----+---------------------+ | +| | 2 | External ToshibaLED | | +| +-----+---------------------+ | +| | 3 | External PCA9685 | | +| +-----+---------------------+ | +| | 4 | Oreo LED | | +| +-----+---------------------+ | +| | 5 | DroneCAN | | +| +-----+---------------------+ | +| | 6 | NCP5623 External | | +| +-----+---------------------+ | +| | 7 | NCP5623 Internal | | +| +-----+---------------------+ | +| | 8 | NeoPixel | | +| +-----+---------------------+ | +| | 9 | ProfiLED | | +| +-----+---------------------+ | +| | 10 | Scripting | | +| +-----+---------------------+ | +| | 11 | DShot | | +| +-----+---------------------+ | +| | 12 | ProfiLED_SPI | | +| +-----+---------------------+ | +| | 13 | LP5562 External | | +| +-----+---------------------+ | +| | 14 | LP5562 Internal | | +| +-----+---------------------+ | +| | 15 | IS31FL3195 External | | +| +-----+---------------------+ | +| | 16 | IS31FL3195 Internal | | +| +-----+---------------------+ | +| | 17 | DiscreteRGB | | +| +-----+---------------------+ | +| | 18 | NeoPixelRGB | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | LowIsOn | | +| +-------+----------+ | +| | 1 | HighIsOn | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OA_: + +OA\_ Parameters +--------------- + + +.. _OA_TYPE: + +OA\_TYPE: Object Avoidance Path Planning algorithm to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable path planning around obstacles + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Disabled | | +| +-------+--------------------------+ | +| | 1 | BendyRuler | | +| +-------+--------------------------+ | +| | 2 | Dijkstra | | +| +-------+--------------------------+ | +| | 3 | Dijkstra with BendyRuler | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _OA_MARGIN_MAX: + +OA\_MARGIN\_MAX: Object Avoidance wide margin distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will ignore objects more than this many meters from vehicle + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0.1 to 100 | meters | ++-----------+------------+--------+ + + + + +.. _OA_OPTIONS: + +OA\_OPTIONS: Options while recovering from Object Avoidance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance \(i\.e Avoidance is turned off after the path ahead is clear\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 1 | log Dijkstra points | | +| +-----+----------------------------------------+ | +| | 2 | Allow fast waypoints (Dijkastras only) | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + + +.. _parameters_OA_BR_: + +OA\_BR\_ Parameters +------------------- + + +.. _OA_BR_LOOKAHEAD: + +OA\_BR\_LOOKAHEAD: Object Avoidance look ahead distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will look this many meters ahead of vehicle + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _OA_BR_CONT_RATIO: + +OA\_BR\_CONT\_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle \(or fence\) to present calculated margin is atleast this much\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 1.1 to 2 | ++-----------+----------+ + + + + +.. _OA_BR_CONT_ANGLE: + +OA\_BR\_CONT\_ANGLE: BendyRuler\'s bearing change resistance threshold angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 5 | 20 to 180 | ++-----------+-----------+ + + + + +.. _OA_BR_TYPE: + +OA\_BR\_TYPE: Type of BendyRuler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +BendyRuler will search for clear path along the direction defined by this parameter + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 1 | Horizontal search | | +| +-------+-------------------+ | +| | 2 | Vertical search | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_OA_DB_: + +OA\_DB\_ Parameters +------------------- + + +.. _OA_DB_SIZE: + +OA\_DB\_SIZE: OADatabase maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase maximum number of points\. Set to 0 to disable the OA Database\. Larger means more points but is more cpu intensive to process + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _OA_DB_EXPIRE: + +OA\_DB\_EXPIRE: OADatabase item timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase item timeout\. The time an item will linger without any updates before it expires\. Zero means never expires which is useful for a sent\-once static environment but terrible for dynamic ones\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _OA_DB_QUEUE_SIZE: + +OA\_DB\_QUEUE\_SIZE: OADatabase queue maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase queue maximum number of points\. This in an input buffer size\. Larger means it can handle larger bursts of incoming data points to filter into the database\. No impact on cpu\, only RAM\. Recommend larger for faster datalinks or for sensors that generate a lot of data\. + + ++----------+ +| Range | ++==========+ +| 1 to 200 | ++----------+ + + + + +.. _OA_DB_OUTPUT: + +OA\_DB\_OUTPUT: OADatabase output level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station\. All data is always available internally for avoidance algorithms\. + + ++---------------------------------------------------+ +| Values | ++===================================================+ +| +-------+---------------------------------------+ | +| | Value | Meaning | | +| +=======+=======================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------+ | +| | 1 | Send only HIGH importance items | | +| +-------+---------------------------------------+ | +| | 2 | Send HIGH and NORMAL importance items | | +| +-------+---------------------------------------+ | +| | 3 | Send all items | | +| +-------+---------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _OA_DB_BEAM_WIDTH: + +OA\_DB\_BEAM\_WIDTH: OADatabase beam width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Beam width of incoming lidar data + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | degrees | ++---------+---------+ + + + + +.. _OA_DB_RADIUS_MIN: + +OA\_DB\_RADIUS\_MIN: OADatabase Minimum radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum radius of objects held in database + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_DIST_MAX: + +OA\_DB\_DIST\_MAX: OADatabase Distance Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance of objects held in database\. Set to zero to disable the limits + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_ALT_MIN: + +OA\_DB\_ALT\_MIN: OADatabase minimum altitude above home before storing obstacles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase will reject obstacles if vehicle\'s altitude above home is below this parameter\, in a 3 meter radius around home\. Set 0 to disable this feature\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 4 | meters | ++--------+--------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 5 | Chan5 | | +| +-------+---------+ | +| | 6 | Chan6 | | +| +-------+---------+ | +| | 7 | Chan7 | | +| +-------+---------+ | +| | 8 | Chan8 | | +| +-------+---------+ | +| | 9 | Chan9 | | +| +-------+---------+ | +| | 10 | Chan10 | | +| +-------+---------+ | +| | 11 | Chan11 | | +| +-------+---------+ | +| | 12 | Chan12 | | +| +-------+---------+ | +| | 13 | Chan13 | | +| +-------+---------+ | +| | 14 | Chan14 | | +| +-------+---------+ | +| | 15 | Chan15 | | +| +-------+---------+ | +| | 16 | Chan16 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++---------------------------------------------------------------------------------------------------------+ +| Values | ++=========================================================================================================+ +| +-------+---------------------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================================================================+ | +| | 0 | switch to next screen if channel value was changed | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 1 | select screen based on pwm ranges specified for each screen | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 2 | switch to next screen after low to high transition and every 1s while channel value is high | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++--------------------------------------------------------------+ +| Bitmask | ++==============================================================+ +| +-----+----------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================+ | +| | 0 | UseDecimalPack | | +| +-----+----------------------------------------------------+ | +| | 1 | InvertedWindArrow | | +| +-----+----------------------------------------------------+ | +| | 2 | InvertedAHRoll | | +| +-----+----------------------------------------------------+ | +| | 3 | Convert feet to miles at 5280ft instead of 10000ft | | +| +-----+----------------------------------------------------+ | +| | 4 | DisableCrosshair | | +| +-----+----------------------------------------------------+ | +| | 5 | TranslateArrows | | +| +-----+----------------------------------------------------+ | +| | 6 | AviationStyleAH | | +| +-----+----------------------------------------------------+ | +| | 7 | Prefix LQ with RF Mode | | +| +-----+----------------------------------------------------+ | +| | ++--------------------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Metric | | +| +-------+----------+ | +| | 1 | Imperial | | +| +-------+----------+ | +| | 2 | SI | | +| +-------+----------+ | +| | 3 | Aviation | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | MAVLink | | +| +-------+-------------+ | +| | 2 | IRLock | | +| +-------+-------------+ | +| | 3 | SITL_Gazebo | | +| +-------+-------------+ | +| | 4 | SITL | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | RawSensor | | +| +-------+--------------+ | +| | 1 | KalmanFilter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | -1 | DefaultBus | | +| +-------+-------------+ | +| | 0 | InternalI2C | | +| +-------+-------------+ | +| | 1 | ExternalI2C | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++----------------------------------------------------+ +| Values | ++====================================================+ +| +-------+----------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================+ | +| | 0 | Land Vertically (Not strict) | | +| +-------+----------------------------------------+ | +| | 1 | Retry Landing(Normal Strictness) | | +| +-------+----------------------------------------+ | +| | 2 | Do not land (just Hover) (Very Strict) | | +| +-------+----------------------------------------+ | +| | ++----------------------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++--------------------------------------------------------------------------------+ +| Values | ++================================================================================+ +| +-------+--------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================================+ | +| | 0 | Go to the last location where landing target was detected | | +| +-------+--------------------------------------------------------------------+ | +| | 1 | Go towards the approximate location of the detected landing target | | +| +-------+--------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----------------------------------------------------------+ +| Bitmask | ++===========================================================+ +| +-----+-------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=================================================+ | +| | 0 | Moving Landing Target | | +| +-----+-------------------------------------------------+ | +| | 1 | Allow Precision Landing after manual reposition | | +| +-----+-------------------------------------------------+ | +| | 2 | Maintain high speed in final descent | | +| +-----+-------------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_PRX: + +PRX Parameters +-------------- + + +.. _PRX_IGN_GND: + +PRX\_IGN\_GND: Proximity sensor land detection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ignore proximity data that is within 1 meter of the ground below the vehicle\. This requires a downward facing rangefinder + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _PRX_LOG_RAW: + +PRX\_LOG\_RAW: Proximity raw distances log +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered\(raw\) distances from sensor should be enabled + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Off | | +| +-------+---------+ | +| | 1 | On | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _PRX_FILT: + +PRX\_FILT: Proximity filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 20 | hertz | ++---------+-------+ + + + + +.. _PRX_ALT_MIN: + +PRX\_ALT\_MIN: Proximity lowest altitude\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum altitude below which proximity should not work\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + + +.. _parameters_PRX1: + +PRX1 Parameters +--------------- + + +.. _PRX1_TYPE: + +PRX1\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX1_ORIENT: + +PRX1\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX1_YAW_CORR: + +PRX1\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX1_IGN_ANG1: + +PRX1\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID1: + +PRX1\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG2: + +PRX1\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID2: + +PRX1\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG3: + +PRX1\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID3: + +PRX1\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG4: + +PRX1\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID4: + +PRX1\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_MIN: + +PRX1\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_MAX: + +PRX1\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_ADDR: + +PRX1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX1_: + +PRX1\_ Parameters +----------------- + + +.. _PRX1_RECV_ID: + +PRX1\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX2: + +PRX2 Parameters +--------------- + + +.. _PRX2_TYPE: + +PRX2\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX2_ORIENT: + +PRX2\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX2_YAW_CORR: + +PRX2\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX2_IGN_ANG1: + +PRX2\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID1: + +PRX2\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG2: + +PRX2\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID2: + +PRX2\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG3: + +PRX2\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID3: + +PRX2\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG4: + +PRX2\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID4: + +PRX2\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_MIN: + +PRX2\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_MAX: + +PRX2\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_ADDR: + +PRX2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX2_: + +PRX2\_ Parameters +----------------- + + +.. _PRX2_RECV_ID: + +PRX2\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX3: + +PRX3 Parameters +--------------- + + +.. _PRX3_TYPE: + +PRX3\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX3_ORIENT: + +PRX3\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX3_YAW_CORR: + +PRX3\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX3_IGN_ANG1: + +PRX3\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID1: + +PRX3\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG2: + +PRX3\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID2: + +PRX3\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG3: + +PRX3\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID3: + +PRX3\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG4: + +PRX3\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID4: + +PRX3\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_MIN: + +PRX3\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_MAX: + +PRX3\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_ADDR: + +PRX3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX3_: + +PRX3\_ Parameters +----------------- + + +.. _PRX3_RECV_ID: + +PRX3\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX4: + +PRX4 Parameters +--------------- + + +.. _PRX4_TYPE: + +PRX4\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX4_ORIENT: + +PRX4\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX4_YAW_CORR: + +PRX4\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX4_IGN_ANG1: + +PRX4\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID1: + +PRX4\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG2: + +PRX4\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID2: + +PRX4\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG3: + +PRX4\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID3: + +PRX4\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG4: + +PRX4\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID4: + +PRX4\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_MIN: + +PRX4\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_MAX: + +PRX4\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_ADDR: + +PRX4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX4_: + +PRX4\_ Parameters +----------------- + + +.. _PRX4_RECV_ID: + +PRX4\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PSC: + +PSC Parameters +-------------- + + +.. _PSC_ACC_XY_FILT: + +PSC\_ACC\_XY\_FILT: XY Acceleration filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.1 | 0.5 to 5 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_POSZ_P: + +PSC\_POSZ\_P: Position \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position \(vertical\) controller P gain\. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 3.000 | ++----------------+ + + + + +.. _PSC_VELZ_P: + +PSC\_VELZ\_P: Velocity \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _PSC_VELZ_I: + +PSC\_VELZ\_I: Velocity \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller I gain\. Corrects long\-term difference in desired velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELZ_IMAX: + +PSC\_VELZ\_IMAX: Velocity \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller I gain maximum\. Constrains the target acceleration that the I gain will output + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _PSC_VELZ_D: + +PSC\_VELZ\_D: Velocity \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELZ_FF: + +PSC\_VELZ\_FF: Velocity \(vertical\) controller Feed Forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller Feed Forward gain\. Produces an output that is proportional to the magnitude of the target + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PSC_VELZ_FLTE: + +PSC\_VELZ\_FLTE: Velocity \(vertical\) error filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) error filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELZ_FLTD: + +PSC\_VELZ\_FLTD: Velocity \(vertical\) input filter for D term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) input filter for D term\. This filter \(in Hz\) is applied to the input for D terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_ACCZ_P: + +PSC\_ACCZ\_P: Acceleration \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller P gain\. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.05 | 0.200 to 1.500 | ++-----------+----------------+ + + + + +.. _PSC_ACCZ_I: + +PSC\_ACCZ\_I: Acceleration \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain\. Corrects long\-term difference in desired vertical acceleration and actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 3.000 | ++----------------+ + + + + +.. _PSC_ACCZ_IMAX: + +PSC\_ACCZ\_IMAX: Acceleration \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain maximum\. Constrains the maximum pwm that the I term will generate + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _PSC_ACCZ_D: + +PSC\_ACCZ\_D: Acceleration \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller D gain\. Compensates for short\-term change in desired vertical acceleration vs actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _PSC_ACCZ_FF: + +PSC\_ACCZ\_FF: Acceleration \(vertical\) controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _PSC_ACCZ_FLTT: + +PSC\_ACCZ\_FLTT: Acceleration \(vertical\) controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PSC_ACCZ_FLTE: + +PSC\_ACCZ\_FLTE: Acceleration \(vertical\) controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_ACCZ_FLTD: + +PSC\_ACCZ\_FLTD: Acceleration \(vertical\) controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_ACCZ_SMAX: + +PSC\_ACCZ\_SMAX: Accel \(vertical\) slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _PSC_ACCZ_PDMX: + +PSC\_ACCZ\_PDMX: Acceleration \(vertical\) controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _PSC_ACCZ_D_FF: + +PSC\_ACCZ\_D\_FF: Accel \(vertical\) Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _PSC_ACCZ_NTF: + +PSC\_ACCZ\_NTF: Accel \(vertical\) Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PSC_ACCZ_NEF: + +PSC\_ACCZ\_NEF: Accel \(vertical\) Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PSC_POSXY_P: + +PSC\_POSXY\_P: Position \(horizontal\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance \(in the latitude direction\) to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _PSC_VELXY_P: + +PSC\_VELXY\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _PSC_VELXY_I: + +PSC\_VELXY\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELXY_D: + +PSC\_VELXY\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELXY_IMAX: + +PSC\_VELXY\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _PSC_VELXY_FLTE: + +PSC\_VELXY\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELXY_FLTD: + +PSC\_VELXY\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELXY_FF: + +PSC\_VELXY\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + +.. _PSC_ANGLE_MAX: + +PSC\_ANGLE\_MAX: Position Control Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request\. Set to zero to use ANGLE\_MAX parameter value + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _PSC_JERK_XY: + +PSC\_JERK\_XY: Jerk limit for the horizontal kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 1 to 20 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + +.. _PSC_JERK_Z: + +PSC\_JERK\_Z: Jerk limit for the vertical kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 5 to 50 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | DoNotIncludeHome | | +| +-------+------------------+ | +| | 1 | IncludeHome | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++------------------------------------------------------------------------------+ +| Bitmask | ++==============================================================================+ +| +-----+--------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================================+ | +| | 0 | Ignore RC Receiver | | +| +-----+--------------------------------------------------------------------+ | +| | 1 | Ignore MAVLink Overrides | | +| +-----+--------------------------------------------------------------------+ | +| | 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | | +| +-----+--------------------------------------------------------------------+ | +| | 3 | FPort Pad | | +| +-----+--------------------------------------------------------------------+ | +| | 4 | Log RC input bytes | | +| +-----+--------------------------------------------------------------------+ | +| | 5 | Arming check throttle for 0 input | | +| +-----+--------------------------------------------------------------------+ | +| | 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | | +| +-----+--------------------------------------------------------------------+ | +| | 7 | Allow Switch reverse | | +| +-----+--------------------------------------------------------------------+ | +| | 8 | Use passthrough for CRSF telemetry | | +| +-----+--------------------------------------------------------------------+ | +| | 9 | Suppress CRSF mode/rate message for ELRS systems | | +| +-----+--------------------------------------------------------------------+ | +| | 10 | Enable multiple receiver support | | +| +-----+--------------------------------------------------------------------+ | +| | 11 | Use Link Quality for RSSI with CRSF | | +| +-----+--------------------------------------------------------------------+ | +| | 12 | Annotate CRSF flight mode with * on disarm | | +| +-----+--------------------------------------------------------------------+ | +| | 13 | Use 420kbaud for ELRS protocol | | +| +-----+--------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | All | | +| +-----+----------+ | +| | 1 | PPM | | +| +-----+----------+ | +| | 2 | IBUS | | +| +-----+----------+ | +| | 3 | SBUS | | +| +-----+----------+ | +| | 4 | SBUS_NI | | +| +-----+----------+ | +| | 5 | DSM | | +| +-----+----------+ | +| | 6 | SUMD | | +| +-----+----------+ | +| | 7 | SRXL | | +| +-----+----------+ | +| | 8 | SRXL2 | | +| +-----+----------+ | +| | 9 | CRSF | | +| +-----+----------+ | +| | 10 | ST24 | | +| +-----+----------+ | +| | 11 | FPORT | | +| +-----+----------+ | +| | 12 | FPORT2 | | +| +-----+----------+ | +| | 13 | FastSBUS | | +| +-----+----------+ | +| | 14 | DroneCAN | | +| +-----+----------+ | +| | 15 | Ghost | | +| +-----+----------+ | +| | 16 | MAVRadio | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++---------------------------------------------------------+ +| Values | ++=========================================================+ +| +-------+---------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================+ | +| | 0 | Do Nothing | | +| +-------+---------------------------------------------+ | +| | 2 | FLIP Mode | | +| +-------+---------------------------------------------+ | +| | 3 | Simple Mode | | +| +-------+---------------------------------------------+ | +| | 4 | RTL | | +| +-------+---------------------------------------------+ | +| | 5 | Save Trim | | +| +-------+---------------------------------------------+ | +| | 7 | Save WP | | +| +-------+---------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+---------------------------------------------+ | +| | 10 | RangeFinder Enable | | +| +-------+---------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+---------------------------------------------+ | +| | 13 | Super Simple Mode | | +| +-------+---------------------------------------------+ | +| | 14 | Acro Trainer | | +| +-------+---------------------------------------------+ | +| | 15 | Sprayer Enable | | +| +-------+---------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+---------------------------------------------+ | +| | 17 | AUTOTUNE Mode | | +| +-------+---------------------------------------------+ | +| | 18 | LAND Mode | | +| +-------+---------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+---------------------------------------------+ | +| | 21 | Parachute Enable | | +| +-------+---------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+---------------------------------------------+ | +| | 23 | Parachute 3pos | | +| +-------+---------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+---------------------------------------------+ | +| | 25 | AttCon Feed Forward | | +| +-------+---------------------------------------------+ | +| | 26 | AttCon Accel Limits | | +| +-------+---------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+---------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+---------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+---------------------------------------------+ | +| | 30 | Lost Copter Sound | | +| +-------+---------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+---------------------------------------------+ | +| | 32 | Motor Interlock | | +| +-------+---------------------------------------------+ | +| | 33 | BRAKE Mode | | +| +-------+---------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+---------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+---------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+---------------------------------------------+ | +| | 37 | THROW Mode | | +| +-------+---------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 39 | PrecLoiter Enable | | +| +-------+---------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+---------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+---------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+---------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+---------------------------------------------+ | +| | 44 | Winch Enable | | +| +-------+---------------------------------------------+ | +| | 45 | Winch Control | | +| +-------+---------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+---------------------------------------------+ | +| | 47 | User Function 1 | | +| +-------+---------------------------------------------+ | +| | 48 | User Function 2 | | +| +-------+---------------------------------------------+ | +| | 49 | User Function 3 | | +| +-------+---------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+---------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+---------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+---------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+---------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+---------------------------------------------+ | +| | 60 | ZigZag Mode | | +| +-------+---------------------------------------------+ | +| | 61 | ZigZag SaveWP | | +| +-------+---------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+---------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+---------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+---------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+---------------------------------------------+ | +| | 68 | STABILIZE Mode | | +| +-------+---------------------------------------------+ | +| | 69 | POSHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 70 | ALTHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 71 | FLOWHOLD Mode | | +| +-------+---------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+---------------------------------------------+ | +| | 73 | DRIFT Mode | | +| +-------+---------------------------------------------+ | +| | 75 | SurfaceTrackingUpDown | | +| +-------+---------------------------------------------+ | +| | 76 | STANDBY Mode | | +| +-------+---------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+---------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+---------------------------------------------+ | +| | 80 | VisOdom Align | | +| +-------+---------------------------------------------+ | +| | 81 | Disarm | | +| +-------+---------------------------------------------+ | +| | 83 | ZigZag Auto | | +| +-------+---------------------------------------------+ | +| | 84 | AirMode | | +| +-------+---------------------------------------------+ | +| | 85 | Generator | | +| +-------+---------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+---------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+---------------------------------------------+ | +| | 99 | AUTO RTL | | +| +-------+---------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+---------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+---------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+---------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+---------------------------------------------+ | +| | 109 | use Custom Controller | | +| +-------+---------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+---------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+---------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+---------------------------------------------+ | +| | 151 | TURTLE Mode | | +| +-------+---------------------------------------------+ | +| | 152 | SIMPLE heading reset | | +| +-------+---------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 154 | ArmDisarm with AirMode (4.2 and higher) | | +| +-------+---------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+---------------------------------------------+ | +| | 159 | Force IS_Flying | | +| +-------+---------------------------------------------+ | +| | 161 | Turbine Start(heli) | | +| +-------+---------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+---------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+---------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+---------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+---------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+---------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+---------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+---------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+---------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+---------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+---------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+---------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+---------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+---------------------------------------------+ | +| | 178 | FlightMode Pause/Resume | | +| +-------+---------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+---------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+---------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+---------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+---------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+---------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+---------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+---------------------------------------------+ | +| | 219 | Transmitter Tuning | | +| +-------+---------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+---------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+---------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+---------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+---------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+---------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+---------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+---------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+---------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | None | | +| +-------+-----------+ | +| | 1 | Relay | | +| +-------+-----------+ | +| | 3 | Parachute | | +| +-------+-----------+ | +| | 4 | Camera | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | AnalogPin | | +| +-------+--------------------+ | +| | 2 | RCChannelPwmValue | | +| +-------+--------------------+ | +| | 3 | ReceiverProtocol | | +| +-------+--------------------+ | +| | 4 | PWMInputPin | | +| +-------+--------------------+ | +| | 5 | TelemetryRadioRSSI | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 8 | V5 Nano | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | ShowSlips | | +| +-------+--------------+ | +| | 3 | ShowOverruns | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | Enable per-task perf info | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Lua Scripts | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++--------------------------------------------------------------------------------------------------+ +| Bitmask | ++==================================================================================================+ +| +-----+----------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================================================+ | +| | 0 | No Scripts to run message if all scripts have stopped | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 1 | Runtime messages for memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 2 | Suppress logging scripts to dataflash | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 3 | log runtime memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 4 | Disable pre-arm check | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | | +| +-----+----------------------------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | ROMFS | | +| +-----+-------------+ | +| | 1 | APM/scripts | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Normal | | +| +-------+------------------+ | +| | 1 | IO Priority | | +| +-------+------------------+ | +| | 2 | Storage Priority | | +| +-------+------------------+ | +| | 3 | UART Priority | | +| +-------+------------------+ | +| | 4 | I2C Priority | | +| +-------+------------------+ | +| | 5 | SPI Priority | | +| +-------+------------------+ | +| | 6 | Timer Priority | | +| +-------+------------------+ | +| | 7 | Main Priority | | +| +-------+------------------+ | +| | 8 | Boost Priority | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 1 | MAVLink1 | | +| +-------+----------+ | +| | 2 | MAVLink2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | 1Khz | | +| +-------+---------------------+ | +| | 1 | loop-rate | | +| +-------+---------------------+ | +| | 2 | double loop-rate | | +| +-------+---------------------+ | +| | 3 | triple loop-rate | | +| +-------+---------------------+ | +| | 4 | quadruple loop rate | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | BLHeli32/Kiss/AM32 | | +| +-------+------------------------+ | +| | 2 | BLHeli_S/BlueJay | | +| +-------+------------------------+ | +| | 3 | BLHeli32/AM32/Kiss+EDT | | +| +-------+------------------------+ | +| | 4 | BLHeli_S/BlueJay+EDT | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | RCIN1Scaled | | +| +-----+---------------+ | +| | 1 | RCIN2Scaled | | +| +-----+---------------+ | +| | 2 | RCIN3Scaled | | +| +-----+---------------+ | +| | 3 | RCIN4Scaled | | +| +-----+---------------+ | +| | 4 | RCIN5Scaled | | +| +-----+---------------+ | +| | 5 | RCIN6Scaled | | +| +-----+---------------+ | +| | 6 | RCIN7Scaled | | +| +-----+---------------+ | +| | 7 | RCIN8Scaled | | +| +-----+---------------+ | +| | 8 | RCIN9Scaled | | +| +-----+---------------+ | +| | 9 | RCIN10Scaled | | +| +-----+---------------+ | +| | 10 | RCIN11Scaled | | +| +-----+---------------+ | +| | 11 | SRCIN12Scaled | | +| +-----+---------------+ | +| | 12 | RCIN13Scaled | | +| +-----+---------------+ | +| | 13 | RCIN14Scaled | | +| +-----+---------------+ | +| | 14 | RCIN15Scaled | | +| +-----+---------------+ | +| | 15 | RCIN16Scaled | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | -1 | GPIO | | +| +-------+---------------------+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------+ | +| | 27 | Parachute | | +| +-------+---------------------+ | +| | 28 | Gripper | | +| +-------+---------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------+ | +| | 31 | HeliRSC | | +| +-------+---------------------+ | +| | 32 | HeliTailRSC | | +| +-------+---------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------+ | +| | 39 | Motor7 | | +| +-------+---------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------+ | +| | 81 | BoostThrottle | | +| +-------+---------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------+ | +| | 88 | Winch | | +| +-------+---------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------+ | +| | 94 | Script1 | | +| +-------+---------------------+ | +| | 95 | Script2 | | +| +-------+---------------------+ | +| | 96 | Script3 | | +| +-------+---------------------+ | +| | 97 | Script4 | | +| +-------+---------------------+ | +| | 98 | Script5 | | +| +-------+---------------------+ | +| | 99 | Script6 | | +| +-------+---------------------+ | +| | 100 | Script7 | | +| +-------+---------------------+ | +| | 101 | Script8 | | +| +-------+---------------------+ | +| | 102 | Script9 | | +| +-------+---------------------+ | +| | 103 | Script10 | | +| +-------+---------------------+ | +| | 104 | Script11 | | +| +-------+---------------------+ | +| | 105 | Script12 | | +| +-------+---------------------+ | +| | 106 | Script13 | | +| +-------+---------------------+ | +| | 107 | Script14 | | +| +-------+---------------------+ | +| | 108 | Script15 | | +| +-------+---------------------+ | +| | 109 | Script16 | | +| +-------+---------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------+ | +| | 133 | Winch Clutch | | +| +-------+---------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------+ | +| | 138 | Alarm | | +| +-------+---------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | TestMotor1 | | +| +-------+------------+ | +| | 2 | TestMotor2 | | +| +-------+------------+ | +| | 3 | TestMotor3 | | +| +-------+------------+ | +| | 4 | TestMotor4 | | +| +-------+------------+ | +| | 5 | TestMotor5 | | +| +-------+------------+ | +| | 6 | TestMotor6 | | +| +-------+------------+ | +| | 7 | TestMotor7 | | +| +-------+------------+ | +| | 8 | TestMotor8 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | OneShot | | +| +-------+------------+ | +| | 2 | OneShot125 | | +| +-------+------------+ | +| | 3 | Brushed | | +| +-------+------------+ | +| | 4 | DShot150 | | +| +-------+------------+ | +| | 5 | DShot300 | | +| +-------+------------+ | +| | 6 | DShot600 | | +| +-------+------------+ | +| | 7 | DShot1200 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Console | | +| +-------+-------------------------+ | +| | 1 | Mavlink Serial Channel1 | | +| +-------+-------------------------+ | +| | 2 | Mavlink Serial Channel2 | | +| +-------+-------------------------+ | +| | 3 | Mavlink Serial Channel3 | | +| +-------+-------------------------+ | +| | 4 | Mavlink Serial Channel4 | | +| +-------+-------------------------+ | +| | 5 | Mavlink Serial Channel5 | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | 16 | Channel17 | | +| +-----+-----------+ | +| | 17 | Channel18 | | +| +-----+-----------+ | +| | 18 | Channel19 | | +| +-----+-----------+ | +| | 19 | Channel20 | | +| +-----+-----------+ | +| | 20 | Channel21 | | +| +-----+-----------+ | +| | 21 | Channel22 | | +| +-----+-----------+ | +| | 22 | Channel23 | | +| +-----+-----------+ | +| | 23 | Channel24 | | +| +-----+-----------+ | +| | 24 | Channel25 | | +| +-----+-----------+ | +| | 25 | Channel26 | | +| +-----+-----------+ | +| | 26 | Channel27 | | +| +-----+-----------+ | +| | 28 | Channel29 | | +| +-----+-----------+ | +| | 29 | Channel30 | | +| +-----+-----------+ | +| | 30 | Channel31 | | +| +-----+-----------+ | +| | 31 | Channel32 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_SID: + +SID Parameters +-------------- + + +.. _SID_AXIS: + +SID\_AXIS: System identification axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls which axis are being excited\. Set to non\-zero to see more parameters + + ++--------------------------------------------+ +| Values | ++============================================+ +| +-------+--------------------------------+ | +| | Value | Meaning | | +| +=======+================================+ | +| | 0 | None | | +| +-------+--------------------------------+ | +| | 1 | Input Roll Angle | | +| +-------+--------------------------------+ | +| | 2 | Input Pitch Angle | | +| +-------+--------------------------------+ | +| | 3 | Input Yaw Angle | | +| +-------+--------------------------------+ | +| | 4 | Recovery Roll Angle | | +| +-------+--------------------------------+ | +| | 5 | Recovery Pitch Angle | | +| +-------+--------------------------------+ | +| | 6 | Recovery Yaw Angle | | +| +-------+--------------------------------+ | +| | 7 | Rate Roll | | +| +-------+--------------------------------+ | +| | 8 | Rate Pitch | | +| +-------+--------------------------------+ | +| | 9 | Rate Yaw | | +| +-------+--------------------------------+ | +| | 10 | Mixer Roll | | +| +-------+--------------------------------+ | +| | 11 | Mixer Pitch | | +| +-------+--------------------------------+ | +| | 12 | Mixer Yaw | | +| +-------+--------------------------------+ | +| | 13 | Mixer Thrust | | +| +-------+--------------------------------+ | +| | 14 | Measured Lateral Position | | +| +-------+--------------------------------+ | +| | 15 | Measured Longitudinal Position | | +| +-------+--------------------------------+ | +| | 16 | Measured Lateral Velocity | | +| +-------+--------------------------------+ | +| | 17 | Measured Longitudinal Velocity | | +| +-------+--------------------------------+ | +| | 18 | Input Lateral Velocity | | +| +-------+--------------------------------+ | +| | 19 | Input Longitudinal Velocity | | +| +-------+--------------------------------+ | +| | ++--------------------------------------------+ + + + + +.. _SID_MAGNITUDE: + +SID\_MAGNITUDE: System identification Chirp Magnitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Magnitude of sweep in deg\, deg\/s and 0\-1 for mixer outputs\. + + +.. _SID_F_START_HZ: + +SID\_F\_START\_HZ: System identification Start Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frequency at the start of the sweep + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.01 to 100 | hertz | ++-------------+-------+ + + + + +.. _SID_F_STOP_HZ: + +SID\_F\_STOP\_HZ: System identification Stop Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frequency at the end of the sweep + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.01 to 100 | hertz | ++-------------+-------+ + + + + +.. _SID_T_FADE_IN: + +SID\_T\_FADE\_IN: System identification Fade in time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to reach maximum amplitude of sweep + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _SID_T_REC: + +SID\_T\_REC: System identification Total Sweep length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time taken to complete the sweep + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _SID_T_FADE_OUT: + +SID\_T\_FADE\_OUT: System identification Fade out time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to reach zero amplitude at the end of the sweep + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL1 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL2 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL3 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL4 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL5 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Transceiever disable | | +| +-------+----------------------+ | +| | 1 | Transceiever enable | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | MAVLink | | +| +-----+-------------+ | +| | 3 | SageTechMXS | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | MegaSquirt EFI system | | +| +-------+-----------------------+ | +| | 2 | Löweheiser EFI system | | +| +-------+-----------------------+ | +| | 8 | Hirth engines | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Servo 1 | | +| +-----+---------+ | +| | 1 | Servo 2 | | +| +-----+---------+ | +| | 2 | Servo 3 | | +| +-----+---------+ | +| | 3 | Servo 4 | | +| +-----+---------+ | +| | 4 | Servo 5 | | +| +-----+---------+ | +| | 5 | Servo 6 | | +| +-----+---------+ | +| | 6 | Servo 7 | | +| +-----+---------+ | +| | 7 | Servo 8 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Normal | | +| +-------+---------+ | +| | 1 | Reverse | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG1 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG2 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG3 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable target distance | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Front | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | cylinder | | +| +-------+----------+ | +| | 1 | cone | | +| +-------+----------+ | +| | 2 | sphere | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-----------------------------------------------------------+ +| Values | ++===========================================================+ +| +-------+-----------------------------------------------+ | +| | Value | Meaning | | +| +=======+===============================================+ | +| | 0 | Disabled | | +| +-------+-----------------------------------------------+ | +| | 1 | No RC pusles | | +| +-------+-----------------------------------------------+ | +| | 2 | All Channels neutral except Throttle is 950us | | +| +-------+-----------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++------------------------------------------------------------------+ +| Bitmask | ++==================================================================+ +| +-----+--------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================+ | +| | 0 | Reset position on startup | | +| +-----+--------------------------------------------------------+ | +| | 1 | Swap first 4 and last 4 servos (for quadplane testing) | | +| +-----+--------------------------------------------------------+ | +| | 2 | Demix heli servos and send roll/pitch/collective/yaw | | +| +-----+--------------------------------------------------------+ | +| | 3 | Don't print frame rate stats | | +| +-----+--------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Vicon Healthy | | +| +-------+---------------+ | +| | 1 | Vicon Failed | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++------------------------------------+ +| Bitmask | ++====================================+ +| +-----+--------------------------+ | +| | Bit | Meaning | | +| +=====+==========================+ | +| | 0 | VISION_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 1 | VISION_SPEED_ESTIMATE | | +| +-----+--------------------------+ | +| | 2 | VICON_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 3 | VISION_POSITION_DELTA | | +| +-----+--------------------------+ | +| | 4 | ODOMETRY | | +| +-----+--------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | disabled | | +| +-------+--------------------------+ | +| | 1 | roll and pitch | | +| +-------+--------------------------+ | +| | 2 | roll and pitch and heave | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | square law | | +| +-------+------------------------+ | +| | 1 | none | | +| +-------+------------------------+ | +| | 2 | linear-see WIND_T_COEF | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + + +.. _parameters_SPRAY_: + +SPRAY\_ Parameters +------------------ + + +.. _SPRAY_ENABLE: + +SPRAY\_ENABLE: Sprayer enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the sprayer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SPRAY_PUMP_RATE: + +SPRAY\_PUMP\_RATE: Pump speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pump speed when travelling 1m\/s expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _SPRAY_SPINNER: + +SPRAY\_SPINNER: Spinner rotation speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Spinner\'s rotation speed in PWM \(a higher rate will disperse the spray over a wider area horizontally\) + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 1000 to 2000 | milliseconds | ++--------------+--------------+ + + + + +.. _SPRAY_SPEED_MIN: + +SPRAY\_SPEED\_MIN: Speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed minimum at which we will begin spraying + + ++-----------+------------------------+ +| Range | Units | ++===========+========================+ +| 0 to 1000 | centimeters per second | ++-----------+------------------------+ + + + + +.. _SPRAY_PUMP_MIN: + +SPRAY\_PUMP\_MIN: Pump speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum pump speed expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SRTL_: + +SRTL\_ Parameters +----------------- + + +.. _SRTL_ACCURACY: + +SRTL\_ACCURACY: SmartRTL accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SmartRTL accuracy\. The minimum distance between points\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SRTL_POINTS: + +SRTL\_POINTS: SmartRTL maximum number of points on path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +SmartRTL maximum number of points on path\. Set to 0 to disable SmartRTL\. 100 points consumes about 3k of memory\. + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + +.. _SRTL_OPTIONS: + +SRTL\_OPTIONS: SmartRTL options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of SmartRTL options\. + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 2 | Ignore pilot yaw | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_TCAL: + +TCAL Parameters +--------------- + + +.. _TCAL_ENABLED: + +TCAL\_ENABLED: Temperature calibration enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable temperature calibration\. Set to 0 to disable\. Set to 1 to use learned values\. Set to 2 to learn new values and use the values + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | Enabled | | +| +-------+----------------+ | +| | 2 | EnableAndLearn | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _TCAL_TEMP_MIN: + +TCAL\_TEMP\_MIN: Temperature calibration min learned temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum learned temperature\. This is automatically set by the learning process + + ++----------+-----------------+----------+ +| ReadOnly | Units | Volatile | ++==========+=================+==========+ +| True | degrees Celsius | True | ++----------+-----------------+----------+ + + + + +.. _TCAL_TEMP_MAX: + +TCAL\_TEMP\_MAX: Temperature calibration max learned temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum learned temperature\. This is automatically set by the learning process + + ++----------+-----------------+----------+ +| ReadOnly | Units | Volatile | ++==========+=================+==========+ +| True | degrees Celsius | True | ++----------+-----------------+----------+ + + + + +.. _TCAL_BARO_EXP: + +TCAL\_BARO\_EXP: Temperature Calibration barometer exponent +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Learned exponent for barometer temperature correction + + ++----------+----------+ +| ReadOnly | Volatile | ++==========+==========+ +| True | True | ++----------+----------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++---------------------------------------------------------------+ +| Values | ++===============================================================+ +| +-------+---------------------------------------------------+ | +| | Value | Meaning | | +| +=======+===================================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------------------+ | +| | 1 | Log all instances | | +| +-------+---------------------------------------------------+ | +| | 2 | Log only instances with sensor source set to None | | +| +-------+---------------------------------------------------+ | +| | ++---------------------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TERRAIN_: + +TERRAIN\_ Parameters +-------------------- + + +.. _TERRAIN_ENABLE: + +TERRAIN\_ENABLE: Terrain data enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable terrain data\. This enables the vehicle storing a database of terrain data on the SD card\. The terrain data is requested from the ground station as needed\, and stored for later use on the SD card\. To be useful the ground station must support TERRAIN\_REQUEST messages and have access to a terrain database\, such as the SRTM database\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TERRAIN_SPACING: + +TERRAIN\_SPACING: Terrain grid spacing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Distance between terrain grid points in meters\. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station\. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy\, then a resolution of 100 meters is appropriate\. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution\. The grid spacing also controls how much data is kept in memory during flight\. A larger grid spacing will allow for a larger amount of data in memory\. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2\.7 kilometers by 3\.2 kilometers\. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 1 | meters | ++-----------+--------+ + + + + +.. _TERRAIN_OPTIONS: + +TERRAIN\_OPTIONS: Terrain options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | Disable Download | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _TERRAIN_MARGIN: + +TERRAIN\_MARGIN: Acceptance margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Margin in centi\-meters to accept terrain data from the GCS\. This can be used to allow older terrain data generated with less accurate latitude\/longitude scaling to be used + + ++---------------+--------+ +| Range | Units | ++===============+========+ +| 0.05 to 50000 | meters | ++---------------+--------+ + + + + +.. _TERRAIN_OFS_MAX: + +TERRAIN\_OFS\_MAX: Terrain reference offset maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed\. When the vehicle is armed the location of the vehicle is recorded\, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming\. This height adjustment is applied to all terrain data\. This parameter clamps the amount of adjustment\. A value of zero disables the use of terrain height adjustment\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _TERRAIN_CACHE_SZ: + +TERRAIN\_CACHE\_SZ: Terrain cache size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory\. Each block uses about 1800 bytes of memory + + ++----------+ +| Range | ++==========+ +| 0 to 128 | ++----------+ + + + + + +.. _parameters_TMODE: + +TMODE Parameters +---------------- + + +.. _TMODE_ENABLE: + +TMODE\_ENABLE: tmode enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +tmode \(or \"toy\" mode\) gives a simplified user interface designed for mass market drones\. Version1 is for the SkyViper V2450GPS\. Version2 is for the F412 based boards + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | EnableVersion1 | | +| +-------+----------------+ | +| | 2 | EnableVersion2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _TMODE_MODE1: + +TMODE\_MODE1: Tmode first mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the initial mode when the vehicle is first turned on\. This mode is assumed to not require GPS + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Stabilize | | +| +-------+--------------+ | +| | 1 | Acro | | +| +-------+--------------+ | +| | 2 | AltHold | | +| +-------+--------------+ | +| | 3 | Auto | | +| +-------+--------------+ | +| | 4 | Guided | | +| +-------+--------------+ | +| | 5 | Loiter | | +| +-------+--------------+ | +| | 6 | RTL | | +| +-------+--------------+ | +| | 7 | Circle | | +| +-------+--------------+ | +| | 9 | Land | | +| +-------+--------------+ | +| | 11 | Drift | | +| +-------+--------------+ | +| | 13 | Sport | | +| +-------+--------------+ | +| | 14 | Flip | | +| +-------+--------------+ | +| | 15 | AutoTune | | +| +-------+--------------+ | +| | 16 | PosHold | | +| +-------+--------------+ | +| | 17 | Brake | | +| +-------+--------------+ | +| | 18 | Throw | | +| +-------+--------------+ | +| | 19 | Avoid_ADSB | | +| +-------+--------------+ | +| | 20 | Guided_NoGPS | | +| +-------+--------------+ | +| | 21 | FlowHold | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _TMODE_MODE2: + +TMODE\_MODE2: Tmode second mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the secondary mode\. This mode is assumed to require GPS + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Stabilize | | +| +-------+--------------+ | +| | 1 | Acro | | +| +-------+--------------+ | +| | 2 | AltHold | | +| +-------+--------------+ | +| | 3 | Auto | | +| +-------+--------------+ | +| | 4 | Guided | | +| +-------+--------------+ | +| | 5 | Loiter | | +| +-------+--------------+ | +| | 6 | RTL | | +| +-------+--------------+ | +| | 7 | Circle | | +| +-------+--------------+ | +| | 9 | Land | | +| +-------+--------------+ | +| | 11 | Drift | | +| +-------+--------------+ | +| | 13 | Sport | | +| +-------+--------------+ | +| | 14 | Flip | | +| +-------+--------------+ | +| | 15 | AutoTune | | +| +-------+--------------+ | +| | 16 | PosHold | | +| +-------+--------------+ | +| | 17 | Brake | | +| +-------+--------------+ | +| | 18 | Throw | | +| +-------+--------------+ | +| | 19 | Avoid_ADSB | | +| +-------+--------------+ | +| | 20 | Guided_NoGPS | | +| +-------+--------------+ | +| | 21 | FlowHold | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _TMODE_ACTION1: + +TMODE\_ACTION1: Tmode action 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left action button is pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_ACTION2: + +TMODE\_ACTION2: Tmode action 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right action button is pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_ACTION3: + +TMODE\_ACTION3: Tmode action 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the power button is pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_ACTION4: + +TMODE\_ACTION4: Tmode action 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left action button is pressed while the left \(Mode\) button is held down + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_ACTION5: + +TMODE\_ACTION5: Tmode action 5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right action is pressed while the left \(Mode\) button is held down + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_ACTION6: + +TMODE\_ACTION6: Tmode action 6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the power button is pressed while the left \(Mode\) button is held down + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_LEFT: + +TMODE\_LEFT: Tmode left action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left \(Mode\) button is pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_LEFT_LONG: + +TMODE\_LEFT\_LONG: Tmode left long action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left \(Mode\) button is long\-pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | 24 | ModeFlowHold | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_TRIM_AUTO: + +TMODE\_TRIM\_AUTO: Stick auto trim limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving\. It is a PWM limit value away from 1500 + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _TMODE_RIGHT: + +TMODE\_RIGHT: Tmode right action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right \(Return\) button is pressed + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | TakePhoto | | +| +-------+-----------------------+ | +| | 2 | ToggleVideo | | +| +-------+-----------------------+ | +| | 3 | ModeAcro | | +| +-------+-----------------------+ | +| | 4 | ModeAltHold | | +| +-------+-----------------------+ | +| | 5 | ModeAuto | | +| +-------+-----------------------+ | +| | 6 | ModeLoiter | | +| +-------+-----------------------+ | +| | 7 | ModeRTL | | +| +-------+-----------------------+ | +| | 8 | ModeCircle | | +| +-------+-----------------------+ | +| | 9 | ModeLand | | +| +-------+-----------------------+ | +| | 10 | ModeDrift | | +| +-------+-----------------------+ | +| | 11 | ModeSport | | +| +-------+-----------------------+ | +| | 12 | ModeAutoTune | | +| +-------+-----------------------+ | +| | 13 | ModePosHold | | +| +-------+-----------------------+ | +| | 14 | ModeBrake | | +| +-------+-----------------------+ | +| | 15 | ModeThrow | | +| +-------+-----------------------+ | +| | 16 | Flip | | +| +-------+-----------------------+ | +| | 17 | ModeStabilize | | +| +-------+-----------------------+ | +| | 18 | Disarm | | +| +-------+-----------------------+ | +| | 19 | ToggleMode | | +| +-------+-----------------------+ | +| | 20 | Arm-Land-RTL | | +| +-------+-----------------------+ | +| | 21 | ToggleSimpleMode | | +| +-------+-----------------------+ | +| | 22 | ToggleSuperSimpleMode | | +| +-------+-----------------------+ | +| | 23 | MotorLoadTest | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _TMODE_FLAGS: + +TMODE\_FLAGS: Tmode flags +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flags to change the behaviour of tmode\. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed\. ArmOnHighThrottle means to arm if throttle is above 80\% for 1 second\. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT\_HOLD\, then auto\-upgrading to LOITER once GPS is available\. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | DisarmOnLowThrottle | | +| +-----+---------------------+ | +| | 1 | ArmOnHighThrottle | | +| +-----+---------------------+ | +| | 2 | UpgradeToLoiter | | +| +-----+---------------------+ | +| | 3 | RTLStickCancel | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _TMODE_VMIN: + +TMODE\_VMIN: Min voltage for output limiting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the battery voltage below which no output limiting is done + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _TMODE_VMAX: + +TMODE\_VMAX: Max voltage for output limiting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the battery voltage above which thrust min is used + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _TMODE_TMIN: + +TMODE\_TMIN: Min thrust multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is high + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_TMAX: + +TMODE\_TMAX: Max thrust multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is low + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_LOAD_MUL: + +TMODE\_LOAD\_MUL: Load test multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the load test output\, as a value between 0 and 1 + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_LOAD_FILT: + +TMODE\_LOAD\_FILT: Load test filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This filters the load test output\. A value of 1 means no filter\. 2 means values are repeated once\. 3 means values are repeated 3 times\, etc + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _TMODE_LOAD_TYPE: + +TMODE\_LOAD\_TYPE: Load test type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the type of load test + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | ConstantThrust | | +| +-------+----------------+ | +| | 1 | LogReplay1 | | +| +-------+----------------+ | +| | 2 | LogReplay2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | MAVLink | | +| +-------+---------------+ | +| | 2 | IntelT265 | | +| +-------+---------------+ | +| | 3 | VOXL(ModalAI) | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 2 | Right | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 6 | Left | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Band A | | +| +-------+--------------+ | +| | 1 | Band B | | +| +-------+--------------+ | +| | 2 | Band E | | +| +-------+--------------+ | +| | 3 | Airwave | | +| +-------+--------------+ | +| | 4 | RaceBand | | +| +-------+--------------+ | +| | 5 | Low RaceBand | | +| +-------+--------------+ | +| | 6 | 1G3 Band A | | +| +-------+--------------+ | +| | 7 | 1G3 Band B | | +| +-------+--------------+ | +| | 8 | Band X | | +| +-------+--------------+ | +| | 9 | 3G3 Band A | | +| +-------+--------------+ | +| | 10 | 3G3 Band B | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++---------------------------------------------------------------------+ +| Bitmask | ++=====================================================================+ +| +-----+-----------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================+ | +| | 0 | Pitmode | | +| +-----+-----------------------------------------------------------+ | +| | 1 | Pitmode until armed | | +| +-----+-----------------------------------------------------------+ | +| | 2 | Pitmode when disarmed | | +| +-----+-----------------------------------------------------------+ | +| | 3 | Unlocked | | +| +-----+-----------------------------------------------------------+ | +| | 4 | Add leading zero byte to requests | | +| +-----+-----------------------------------------------------------+ | +| | 5 | Use 1 stop-bit in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 6 | Ignore CRC in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 7 | Ignore status updates in CRSF and blindly set VTX options | | +| +-----+-----------------------------------------------------------+ | +| | ++---------------------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_WINCH: + +WINCH Parameters +---------------- + + +.. _WINCH_TYPE: + +WINCH\_TYPE: Winch Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch Type + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | PWM | | +| +-------+---------+ | +| | 2 | Daiwa | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _WINCH_RATE_MAX: + +WINCH\_RATE\_MAX: Winch deploy or retract rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch deploy or retract rate maximum\. Set to maximum rate with no load\. + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _WINCH_POS_P: + +WINCH\_POS\_P: Winch control position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch control position error P gain + + ++--------------+ +| Range | ++==============+ +| 0.01 to 10.0 | ++--------------+ + + + + +.. _WINCH_OPTIONS: + +WINCH\_OPTIONS: Winch options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch options + + ++----------------------------------------------------------------------------+ +| Bitmask | ++============================================================================+ +| 0:Spin freely on startup, 1:Verbose output, 2:Retry if stuck (Daiwa only) | ++----------------------------------------------------------------------------+ + + + + + +.. _parameters_WPNAV_: + +WPNAV\_ Parameters +------------------ + + +.. _WPNAV_SPEED: + +WPNAV\_SPEED: Waypoint Horizontal Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 2000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _WPNAV_RADIUS: + +WPNAV\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from a waypoint\, that when crossed indicates the wp has been hit\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 5 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _WPNAV_SPEED_UP: + +WPNAV\_SPEED\_UP: Waypoint Climb Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while climbing during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 1000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _WPNAV_SPEED_DN: + +WPNAV\_SPEED\_DN: Waypoint Descent Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while descending during a WP mission + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 10 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _WPNAV_ACCEL: + +WPNAV\_ACCEL: Waypoint Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _WPNAV_ACCEL_Z: + +WPNAV\_ACCEL\_Z: Waypoint Vertical Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the vertical acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _WPNAV_RFND_USE: + +WPNAV\_RFND\_USE: Waypoint missions use rangefinder for terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _WPNAV_JERK: + +WPNAV\_JERK: Waypoint Jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal jerk in m\/s\/s used during missions + + ++---------+-------------------------+ +| Range | Units | ++=========+=========================+ +| 1 to 20 | meters per cubic second | ++---------+-------------------------+ + + + + +.. _WPNAV_TER_MARGIN: + +WPNAV\_TER\_MARGIN: Waypoint Terrain following altitude margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin\. Vehicle will stop if distance from target altitude is larger than this margin \(in meters\) + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _WPNAV_ACCEL_C: + +WPNAV\_ACCEL\_C: Waypoint Cornering Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum cornering acceleration in cm\/s\/s used during missions\. If zero uses 2x accel value\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 0 to 500 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + + +.. _parameters_WVANE_: + +WVANE\_ Parameters +------------------ + + +.. _WVANE_ENABLE: + +WVANE\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~~~ + + +Enable weather vaning\. When active\, the aircraft will automatically yaw into wind when in a VTOL position controlled mode\. Pilot yaw commands override the weathervaning action\. + + ++------------------------------------------------------------------------------------------------------+ +| Values | ++======================================================================================================+ +| +-------+------------------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================================================================+ | +| | -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------------------------------+ + + + + +.. _WVANE_GAIN: + +WVANE\_GAIN: Weathervaning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This converts the target roll\/pitch angle of the aircraft into the correcting \(into wind\) yaw rate\. e\.g\. Gain \= 2\, roll \= 30 deg\, pitch \= 0 deg\, yaw rate \= 60 deg\/s\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 0.5 to 4 | ++-----------+----------+ + + + + +.. _WVANE_ANG_MIN: + +WVANE\_ANG\_MIN: Weathervaning min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum target roll\/pitch angle before active weathervaning will start\. This provides a dead zone that is particularly useful for poorly trimmed quadplanes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | degrees | ++-----------+---------+---------+ + + + + +.. _WVANE_HGT_MIN: + +WVANE\_HGT\_MIN: Weathervaning min height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Above this height weathervaning is permitted\. If a range finder is fitted or if terrain is enabled\, this parameter sets height AGL\. Otherwise\, this parameter sets height above home\. Set zero to ignore minimum height requirement to activate weathervaning\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _WVANE_SPD_MAX: + +WVANE\_SPD\_MAX: Weathervaning max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Below this ground speed weathervaning is permitted\. Set to 0 to ignore this condition when checking if vehicle should weathervane\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _WVANE_VELZ_MAX: + +WVANE\_VELZ\_MAX: Weathervaning max vertical speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum climb or descent speed that the vehicle will still attempt to weathervane\. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb\/descent rate\. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _WVANE_TAKEOFF: + +WVANE\_TAKEOFF: Takeoff override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in takeoffs + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | -1 | No override | | +| +-------+------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _WVANE_LAND: + +WVANE\_LAND: Landing override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in landing + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | -1 | No override | | +| +-------+------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _WVANE_OPTIONS: + +WVANE\_OPTIONS: Weathervaning options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options impacting weathervaning behaviour + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Use pitch when nose or tail-in for faster weathervaning | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + + +.. _parameters_ZIGZ_: + +ZIGZ\_ Parameters +----------------- + + +.. _ZIGZ_AUTO_ENABLE: + +ZIGZ\_AUTO\_ENABLE: ZigZag auto enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) ZigZag auto feature + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ZIGZ_SPRAYER: + +ZIGZ\_SPRAYER: Auto sprayer in ZigZag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable the auto sprayer in ZigZag mode\. SPRAY\_ENABLE \= 1 and SERVOx\_FUNCTION \= 22\(SprayerPump\) \/ 23\(SprayerSpinner\) also must be set\. This makes the sprayer on while moving to destination A or B\. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ZIGZ_WP_DELAY: + +ZIGZ\_WP\_DELAY: The delay for zigzag waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waiting time after reached the destination + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | seconds | ++----------+---------+ + + + + +.. _ZIGZ_SIDE_DIST: + +ZIGZ\_SIDE\_DIST: Sideways distance in ZigZag auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The distance to move sideways in ZigZag mode + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _ZIGZ_DIRECTION: + +ZIGZ\_DIRECTION: Sideways direction in ZigZag auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The direction to move sideways in ZigZag mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | forward | | +| +-------+----------+ | +| | 1 | right | | +| +-------+----------+ | +| | 2 | backward | | +| +-------+----------+ | +| | 3 | left | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ZIGZ_LINE_NUM: + +ZIGZ\_LINE\_NUM: Total number of lines +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Total number of lines for ZigZag auto if 1 or more\. \-1\: Infinity\, 0\: Just moving to sideways + + ++-------------+ +| Range | ++=============+ +| -1 to 32767 | ++-------------+ + + + diff --git a/Copter-4.6/ParametersLatex.rst b/Copter-4.6/ParametersLatex.rst new file mode 100644 index 0000000..4f6858e --- /dev/null +++ b/Copter-4.6/ParametersLatex.rst @@ -0,0 +1,115597 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_ArduCopter: + +ArduCopter Parameters +--------------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: My ground station number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows restricting radio overrides to only come from my ground station + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _PILOT_THR_FILT: + +PILOT\_THR\_FILT: Throttle filter cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle filter cutoff \(Hz\) \- active whenever altitude control is inactive \- 0 to disable + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| .5 | 0 to 10 | hertz | ++-----------+---------+-------+ + + + + +.. _PILOT_TKOFF_ALT: + +PILOT\_TKOFF\_ALT: Pilot takeoff altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick\. + + ++-----------+---------------+-------------+ +| Increment | Range | Units | ++===========+===============+=============+ +| 10 | 0.0 to 1000.0 | centimeters | ++-----------+---------------+-------------+ + + + + +.. _PILOT_THR_BHV: + +PILOT\_THR\_BHV: Throttle stick behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask containing various throttle stick options\. TX with sprung throttle can set PILOT\_THR\_BHV to \"1\" so motor feedback when landed starts from mid\-stick instead of bottom of stick\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | Feedback from mid stick | ++-----+-------------------------------+ +| 1 | High throttle cancels landing | ++-----+-------------------------------+ +| 2 | Disarm on land detection | ++-----+-------------------------------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ +| 3 | AccelZ | ++-----+---------+ + + + + +.. _RTL_ALT: + +RTL\_ALT: RTL Altitude +~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum alt above home the vehicle will climb to before returning\. If the vehicle is flying higher than this value it will return at its current altitude\. + + ++-----------+--------------+-------------+ +| Increment | Range | Units | ++===========+==============+=============+ +| 1 | 30 to 300000 | centimeters | ++-----------+--------------+-------------+ + + + + +.. _RTL_CONE_SLOPE: + +RTL\_CONE\_SLOPE: RTL cone slope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines a cone above home which determines maximum climb + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Shallow | ++-------+----------+ +| 3 | Steep | ++-------+----------+ + + + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| .1 | 0.5 to 10.0 | ++-----------+-------------+ + + + + +.. _RTL_SPEED: + +RTL\_SPEED: RTL speed +~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally while flying home\. If this is set to zero\, WPNAV\_SPEED will be used instead\. + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 50 | 0 to 2000 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _RTL_ALT_FINAL: + +RTL\_ALT\_FINAL: RTL Final Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission\. Set to zero to land\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 0 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _RTL_CLIMB_MIN: + +RTL\_CLIMB\_MIN: RTL minimum climb +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle will climb this many cm during the initial climb portion of the RTL + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 10 | 0 to 3000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _RTL_LOIT_TIME: + +RTL\_LOIT\_TIME: RTL loiter time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time \(in milliseconds\) to loiter above home before beginning final descent + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1000 | 0 to 60000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _RTL_ALT_TYPE: + +RTL\_ALT\_TYPE: RTL mode altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RTL altitude type\. Set to 1 for Terrain following during RTL and then set WPNAV\_RFND\_USE\=1 to use rangefinder or WPNAV\_RFND\_USE\=0 to use Terrain database + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Relative to Home | ++-------+------------------+ +| 1 | Terrain | ++-------+------------------+ + + + + +.. _FS_GCS_ENABLE: + +FS\_GCS\_ENABLE: Ground Station Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls whether failsafe will be invoked \(and what action to take\) when connection with Ground station is lost for at least 5 seconds\. See FS\_OPTIONS param for additional actions\, or for cases allowing Mission continuation\, when GCS failsafe is enabled\. + + ++-------+----------------------------------------------------------------------------+ +| Value | Meaning | ++=======+============================================================================+ +| 0 | Disabled/NoAction | ++-------+----------------------------------------------------------------------------+ +| 1 | RTL | ++-------+----------------------------------------------------------------------------+ +| 2 | RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS) | ++-------+----------------------------------------------------------------------------+ +| 3 | SmartRTL or RTL | ++-------+----------------------------------------------------------------------------+ +| 4 | SmartRTL or Land | ++-------+----------------------------------------------------------------------------+ +| 5 | Land | ++-------+----------------------------------------------------------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+----------------------------------------------------------------------------+ +| 7 | Brake or Land | ++-------+----------------------------------------------------------------------------+ + + + + +.. _GPS_HDOP_GOOD: + +GPS\_HDOP\_GOOD: GPS Hdop Good +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Hdop value at or below this value represent a good position\. Used for pre\-arm checks + + ++------------+ +| Range | ++============+ +| 100 to 900 | ++------------+ + + + + +.. _SUPER_SIMPLE: + +SUPER\_SIMPLE: Super Simple Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask to enable Super Simple mode for some flight modes\. Setting this to Disabled\(0\) will disable Super Simple Mode\. The bitmask is for flight mode switch positions + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | SwitchPos1 | ++-----+------------+ +| 1 | SwitchPos2 | ++-----+------------+ +| 2 | SwitchPos3 | ++-----+------------+ +| 3 | SwitchPos4 | ++-----+------------+ +| 4 | SwitchPos5 | ++-----+------------+ +| 5 | SwitchPos6 | ++-----+------------+ + + + + +.. _WP_YAW_BEHAVIOR: + +WP\_YAW\_BEHAVIOR: Yaw behaviour during missions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Determines how the autopilot controls the yaw during missions and RTL + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | Never change yaw | ++-------+-------------------------------+ +| 1 | Face next waypoint | ++-------+-------------------------------+ +| 2 | Face next waypoint except RTL | ++-------+-------------------------------+ +| 3 | Face along GPS course | ++-------+-------------------------------+ + + + + +.. _LAND_SPEED: + +LAND\_SPEED: Land speed +~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the final stage of landing in cm\/s + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 30 to 200 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _LAND_SPEED_HIGH: + +LAND\_SPEED\_HIGH: Land speed high +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the first stage of landing in cm\/s\. If this is zero then WPNAV\_SPEED\_DN is used + + ++-----------+----------+------------------------+ +| Increment | Range | Units | ++===========+==========+========================+ +| 10 | 0 to 500 | centimeters per second | ++-----------+----------+------------------------+ + + + + +.. _PILOT_SPEED_UP: + +PILOT\_SPEED\_UP: Pilot maximum vertical speed ascending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical ascending velocity the pilot may request in cm\/s + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 50 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _PILOT_ACCEL_Z: + +PILOT\_ACCEL\_Z: Pilot vertical acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vertical acceleration used when pilot is controlling the altitude + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _FS_THR_ENABLE: + +FS\_THR\_ENABLE: Throttle Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel + + ++-------+--------------------------------------------------------------+ +| Value | Meaning | ++=======+==============================================================+ +| 0 | Disabled | ++-------+--------------------------------------------------------------+ +| 1 | Enabled always RTL | ++-------+--------------------------------------------------------------+ +| 2 | Enabled Continue with Mission in Auto Mode (Removed in 4.0+) | ++-------+--------------------------------------------------------------+ +| 3 | Enabled always Land | ++-------+--------------------------------------------------------------+ +| 4 | Enabled always SmartRTL or RTL | ++-------+--------------------------------------------------------------+ +| 5 | Enabled always SmartRTL or Land | ++-------+--------------------------------------------------------------+ +| 6 | Enabled Auto DO_LAND_START or RTL | ++-------+--------------------------------------------------------------+ +| 7 | Enabled always Brake or Land | ++-------+--------------------------------------------------------------+ + + + + +.. _FS_THR_VALUE: + +FS\_THR\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level in microseconds on channel 3 below which throttle failsafe triggers + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 910 to 1100 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _THR_DZ: + +THR\_DZ: Throttle deadzone +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The deadzone above and below mid throttle in PWM microseconds\. Used in AltHold\, Loiter\, PosHold flight modes + + ++-----------+----------+---------------------+ +| Increment | Range | Units | ++===========+==========+=====================+ +| 1 | 0 to 300 | PWM in microseconds | ++-----------+----------+---------------------+ + + + + +.. _FLTMODE1: + +FLTMODE1: Flight Mode 1 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \<\= 1230 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE2: + +FLTMODE2: Flight Mode 2 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1230\, \<\= 1360 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE3: + +FLTMODE3: Flight Mode 3 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1360\, \<\= 1490 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE4: + +FLTMODE4: Flight Mode 4 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1490\, \<\= 1620 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE5: + +FLTMODE5: Flight Mode 5 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>1620\, \<\= 1749 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE6: + +FLTMODE6: Flight Mode 6 +~~~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode when pwm of Flightmode channel\(FLTMODE\_CH\) is \>\=1750 + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ +| 27 | Auto RTL | ++-------+-----------------+ +| 28 | Turtle | ++-------+-----------------+ + + + + +.. _FLTMODE_CH: + +FLTMODE\_CH: Flightmode channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 5 | Channel5 | ++-------+------------+ +| 6 | Channel6 | ++-------+------------+ +| 7 | Channel7 | ++-------+------------+ +| 8 | Channel8 | ++-------+------------+ +| 9 | Channel9 | ++-------+------------+ +| 10 | Channel 10 | ++-------+------------+ +| 11 | Channel 11 | ++-------+------------+ +| 12 | Channel 12 | ++-------+------------+ +| 13 | Channel 13 | ++-------+------------+ +| 14 | Channel 14 | ++-------+------------+ +| 15 | Channel 15 | ++-------+------------+ + + + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial flight mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Stabilize | ++-------+-----------------+ +| 1 | Acro | ++-------+-----------------+ +| 2 | AltHold | ++-------+-----------------+ +| 3 | Auto | ++-------+-----------------+ +| 4 | Guided | ++-------+-----------------+ +| 5 | Loiter | ++-------+-----------------+ +| 6 | RTL | ++-------+-----------------+ +| 7 | Circle | ++-------+-----------------+ +| 9 | Land | ++-------+-----------------+ +| 11 | Drift | ++-------+-----------------+ +| 13 | Sport | ++-------+-----------------+ +| 14 | Flip | ++-------+-----------------+ +| 15 | AutoTune | ++-------+-----------------+ +| 16 | PosHold | ++-------+-----------------+ +| 17 | Brake | ++-------+-----------------+ +| 18 | Throw | ++-------+-----------------+ +| 19 | Avoid_ADSB | ++-------+-----------------+ +| 20 | Guided_NoGPS | ++-------+-----------------+ +| 21 | Smart_RTL | ++-------+-----------------+ +| 22 | FlowHold | ++-------+-----------------+ +| 23 | Follow | ++-------+-----------------+ +| 24 | ZigZag | ++-------+-----------------+ +| 25 | SystemID | ++-------+-----------------+ +| 26 | Heli_Autorotate | ++-------+-----------------+ + + + + +.. _SIMPLE: + +SIMPLE: Simple mode bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask which holds which flight modes use simple heading mode \(eg bit 0 \= 1 means Flight Mode 0 uses simple mode\)\. The bitmask is for flightmode switch positions\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | SwitchPos1 | ++-----+------------+ +| 1 | SwitchPos2 | ++-----+------------+ +| 2 | SwitchPos3 | ++-----+------------+ +| 3 | SwitchPos4 | ++-----+------------+ +| 4 | SwitchPos5 | ++-----+------------+ +| 5 | SwitchPos6 | ++-----+------------+ + + + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what on\-board log types to enable\. This value is made up of the sum of each of the log types you want to be saved\. It is usually best just to enable all basiclog types by setting this to 65535\. + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 0 | Fast Attitude | ++-----+-----------------------------+ +| 1 | Medium Attitude | ++-----+-----------------------------+ +| 2 | GPS | ++-----+-----------------------------+ +| 3 | System Performance | ++-----+-----------------------------+ +| 4 | Control Tuning | ++-----+-----------------------------+ +| 5 | Navigation Tuning | ++-----+-----------------------------+ +| 6 | RC input | ++-----+-----------------------------+ +| 7 | IMU | ++-----+-----------------------------+ +| 8 | Mission Commands | ++-----+-----------------------------+ +| 9 | Battery Monitor | ++-----+-----------------------------+ +| 10 | RC output | ++-----+-----------------------------+ +| 11 | Optical Flow | ++-----+-----------------------------+ +| 12 | PID | ++-----+-----------------------------+ +| 13 | Compass | ++-----+-----------------------------+ +| 15 | Camera | ++-----+-----------------------------+ +| 17 | Motors | ++-----+-----------------------------+ +| 18 | Fast IMU | ++-----+-----------------------------+ +| 19 | Raw IMU | ++-----+-----------------------------+ +| 20 | Video Stabilization | ++-----+-----------------------------+ +| 21 | Fast harmonic notch logging | ++-----+-----------------------------+ + + + + +.. _ESC_CALIBRATION: + +ESC\_CALIBRATION: ESC Calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether ArduCopter will enter ESC calibration on the next restart\. Do not adjust this parameter manually\. + + ++-------+---------------------------------------------------------+ +| Value | Meaning | ++=======+=========================================================+ +| 0 | Normal Start-up | ++-------+---------------------------------------------------------+ +| 1 | Start-up in ESC Calibration mode if throttle high | ++-------+---------------------------------------------------------+ +| 2 | Start-up in ESC Calibration mode regardless of throttle | ++-------+---------------------------------------------------------+ +| 3 | Start-up and automatically calibrate ESCs | ++-------+---------------------------------------------------------+ +| 9 | Disabled | ++-------+---------------------------------------------------------+ + + + + +.. _TUNE: + +TUNE: Channel 6 Tuning +~~~~~~~~~~~~~~~~~~~~~~ + + +Controls which parameters \(normally PID gains\) are being tuned with transmitter\'s channel 6 knob + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | Stab Roll/Pitch kP | ++-------+-----------------------+ +| 4 | Rate Roll/Pitch kP | ++-------+-----------------------+ +| 5 | Rate Roll/Pitch kI | ++-------+-----------------------+ +| 21 | Rate Roll/Pitch kD | ++-------+-----------------------+ +| 3 | Stab Yaw kP | ++-------+-----------------------+ +| 6 | Rate Yaw kP | ++-------+-----------------------+ +| 26 | Rate Yaw kD | ++-------+-----------------------+ +| 56 | Rate Yaw Filter | ++-------+-----------------------+ +| 55 | Motor Yaw Headroom | ++-------+-----------------------+ +| 14 | AltHold kP | ++-------+-----------------------+ +| 7 | Throttle Rate kP | ++-------+-----------------------+ +| 34 | Throttle Accel kP | ++-------+-----------------------+ +| 35 | Throttle Accel kI | ++-------+-----------------------+ +| 36 | Throttle Accel kD | ++-------+-----------------------+ +| 12 | Loiter Pos kP | ++-------+-----------------------+ +| 22 | Velocity XY kP | ++-------+-----------------------+ +| 28 | Velocity XY kI | ++-------+-----------------------+ +| 10 | WP Speed | ++-------+-----------------------+ +| 25 | Acro Roll/Pitch deg/s | ++-------+-----------------------+ +| 40 | Acro Yaw deg/s | ++-------+-----------------------+ +| 45 | RC Feel | ++-------+-----------------------+ +| 13 | Heli Ext Gyro | ++-------+-----------------------+ +| 38 | Declination | ++-------+-----------------------+ +| 39 | Circle Rate | ++-------+-----------------------+ +| 46 | Rate Pitch kP | ++-------+-----------------------+ +| 47 | Rate Pitch kI | ++-------+-----------------------+ +| 48 | Rate Pitch kD | ++-------+-----------------------+ +| 49 | Rate Roll kP | ++-------+-----------------------+ +| 50 | Rate Roll kI | ++-------+-----------------------+ +| 51 | Rate Roll kD | ++-------+-----------------------+ +| 52 | Rate Pitch FF | ++-------+-----------------------+ +| 53 | Rate Roll FF | ++-------+-----------------------+ +| 54 | Rate Yaw FF | ++-------+-----------------------+ +| 58 | SysID Magnitude | ++-------+-----------------------+ +| 59 | PSC Angle Max | ++-------+-----------------------+ + + + + +.. _FRAME_TYPE: + +FRAME\_TYPE: Frame Type \(\+\, X\, V\, etc\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls motor mixing for multicopters\. Not used for Tri or Traditional Helicopters\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | Plus | ++-------+---------------------+ +| 1 | X | ++-------+---------------------+ +| 2 | V | ++-------+---------------------+ +| 3 | H | ++-------+---------------------+ +| 4 | V-Tail | ++-------+---------------------+ +| 5 | A-Tail | ++-------+---------------------+ +| 10 | Y6B | ++-------+---------------------+ +| 11 | Y6F | ++-------+---------------------+ +| 12 | BetaFlightX | ++-------+---------------------+ +| 13 | DJIX | ++-------+---------------------+ +| 14 | ClockwiseX | ++-------+---------------------+ +| 15 | I | ++-------+---------------------+ +| 18 | BetaFlightXReversed | ++-------+---------------------+ +| 19 | Y4 | ++-------+---------------------+ + + + + +.. _DISARM_DELAY: + +DISARM\_DELAY: Disarm delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay before automatic disarm in seconds after landing touchdown detection\. A value of zero disables auto disarm\. If Emergency Motor stop active\, delay time is half this value\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | seconds | ++----------+---------+ + + + + +.. _ANGLE_MAX: + +ANGLE\_MAX: Angle Max +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle in all flight modes + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 1000 to 8000 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _PHLD_BRAKE_RATE: + +PHLD\_BRAKE\_RATE: PosHold braking rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PosHold flight mode\'s rotation rate during braking in deg\/sec + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 4 to 12 | degrees per second | ++---------+--------------------+ + + + + +.. _PHLD_BRAKE_ANGLE: + +PHLD\_BRAKE\_ANGLE: PosHold braking angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PosHold flight mode\'s max lean angle during braking in centi\-degrees + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 2000 to 4500 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _LAND_REPOSITION: + +LAND\_REPOSITION: Land repositioning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables user input during LAND mode\, the landing phase of RTL\, and auto mode landings\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | No repositioning | ++-------+------------------+ +| 1 | Repositioning | ++-------+------------------+ + + + + +.. _FS_EKF_ACTION: + +FS\_EKF\_ACTION: EKF Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 1 | Land | ++-------+------------------------+ +| 2 | AltHold | ++-------+------------------------+ +| 3 | Land even in Stabilize | ++-------+------------------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass\, velocity\, position and height variances\. Used in arming check and EKF failsafe\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.6 | Strict | ++-------+---------+ +| 0.8 | Default | ++-------+---------+ +| 1.0 | Relaxed | ++-------+---------+ + + + + +.. _FS_CRASH_CHECK: + +FS\_CRASH\_CHECK: Crash check enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables automatic crash checking\. When enabled the motors will disarm if a crash is detected\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RC_SPEED: + +RC\_SPEED: ESC Update Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the speed in Hertz that your ESCs will receive updates + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 1 | 50 to 490 | hertz | ++-----------+-----------+-------+ + + + + +.. _ACRO_BAL_ROLL: + +ACRO\_BAL\_ROLL: Acro Balance Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +rate at which roll angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\. For helicopter sets the decay rate of the virtual flybar in the roll axis\. A higher value causes faster decay of desired to actual attitude\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 3 | ++-----------+--------+ + + + + +.. _ACRO_BAL_PITCH: + +ACRO\_BAL\_PITCH: Acro Balance Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +rate at which pitch angle returns to level in acro and sport mode\. A higher value causes the vehicle to return to level faster\. For helicopter sets the decay rate of the virtual flybar in the pitch axis\. A higher value causes faster decay of desired to actual attitude\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 3 | ++-----------+--------+ + + + + +.. _ACRO_TRAINER: + +ACRO\_TRAINER: Acro Trainer +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Type of trainer used in acro mode + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Disabled | ++-------+----------------------+ +| 1 | Leveling | ++-------+----------------------+ +| 2 | Leveling and Limited | ++-------+----------------------+ + + + + +.. _THROW_MOT_START: + +THROW\_MOT\_START: Start motors before throwing is detected +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used by Throw mode\. Controls whether motors will run at the speed set by MOT\_SPIN\_MIN or will be stopped when armed and waiting for the throw\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Stopped | ++-------+---------+ +| 1 | Running | ++-------+---------+ + + + + +.. _THROW_ALT_MIN: + +THROW\_ALT\_MIN: Throw mode minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum altitude above which Throw mode will detect a throw or a drop \- 0 to disable the check + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _THROW_ALT_MAX: + +THROW\_ALT\_MAX: Throw mode maximum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum altitude under which Throw mode will detect a throw or a drop \- 0 to disable the check + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _WP_NAVALT_MIN: + +WP\_NAVALT\_MIN: Minimum navigation altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude in meters above which for navigation can begin\. This applies in auto takeoff and auto landing\. + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _THROW_NEXTMODE: + +THROW\_NEXTMODE: Throw mode\'s follow up mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will switch to this mode after the throw is successfully completed\. Default is to stay in throw mode \(18\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 3 | Auto | ++-------+---------+ +| 4 | Guided | ++-------+---------+ +| 5 | LOITER | ++-------+---------+ +| 6 | RTL | ++-------+---------+ +| 9 | Land | ++-------+---------+ +| 17 | Brake | ++-------+---------+ +| 18 | Throw | ++-------+---------+ + + + + +.. _THROW_TYPE: + +THROW\_TYPE: Type of Type +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used by Throw mode\. Specifies whether Copter is thrown upward or dropped\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Upward Throw | ++-------+--------------+ +| 1 | Drop | ++-------+--------------+ + + + + +.. _GND_EFFECT_COMP: + +GND\_EFFECT\_COMP: Ground Effect Compensation Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ground Effect Compensation Enable\/Disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DEV_OPTIONS: + +DEV\_OPTIONS: Development options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of developer options\. The meanings of the bit fields in this parameter may vary at any time\. Developers should check the source code for current meaning + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 0 | ADSBMavlinkProcessing | ++-----+-----------------------------+ +| 1 | DevOptionVFR_HUDRelativeAlt | ++-----+-----------------------------+ + + + + +.. _ACRO_THR_MID: + +ACRO\_THR\_MID: Acro Thr Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro Throttle Mid + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotEnforced | ++-------+-------------+ +| 1 | Enforced | ++-------+-------------+ + + + + +.. _FRAME_CLASS: + +FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls major frame class for multicopter component + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Undefined | ++-------+--------------------------+ +| 1 | Quad | ++-------+--------------------------+ +| 2 | Hexa | ++-------+--------------------------+ +| 3 | Octa | ++-------+--------------------------+ +| 4 | OctaQuad | ++-------+--------------------------+ +| 5 | Y6 | ++-------+--------------------------+ +| 6 | Heli | ++-------+--------------------------+ +| 7 | Tri | ++-------+--------------------------+ +| 8 | SingleCopter | ++-------+--------------------------+ +| 9 | CoaxCopter | ++-------+--------------------------+ +| 10 | BiCopter | ++-------+--------------------------+ +| 11 | Heli_Dual | ++-------+--------------------------+ +| 12 | DodecaHexa | ++-------+--------------------------+ +| 13 | HeliQuad | ++-------+--------------------------+ +| 14 | Deca | ++-------+--------------------------+ +| 15 | Scripting Matrix | ++-------+--------------------------+ +| 16 | 6DoF Scripting | ++-------+--------------------------+ +| 17 | Dynamic Scripting Matrix | ++-------+--------------------------+ + + + + +.. _PILOT_SPEED_DN: + +PILOT\_SPEED\_DN: Pilot maximum vertical speed descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical descending velocity the pilot may request in cm\/s\. If 0 PILOT\_SPEED\_UP value is used\. + + ++-----------+----------+------------------------+ +| Increment | Range | Units | ++===========+==========+========================+ +| 10 | 0 to 500 | centimeters per second | ++-----------+----------+------------------------+ + + + + +.. _LAND_ALT_LOW: + +LAND\_ALT\_LOW: Land alt low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude during Landing at which vehicle slows to LAND\_SPEED + + ++-----------+--------------+-------------+ +| Increment | Range | Units | ++===========+==============+=============+ +| 10 | 100 to 10000 | centimeters | ++-----------+--------------+-------------+ + + + + +.. _TUNE_MIN: + +TUNE\_MIN: Tuning minimum +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value that the parameter currently being tuned with the transmitter\'s channel 6 knob will be set to + + +.. _TUNE_MAX: + +TUNE\_MAX: Tuning maximum +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value that the parameter currently being tuned with the transmitter\'s channel 6 knob will be set to + + +.. _FS_VIBE_ENABLE: + +FS\_VIBE\_ENABLE: Vibration Failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FS_OPTIONS: + +FS\_OPTIONS: Failsafe options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of additional options for battery\, radio\, \& GCS failsafes\. 0 \(default\) disables all options\. + + ++-----+-------------------------------------------------------+ +| Bit | Meaning | ++=====+=======================================================+ +| 0 | Continue if in Auto on RC failsafe | ++-----+-------------------------------------------------------+ +| 1 | Continue if in Auto on GCS failsafe | ++-----+-------------------------------------------------------+ +| 2 | Continue if in Guided on RC failsafe | ++-----+-------------------------------------------------------+ +| 3 | Continue if landing on any failsafe | ++-----+-------------------------------------------------------+ +| 4 | Continue if in pilot controlled modes on GCS failsafe | ++-----+-------------------------------------------------------+ +| 5 | Release Gripper | ++-----+-------------------------------------------------------+ + + + + +.. _ACRO_OPTIONS: + +ACRO\_OPTIONS: Acro mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A range of options that can be applied to change acro mode behaviour\. Air\-mode enables ATC\_THR\_MIX\_MAN at all times \(air\-mode has no effect on helicopters\)\. Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | Air-mode | ++-----+----------------+ +| 1 | Rate Loop Only | ++-----+----------------+ + + + + +.. _AUTO_OPTIONS: + +AUTO\_OPTIONS: Auto mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A range of options that can be applied to change auto mode behaviour\. Allow Arming allows the copter to be armed in Auto\. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle\. Ignore pilot yaw overrides the pilot\'s yaw stick being used while in auto\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Allow Arming | ++-----+----------------------------------------+ +| 1 | Allow Takeoff Without Raising Throttle | ++-----+----------------------------------------+ +| 2 | Ignore pilot yaw | ++-----+----------------------------------------+ +| 7 | Allow weathervaning | ++-----+----------------------------------------+ + + + + +.. _GUID_OPTIONS: + +GUID\_OPTIONS: Guided mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + + ++-----+-----------------------------------------------+ +| Bit | Meaning | ++=====+===============================================+ +| 0 | Allow Arming from Transmitter | ++-----+-----------------------------------------------+ +| 2 | Ignore pilot yaw | ++-----+-----------------------------------------------+ +| 3 | SetAttitudeTarget interprets Thrust As Thrust | ++-----+-----------------------------------------------+ +| 4 | Do not stabilize PositionXY | ++-----+-----------------------------------------------+ +| 5 | Do not stabilize VelocityXY | ++-----+-----------------------------------------------+ +| 6 | Waypoint navigation used for position targets | ++-----+-----------------------------------------------+ +| 7 | Allow weathervaning | ++-----+-----------------------------------------------+ + + + + +.. _FS_GCS_TIMEOUT: + +FS\_GCS\_TIMEOUT: GCS failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Timeout before triggering the GCS failsafe + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 2 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _RTL_OPTIONS: + +RTL\_OPTIONS: RTL mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change RTL mode behaviour + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 2 | Ignore pilot yaw | ++-----+------------------+ + + + + +.. _FLIGHT_OPTIONS: + +FLIGHT\_OPTIONS: Flight mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Flight mode specific options + + ++-----+--------------------------------+ +| Bit | Meaning | ++=====+================================+ +| 0 | Disable thrust loss check | ++-----+--------------------------------+ +| 1 | Disable yaw imbalance warning | ++-----+--------------------------------+ +| 2 | Release gripper on thrust loss | ++-----+--------------------------------+ +| 3 | Require position for arming | ++-----+--------------------------------+ + + + + +.. _RNGFND_FILT: + +RNGFND\_FILT: Rangefinder filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Rangefinder filter to smooth distance\. Set to zero to disable filtering + + ++-----------+--------+-------+ +| Increment | Range | Units | ++===========+========+=======+ +| 0.05 | 0 to 5 | hertz | ++-----------+--------+-------+ + + + + +.. _GUID_TIMEOUT: + +GUID\_TIMEOUT: Guided mode timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller\. Only applicable during any combination of velocity\, acceleration\, angle control\, and\/or angular rate control + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0.1 to 5 | seconds | ++----------+---------+ + + + + +.. _SURFTRAK_MODE: + +SURFTRAK\_MODE: Surface Tracking Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +set which surface to track in surface tracking + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Do not track | ++-------+--------------+ +| 1 | Ground | ++-------+--------------+ +| 2 | Ceiling | ++-------+--------------+ + + + + +.. _FS_DR_ENABLE: + +FS\_DR\_ENABLE: DeadReckon Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Failsafe action taken immediately as deadreckoning starts\. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | Disabled/NoAction | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _FS_DR_TIMEOUT: + +FS\_DR\_TIMEOUT: DeadReckon Failsafe Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DeadReckoning is available for this many seconds after losing position and\/or velocity source\. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _ACRO_RP_RATE: + +ACRO\_RP\_RATE: Acro Roll and Pitch Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode maximum roll and pitch rate\. Higher values mean faster rate of rotation + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 1 to 1080 | degrees per second | ++-----------+--------------------+ + + + + +.. _ACRO_RP_EXPO: + +ACRO\_RP\_EXPO: Acro Roll\/Pitch Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro roll\/pitch Expo to allow faster rotation when stick at edges + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + ++--------------+ +| Range | ++==============+ +| -0.5 to 0.95 | ++--------------+ + + + + +.. _ACRO_RP_RATE_TC: + +ACRO\_RP\_RATE\_TC: Acro roll\/pitch rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro roll and pitch rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _ACRO_Y_RATE: + +ACRO\_Y\_RATE: Acro Yaw Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode maximum yaw rate\. Higher value means faster rate of rotation + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _ACRO_Y_EXPO: + +ACRO\_Y\_EXPO: Acro Yaw Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Acro yaw expo to allow faster rotation when stick at edges + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + ++--------------+ +| Range | ++==============+ +| -1.0 to 0.95 | ++--------------+ + + + + +.. _ACRO_Y_RATE_TC: + +ACRO\_Y\_RATE\_TC: Acro yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _PILOT_Y_RATE: + +PILOT\_Y\_RATE: Pilot controlled yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot controlled yaw rate max\. Used in all pilot controlled modes except Acro + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _PILOT_Y_EXPO: + +PILOT\_Y\_EXPO: Pilot controlled yaw expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + ++-------------+ +| Range | ++=============+ +| -0.5 to 1.0 | ++-------------+ + + + + +.. _PILOT_Y_RATE_TC: + +PILOT\_Y\_RATE\_TC: Pilot yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _TKOFF_SLEW_TIME: + +TKOFF\_SLEW\_TIME: Slew time of throttle during take\-off +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 5.0 | seconds | ++-------------+---------+ + + + + +.. _TKOFF_RPM_MIN: + +TKOFF\_RPM\_MIN: Takeoff Check RPM minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Takeoff is not permitted until motors report at least this RPM\. Set to zero to disable check + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _PLDP_THRESH: + +PLDP\_THRESH: Payload Place thrust ratio threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio of vertical thrust during decent below which payload touchdown will trigger\. + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _PLDP_RNG_MAX: + +PLDP\_RNG\_MAX: Payload Place maximum range finder altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum range finder altitude in m to trigger payload touchdown\, set to zero to disable\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _PLDP_DELAY: + +PLDP\_DELAY: Payload Place climb delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay after release\, in seconds\, before aircraft starts to climb back to starting altitude\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _PLDP_SPEED_DN: + +PLDP\_SPEED\_DN: Payload Place decent speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical decent velocity in m\/s\. If 0 LAND\_SPEED value is used\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 5 | meters per second | ++--------+-------------------+ + + + + +.. _SURFTRAK_TC: + +SURFTRAK\_TC: Surface Tracking Filter Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time to achieve 63\.2\% of the surface altitude measurement change\. If 0 filtering is disabled + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _TKOFF_THR_MAX: + +TKOFF\_THR\_MAX: Takeoff maximum throttle during take\-off ramp up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process\. + + ++------------+ +| Range | ++============+ +| 0.0 to 0.9 | ++------------+ + + + + +.. _TKOFF_RPM_MAX: + +TKOFF\_RPM\_MAX: Takeoff Check RPM maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Takeoff is not permitted until motors report no more than this RPM\. Set to zero to disable check + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _FS_EKF_FILT: + +FS\_EKF\_FILT: EKF Failsafe filter cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Failsafe filter cutoff frequency\. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances\. A higher value means the failsafe is more likely to trigger\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 10 | hertz | ++---------+-------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Stabilize | ++-----+-----------------+ +| 1 | Acro | ++-----+-----------------+ +| 2 | AltHold | ++-----+-----------------+ +| 3 | Auto | ++-----+-----------------+ +| 4 | Guided | ++-----+-----------------+ +| 5 | Loiter | ++-----+-----------------+ +| 6 | Circle | ++-----+-----------------+ +| 7 | Drift | ++-----+-----------------+ +| 8 | Sport | ++-----+-----------------+ +| 9 | Flip | ++-----+-----------------+ +| 10 | AutoTune | ++-----+-----------------+ +| 11 | PosHold | ++-----+-----------------+ +| 12 | Brake | ++-----+-----------------+ +| 13 | Throw | ++-----+-----------------+ +| 14 | Avoid_ADSB | ++-----+-----------------+ +| 15 | Guided_NoGPS | ++-----+-----------------+ +| 16 | Smart_RTL | ++-----+-----------------+ +| 17 | FlowHold | ++-----+-----------------+ +| 18 | Follow | ++-----+-----------------+ +| 19 | ZigZag | ++-----+-----------------+ +| 20 | SystemID | ++-----+-----------------+ +| 21 | Heli_Autorotate | ++-----+-----------------+ +| 22 | Auto RTL | ++-----+-----------------+ +| 23 | Turtle | ++-----+-----------------+ + + + + + +.. _parameters_Lua Script: + +Lua Script Parameters +--------------------- + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_PERIOD: + +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in High Latency mode\, send Rockblock updates every N seconds + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _RCK_DEBUG: + +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sends Rockblock debug text to GCS via statustexts + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_ENABLE: + +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables the Rockblock sending and recieving + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_ENABLE: + +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable parameter reversion system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_RC_FUNC: + +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to used to trigger parameter reversion + + +.. _PLND_ALT_CUTOFF: + +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _POI_DIST_MAX: + +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +POI\'s max distance \(in meters\) from the vehicle + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _CAM1_THERM_PAL: + +CAM1\_THERM\_PAL: Camera1 Thermal Palette +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image colour palette + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| -1 | Leave Unchanged | ++-------+-----------------+ +| 0 | WhiteHot | ++-------+-----------------+ +| 2 | Sepia | ++-------+-----------------+ +| 3 | IronBow | ++-------+-----------------+ +| 4 | Rainbow | ++-------+-----------------+ +| 5 | Night | ++-------+-----------------+ +| 6 | Aurora | ++-------+-----------------+ +| 7 | RedHot | ++-------+-----------------+ +| 8 | Jungle | ++-------+-----------------+ +| 9 | Medical | ++-------+-----------------+ +| 10 | BlackHot | ++-------+-----------------+ +| 11 | GloryHot | ++-------+-----------------+ + + + + +.. _CAM1_THERM_GAIN: + +CAM1\_THERM\_GAIN: Camera1 Thermal Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image temperature range + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| -1 | Leave Unchanged | ++-------+-------------------------+ +| 0 | LowGain (50C to 550C) | ++-------+-------------------------+ +| 1 | HighGain (-20C to 150C) | ++-------+-------------------------+ + + + + +.. _CAM1_THERM_RAW: + +CAM1\_THERM\_RAW: Camera1 Thermal Raw Data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +save images with raw temperatures + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| -1 | Leave Unchanged | ++-------+------------------+ +| 0 | Disabled (30fps) | ++-------+------------------+ +| 1 | Enabled (25 fps) | ++-------+------------------+ + + + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _TERR_BRK_ENABLE: + +TERR\_BRK\_ENABLE: terrain brake enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _TERR_BRK_ALT: + +TERR\_BRK\_ALT: terrain brake altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake altitude\. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 100 | meters | ++----------+--------+ + + + + +.. _TERR_BRK_HDIST: + +TERR\_BRK\_HDIST: terrain brake home distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake home distance\. The distance from home where the auto BRAKE will be enabled\. When within this distance of home the script will not activate + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _TERR_BRK_SPD: + +TERR\_BRK\_SPD: terrain brake speed threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake speed threshold\. Don\'t trigger BRAKE if both horizontal speed and descent rate are below this threshold\. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode\. A value of 0\.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 5 | meters per second | ++--------+-------------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain + + ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ + + + + +.. _QUIK_Y_PI_RATIO: + +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for yaw\. Raise this to get a lower I gain + + ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ + + + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AUTO_SAVE: + +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _QUIK_RC_FUNC: + +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + +.. _QUIK_MAX_REDUCE: + +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +QUIK\_OPTIONS: Quicktune options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. + + ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SHIP_LAND_ANGLE: + +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ + + + + +.. _CGA_RATIO: + +CGA\_RATIO: CoG adjustment ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady\-state hover\. Positive when the CoG is in front of the motors midpoint \(front motors work harder\)\. + + ++----------+ +| Range | ++==========+ +| 0.5 to 2 | ++----------+ + + + + +.. _WEB_ENABLE: + +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +enable web server + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BIND_PORT: + +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +web server TCP port + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_DEBUG: + +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server debugging + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server block size for download + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_TIMEOUT: + +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +timeout for inactive connections + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ + + + + +.. _WEB_SENDFILE_MIN: + +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download + + ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ + + + + +.. _SLUP_ENABLE: + +SLUP\_ENABLE: Slung Payload enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SLUP_VEL_P: + +SLUP\_VEL\_P: Slung Payload Velocity P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload Velocity P gain\, higher values will result in faster movements in sync with payload + + ++----------+ +| Range | ++==========+ +| 0 to 0.8 | ++----------+ + + + + +.. _SLUP_DIST_MAX: + +SLUP\_DIST\_MAX: Slung Payload horizontal distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally\. Set to 0 to always suppress + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _SLUP_SYSID: + +SLUP\_SYSID: Slung Payload mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload mavlink system id\. 0 to use any\/all system ids + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SLUP_WP_POS_P: + +SLUP\_WP\_POS\_P: Slung Payload return to WP position P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WP position P gain\. higher values will result in vehicle moving more quickly back to the original waypoint + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SLUP_RESTOFS_TC: + +SLUP\_RESTOFS\_TC: Slung Payload resting offset estimate filter time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +payload\'s position estimator\'s time constant used to compensate for GPS errors and wind\. Higher values result in smoother estimate but slower response + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _SLUP_DEBUG: + +SLUP\_DEBUG: Slung Payload debug output +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung payload debug output\, set to 1 to enable debug + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _WINCH_RATE_UP: + +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when retracting line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RATE_DN: + +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when releasing line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RC_FUNC: + +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control winch rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _BATT_SOC_COUNT: + +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of battery SOC estimators + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_IDX: + +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC1_C1: + +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC1_C2: + +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC1_C3: + +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC2_IDX: + +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC2_NCELL: + +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC2_C1: + +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC2_C2: + +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC2_C3: + +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC3_IDX: + +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC3_NCELL: + +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC3_C1: + +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC3_C2: + +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC3_C3: + +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC4_NCELL: + +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _DR_ENABLE: + +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Deadreckoning Enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DR_ENABLE_DIST: + +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance from home \(in meters\) beyond which the dead reckoning will be enabled + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _DR_GPS_SACC_MAX: + +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _DR_GPS_SAT_MIN: + +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _DR_GPS_TRIGG_SEC: + +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS checks must fail for this many seconds before dead reckoning will be triggered + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_FLY_ANGLE: + +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +lean angle \(in degrees\) during deadreckoning + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ + + + + +.. _DR_FLY_ALT_MIN: + +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _DR_FLY_TIMEOUT: + +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_NEXT_MODE: + +DR\_NEXT\_MODE: Deadreckoning Next Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _AEROM_ANG_ACCEL: + +AEROM\_ANG\_ACCEL: Angular acceleration limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum angular acceleration in maneuvers + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_ANG_TC: + +AEROM\_ANG\_TC: Roll control filtertime constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time over which we filter the desired roll to smooth it + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_THR_PIT_FF: + +AEROM\_THR\_PIT\_FF: Throttle feed forward from pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much extra throttle to add based on pitch ange\. The value is for 90 degrees and is applied in proportion to pitch + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_P: + +AEROM\_SPD\_P: P gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_I: + +AEROM\_SPD\_I: I gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_ROL_COR_TC: + +AEROM\_ROL\_COR\_TC: Roll control time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting roll errors\. A smaller value leads to faster roll corrections + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_TIME_COR_P: + +AEROM\_TIME\_COR\_P: Time constant for correction of our distance along the path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting path position errors + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ERR_COR_P: + +AEROM\_ERR\_COR\_P: P gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ERR_COR_D: + +AEROM\_ERR\_COR\_D: D gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ENTRY_RATE: + +AEROM\_ENTRY\_RATE: The roll rate to use when entering a roll maneuver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we roll into a new orientation + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _AEROM_THR_LKAHD: + +AEROM\_THR\_LKAHD: The lookahead for throttle control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how far ahead we look in time along the path for the target throttle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_DEBUG: + +AEROM\_DEBUG: Debug control +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the printing of extra debug information on paths + + +.. _AEROM_THR_MIN: + +AEROM\_THR\_MIN: Minimum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest throttle used during maneuvers + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_THR_BOOST: + +AEROM\_THR\_BOOST: Throttle boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the extra throttle added in schedule elements marked as needing a throttle boost + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_YAW_ACCEL: + +AEROM\_YAW\_ACCEL: Yaw acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is maximum yaw acceleration to use + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_LKAHD: + +AEROM\_LKAHD: Lookahead +~~~~~~~~~~~~~~~~~~~~~~~ + + +This is how much time to look ahead in the path for calculating path rates + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_PATH_SCALE: + +AEROM\_PATH\_SCALE: Path Scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale factor for Path\/Box size\. 0\.5 would half the distances in maneuvers\. Radii are unaffected\. + + ++------------+ +| Range | ++============+ +| 0.1 to 100 | ++------------+ + + + + +.. _AEROM_BOX_WIDTH: + +AEROM\_BOX\_WIDTH: Box Width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Length of aerobatic \"box\" + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_STALL_THR: + +AEROM\_STALL\_THR: Stall turn throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amount of throttle to reduce to for a stall turn + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_STALL_PIT: + +AEROM\_STALL\_PIT: Stall turn pitch threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch threashold for moving to final stage of stall turn + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_KE_RUDD: + +AEROM\_KE\_RUDD: KnifeEdge Rudder +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percent of rudder normally uses to sustain knife\-edge at trick speed + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_KE_RUDD_LK: + +AEROM\_KE\_RUDD\_LK: KnifeEdge Rudder lookahead +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to look ahead in the path to calculate rudder correction for bank angle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ALT_ABORT: + +AEROM\_ALT\_ABORT: Altitude Abort +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_TS_P: + +AEROM\_TS\_P: Timesync P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_I: + +AEROM\_TS\_I: Timesync I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_SPDMAX: + +AEROM\_TS\_SPDMAX: Timesync speed max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum speed adjustment for time sync between aircraft + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _AEROM_TS_RATE: + +AEROM\_TS\_RATE: Timesync rate of send of NAMED\_VALUE\_FLOAT data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate we send data for time sync between aircraft + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _AEROM_MIS_ANGLE: + +AEROM\_MIS\_ANGLE: Mission angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to a non\-zero value\, this is the assumed direction of the mission\. Otherwise the waypoint angle is used + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_OPTIONS: + +AEROM\_OPTIONS: Aerobatic options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to control aerobatic behavior + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | UseRTLOnAbort | ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ + + + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _TRIK_ENABLE: + +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables Tricks on Switch\. TRIK params hidden until enabled + + +.. _TRIK_SEL_FN: + +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick selection + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_ACT_FN: + +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_COUNT: + +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of tricks which can be selected over the range of the trik selection RC channel + + ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ + + + + +.. _VIEP_DEBUG: + +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ViewPro debug + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ + + + + +.. _VIEP_CAM_SWLOW: + +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in low position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWMID: + +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in middle position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWHIGH: + +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in high position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_ZOOM_SPEED: + +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Speed\. Higher numbers result in faster zooming + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VIEP_ZOOM_MAX: + +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Times Max + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _EFI_INF_ENABLE: + +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI INF\-Inject driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_INF_OPTIONS: + +EFI\_INF\_OPTIONS: EFI INF\-Inject options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _EFI_INF_THR_HZ: + +EFI\_INF\_THR\_HZ: EFI INF\-Inject throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle output rate + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_INF_IGN_AUX: + +EFI\_INF\_IGN\_AUX: EFI INF\-Inject ignition aux function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle ignition aux function + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SVFFI generator support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SVF_ARMCHECK: + +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Check for Generator ARM state before arming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_ENABLE: + +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set ANX CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _BATT_ANX_INDEX: + +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ANX CAN battery index + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _BATT_ANX_OPTIONS: + +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_DLA_ENABLE: + +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI DLA driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_DLA_LPS: + +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI DLA litres of fuel per second of injection time + + ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ESC_HW_POLES: + +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor poles for eRPM scaling + + ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ + + + + +.. _ESC_HW_OFS: + +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor number offset of first ESC + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _EFI_2K_ENABLE: + +EFI\_2K\_ENABLE: Enable NMEA 2000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable NMEA 2000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_2K_CANDRV: + +EFI\_2K\_CANDRV: NMEA 2000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_2K_OPTIONS: + +EFI\_2K\_OPTIONS: NMEA 2000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + + + +.. _EFI_SP_ENABLE: + +EFI\_SP\_ENABLE: Enable SkyPower EFI support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SkyPower EFI support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_CANDRV: + +EFI\_SP\_CANDRV: Set SkyPower EFI CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set SkyPower EFI CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _EFI_SP_UPDATE_HZ: + +EFI\_SP\_UPDATE\_HZ: SkyPower EFI update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI update rate + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 200 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_THR_FN: + +EFI\_SP\_THR\_FN: SkyPower EFI throttle function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI throttle function\. This sets which SERVOn\_FUNCTION to use for the target throttle\. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 70 | FixedWing | ++-------+-----------+ +| 31 | HeliRSC | ++-------+-----------+ + + + + +.. _EFI_SP_THR_RATE: + +EFI\_SP\_THR\_RATE: SkyPower EFI throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI throttle rate\. This sets rate at which throttle updates are sent to the engine + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 100 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_START_FN: + +EFI\_SP\_START\_FN: SkyPower EFI start function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI start function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling engine start + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_GEN_FN: + +EFI\_SP\_GEN\_FN: SkyPower EFI generator control function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI generator control function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling generator start\/stop + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_MIN_RPM: + +EFI\_SP\_MIN\_RPM: SkyPower EFI minimum RPM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _EFI_SP_TLM_RT: + +EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 10 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_LOG_RT: + +EFI\_SP\_LOG\_RT: SkyPower EFI log rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_ST_DISARM: + +EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_MODEL: + +EFI\_SP\_MODEL: SkyPower EFI ECU model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI ECU model + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | SRE_180 | ++-------+---------+ +| 1 | SP_275 | ++-------+---------+ + + + + +.. _EFI_SP_GEN_CTRL: + +EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI enable generator control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_RST_TIME: + +EFI\_SP\_RST\_TIME: SkyPower EFI restart time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _EFI_H6K_ENABLE: + +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Halo6000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_H6K_CANDRV: + +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_H6K_START_FN: + +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_H6K_TELEM_RT: + +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _EFI_H6K_OPTIONS: + +EFI\_H6K\_OPTIONS: Halo6000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 options + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | LogAllCanPackets | ++-----+------------------+ + + + + +.. _TOFSENSE_PRX: + +TOFSENSE\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_NO: + +TOFSENSE\_NO: TOFSENSE\-M Connected +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of TOFSENSE\-M CAN sensors connected + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_MODE: + +TOFSENSE\_MODE: TOFSENSE\-M mode to be used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +TOFSENSE\-M mode to be used\. 0 for 8x8 mode\. 1 for 4x4 mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | 8x8 mode | ++-------+----------+ +| 1 | 4x4 mode | ++-------+----------+ + + + + +.. _TOFSENSE_INST1: + +TOFSENSE\_INST1: TOFSENSE\-M First Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensors backend Instance\. Setting this to 1 will pick the first backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID1: + +TOFSENSE\_ID1: TOFSENSE\-M First ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensor ID\. Leave this at 0 to accept all IDs and if only one sensor is present\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST2: + +TOFSENSE\_INST2: TOFSENSE\-M Second Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensors backend Instance\. Setting this to 2 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID2: + +TOFSENSE\_ID2: TOFSENSE\-M Second ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST3: + +TOFSENSE\_INST3: TOFSENSE\-M Third Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensors backend Instance\. Setting this to 3 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID3: + +TOFSENSE\_ID3: TOFSENSE\-M Thir ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + + +.. _parameters_ADSB_: + +ADSB\_ Parameters +----------------- + + +.. _ADSB_TYPE: + +ADSB\_TYPE: ADSB Type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Type of ADS\-B hardware for ADSB\-in and ADSB\-out configuration and operation\. If any type is selected then MAVLink based ADSB\-in messages will always be enabled + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | uAvionix-MAVLink | ++-------+--------------------+ +| 2 | Sagetech | ++-------+--------------------+ +| 3 | uAvionix-UCP | ++-------+--------------------+ +| 4 | Sagetech MX Series | ++-------+--------------------+ + + + + +.. _ADSB_LIST_MAX: + +ADSB\_LIST\_MAX: ADSB vehicle list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +ADSB list size of nearest vehicles\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _ADSB_LIST_RADIUS: + +ADSB\_LIST\_RADIUS: ADSB vehicle list radius filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 100000 | meters | ++-------------+--------+ + + + + +.. _ADSB_ICAO_ID: + +ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID unique vehicle identification number of this aircraft\. This is an integer limited to 24bits\. If set to 0 then one will be randomly generated\. If set to \-1 then static information is not sent\, transceiver is assumed pre\-programmed\. + + ++----------------+ +| Range | ++================+ +| -1 to 16777215 | ++----------------+ + + + + +.. _ADSB_EMIT_TYPE: + +ADSB\_EMIT\_TYPE: Emitter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | NoInfo | ++-------+------------------+ +| 1 | Light | ++-------+------------------+ +| 2 | Small | ++-------+------------------+ +| 3 | Large | ++-------+------------------+ +| 4 | HighVortexlarge | ++-------+------------------+ +| 5 | Heavy | ++-------+------------------+ +| 6 | HighlyManuv | ++-------+------------------+ +| 7 | Rotocraft | ++-------+------------------+ +| 8 | RESERVED | ++-------+------------------+ +| 9 | Glider | ++-------+------------------+ +| 10 | LightAir | ++-------+------------------+ +| 11 | Parachute | ++-------+------------------+ +| 12 | UltraLight | ++-------+------------------+ +| 13 | RESERVED | ++-------+------------------+ +| 14 | UAV | ++-------+------------------+ +| 15 | Space | ++-------+------------------+ +| 16 | RESERVED | ++-------+------------------+ +| 17 | EmergencySurface | ++-------+------------------+ +| 18 | ServiceSurface | ++-------+------------------+ +| 19 | PointObstacle | ++-------+------------------+ + + + + +.. _ADSB_LEN_WIDTH: + +ADSB\_LEN\_WIDTH: Aircraft length and width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters\. In most cases\, use a value of 1 for smallest size\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | NO_DATA | ++-------+----------+ +| 1 | L15W23 | ++-------+----------+ +| 2 | L25W28P5 | ++-------+----------+ +| 3 | L25W34 | ++-------+----------+ +| 4 | L35W33 | ++-------+----------+ +| 5 | L35W38 | ++-------+----------+ +| 6 | L45W39P5 | ++-------+----------+ +| 7 | L45W45 | ++-------+----------+ +| 8 | L55W45 | ++-------+----------+ +| 9 | L55W52 | ++-------+----------+ +| 10 | L65W59P5 | ++-------+----------+ +| 11 | L65W67 | ++-------+----------+ +| 12 | L75W72P5 | ++-------+----------+ +| 13 | L75W80 | ++-------+----------+ +| 14 | L85W80 | ++-------+----------+ +| 15 | L85W90 | ++-------+----------+ + + + + +.. _ADSB_OFFSET_LAT: + +ADSB\_OFFSET\_LAT: GPS antenna lateral offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna lateral offset\. This describes the physical location offset from center of the GPS antenna on the aircraft\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | NoData | ++-------+---------+ +| 1 | Left2m | ++-------+---------+ +| 2 | Left4m | ++-------+---------+ +| 3 | Left6m | ++-------+---------+ +| 4 | Center | ++-------+---------+ +| 5 | Right2m | ++-------+---------+ +| 6 | Right4m | ++-------+---------+ +| 7 | Right6m | ++-------+---------+ + + + + +.. _ADSB_OFFSET_LON: + +ADSB\_OFFSET\_LON: GPS antenna longitudinal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna longitudinal offset\. This is usually set to 1\, Applied By Sensor + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | NO_DATA | ++-------+-----------------+ +| 1 | AppliedBySensor | ++-------+-----------------+ + + + + +.. _ADSB_RF_SELECT: + +ADSB\_RF\_SELECT: Transceiver RF selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and\/or Rx\. Rx\-only devices should override this to always be Rx\-only\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Rx | ++-----+---------+ +| 1 | Tx | ++-----+---------+ + + + + +.. _ADSB_SQUAWK: + +ADSB\_SQUAWK: Squawk code +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 0 to 7777 | octal | ++-----------+-------+ + + + + +.. _ADSB_RF_CAPABLE: + +ADSB\_RF\_CAPABLE: RF capabilities +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Describes your hardware RF In\/Out capabilities\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | UAT_in | ++-----+------------+ +| 1 | 1090ES_in | ++-----+------------+ +| 2 | UAT_out | ++-----+------------+ +| 3 | 1090ES_out | ++-----+------------+ + + + + +.. _ADSB_LIST_ALT: + +ADSB\_LIST\_ALT: ADSB vehicle list altitude filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter\. Vehicles detected above this altitude will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _ADSB_ICAO_SPECL: + +ADSB\_ICAO\_SPECL: ICAO\_ID of special vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID of special vehicle that ignores ADSB\_LIST\_RADIUS and ADSB\_LIST\_ALT\. The vehicle is always tracked\. Use 0 to disable\. + + +.. _ADSB_LOG: + +ADSB\_LOG: ADS\-B logging +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +0\: no logging\, 1\: log only special ID\, 2\:log all + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | no logging | ++-------+---------------------+ +| 1 | log only special ID | ++-------+---------------------+ +| 2 | log all | ++-------+---------------------+ + + + + +.. _ADSB_OPTIONS: + +ADSB\_OPTIONS: ADS\-B Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | Ping200X Send GPS | ++-----+----------------------------------+ +| 1 | Squawk 7400 on RC failsafe | ++-----+----------------------------------+ +| 2 | Squawk 7400 on GCS failsafe | ++-----+----------------------------------+ +| 3 | Sagetech MXS use External Config | ++-----+----------------------------------+ + + + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----+-------------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================================================================================+ +| 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | ++-----+-------------------------------------------------------------------------------------------------------------------+ +| 1 | Enable AFS for all autonomous modes (not just AUTO) | ++-----+-------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | Use GPS for DCM position | ++-------+-------------------------------------+ +| 2 | Use GPS for DCM position and height | ++-------+-------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | Enable EKF2 | ++-------+--------------+ +| 3 | Enable EKF3 | ++-------+--------------+ +| 11 | ExternalAHRS | ++-------+--------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 0 | DisableDCMFallbackFW | ++-----+-----------------------------+ +| 1 | DisableDCMFallbackVTOL | ++-----+-----------------------------+ +| 2 | DontDisableAirspeedUsingEKF | ++-----+-----------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 1 | NMEA AIVDM message | ++-------+--------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----+-------------------------------------+ +| Bit | Meaning | ++=====+=====================================+ +| 0 | Log all AIVDM messages | ++-----+-------------------------------------+ +| 1 | Log only unsupported AIVDM messages | ++-----+-------------------------------------+ +| 2 | Log decoded messages | ++-----+-------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Disabled | ++-------+-------------+ +| 1 | ArmingOnly | ++-------+-------------+ +| 2 | ArmOrDisarm | ++-------+-------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | Land | ++-----+---------------+ +| 1 | VTOL Land | ++-----+---------------+ +| 2 | DO_LAND_START | ++-----+---------------+ +| 3 | Takeoff | ++-----+---------------+ +| 4 | VTOL Takeoff | ++-----+---------------+ +| 5 | Rallypoint | ++-----+---------------+ +| 6 | RTL | ++-----+---------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | All | ++-----+------------------------+ +| 1 | Barometer | ++-----+------------------------+ +| 2 | Compass | ++-----+------------------------+ +| 3 | GPS lock | ++-----+------------------------+ +| 4 | INS | ++-----+------------------------+ +| 5 | Parameters | ++-----+------------------------+ +| 6 | RC Channels | ++-----+------------------------+ +| 7 | Board voltage | ++-----+------------------------+ +| 8 | Battery Level | ++-----+------------------------+ +| 10 | Logging Available | ++-----+------------------------+ +| 11 | Hardware safety switch | ++-----+------------------------+ +| 12 | GPS Configuration | ++-----+------------------------+ +| 13 | System | ++-----+------------------------+ +| 14 | Mission | ++-----+------------------------+ +| 15 | Rangefinder | ++-----+------------------------+ +| 16 | Camera | ++-----+------------------------+ +| 17 | AuxAuth | ++-----+------------------------+ +| 18 | VisualOdometry | ++-----+------------------------+ +| 19 | FFT | ++-----+------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++-----+-----------------------------------------+ +| Bit | Meaning | ++=====+=========================================+ +| 0 | Disable prearm display | ++-----+-----------------------------------------+ +| 1 | Do not send status text on state change | ++-----+-----------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Crash Dump arming check active | ++-------+-------------------------------------+ +| 1 | Crash Dump arming check deactivated | ++-------+-------------------------------------+ + + + + + +.. _parameters_AROT_: + +AROT\_ Parameters +----------------- + + +.. _AROT_ENABLE: + +AROT\_ENABLE: Enable settings for RSC Setpoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the autonomous autorotation capability\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _AROT_HS_P: + +AROT\_HS\_P: P gain for head speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Increase value to increase sensitivity of head speed controller during autonomous autorotation\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0.3 to 1 | ++-----------+----------+ + + + + +.. _AROT_HS_SET_PT: + +AROT\_HS\_SET\_PT: Target Head Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The target head speed in RPM during autorotation\. Start by setting to desired hover speed and tune from there as necessary\. + + ++-----------+--------------+------------------------+ +| Increment | Range | Units | ++===========+==============+========================+ +| 1 | 1000 to 2800 | Revolutions Per Minute | ++-----------+--------------+------------------------+ + + + + +.. _AROT_TARG_SP: + +AROT\_TARG\_SP: Target Glide Ground Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target ground speed in cm\/s for the autorotation controller to try and achieve\/ maintain during the glide phase\. + + ++-----------+-------------+------------------------+ +| Increment | Range | Units | ++===========+=============+========================+ +| 50 | 800 to 2000 | centimeters per second | ++-----------+-------------+------------------------+ + + + + +.. _AROT_COL_FILT_E: + +AROT\_COL\_FILT\_E: Entry Phase Collective Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut\-off frequency for collective low pass filter\. For the entry phase\. Acts as a following trim\. Must be higher than AROT\_COL\_FILT\_G\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.01 | 0.2 to 0.5 | hertz | ++-----------+------------+-------+ + + + + +.. _AROT_COL_FILT_G: + +AROT\_COL\_FILT\_G: Glide Phase Collective Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut\-off frequency for collective low pass filter\. For the glide phase\. Acts as a following trim\. Must be lower than AROT\_COL\_FILT\_E\. + + ++-----------+--------------+-------+ +| Increment | Range | Units | ++===========+==============+=======+ +| 0.01 | 0.03 to 0.15 | hertz | ++-----------+--------------+-------+ + + + + +.. _AROT_AS_ACC_MAX: + +AROT\_AS\_ACC\_MAX: Forward Acceleration Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum forward acceleration to apply in speed controller\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 30 to 60 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + +.. _AROT_HS_SENSOR: + +AROT\_HS\_SENSOR: Main Rotor RPM Sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allocate the RPM sensor instance to use for measuring head speed\. RPM1 \= 0\. RPM2 \= 1\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0.5 to 3 | seconds | ++-----------+----------+---------+ + + + + +.. _AROT_FW_V_P: + +AROT\_FW\_V\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Determines the proportion of the target acceleration based on the velocity error\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _AROT_FW_V_FF: + +AROT\_FW\_V\_FF: Velocity \(horizontal\) feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. Corrects the target acceleration proportionally to the desired velocity\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | FirstSensor | ++-------+-------------+ +| 1 | 2ndSensor | ++-------+-------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-----+----------------------------+ +| Bit | Meaning | ++=====+============================+ +| 0 | SpeedMismatchDisable | ++-----+----------------------------+ +| 1 | AllowSpeedMismatchRecovery | ++-----+----------------------------+ +| 2 | DisableVoltageCorrection | ++-----+----------------------------+ +| 3 | UseEkf3Consistency | ++-----+----------------------------+ +| 4 | ReportOffset | ++-----+----------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ATC_: + +ATC\_ Parameters +---------------- + + +.. _ATC_SLEW_YAW: + +ATC\_SLEW\_YAW: Yaw target slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + + ++-----------+--------------+-------------------------+ +| Increment | Range | Units | ++===========+==============+=========================+ +| 100 | 500 to 18000 | centidegrees per second | ++-----------+--------------+-------------------------+ + + + + +.. _ATC_ACCEL_Y_MAX: + +ATC\_ACCEL\_Y\_MAX: Acceleration Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 9000 | VerySlow | ++-------+----------+ +| 18000 | Slow | ++-------+----------+ +| 36000 | Medium | ++-------+----------+ +| 54000 | Fast | ++-------+----------+ + + + + ++-----------+------------+--------------------------------+ +| Increment | Range | Units | ++===========+============+================================+ +| 1000 | 0 to 72000 | centidegrees per square second | ++-----------+------------+--------------------------------+ + + + + +.. _ATC_RATE_FF_ENAB: + +ATC\_RATE\_FF\_ENAB: Rate Feedforward Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether body\-frame rate feedforward is enabled or disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ATC_ACCEL_R_MAX: + +ATC\_ACCEL\_R\_MAX: Acceleration Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + + ++--------+----------+ +| Value | Meaning | ++========+==========+ +| 0 | Disabled | ++--------+----------+ +| 30000 | VerySlow | ++--------+----------+ +| 72000 | Slow | ++--------+----------+ +| 108000 | Medium | ++--------+----------+ +| 162000 | Fast | ++--------+----------+ + + + + ++-----------+-------------+--------------------------------+ +| Increment | Range | Units | ++===========+=============+================================+ +| 1000 | 0 to 180000 | centidegrees per square second | ++-----------+-------------+--------------------------------+ + + + + +.. _ATC_ACCEL_P_MAX: + +ATC\_ACCEL\_P\_MAX: Acceleration Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + + ++--------+----------+ +| Value | Meaning | ++========+==========+ +| 0 | Disabled | ++--------+----------+ +| 30000 | VerySlow | ++--------+----------+ +| 72000 | Slow | ++--------+----------+ +| 108000 | Medium | ++--------+----------+ +| 162000 | Fast | ++--------+----------+ + + + + ++-----------+-------------+--------------------------------+ +| Increment | Range | Units | ++===========+=============+================================+ +| 1000 | 0 to 180000 | centidegrees per square second | ++-----------+-------------+--------------------------------+ + + + + +.. _ATC_ANGLE_BOOST: + +ATC\_ANGLE\_BOOST: Angle Boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ATC_ANG_RLL_P: + +ATC\_ANG\_RLL\_P: Roll axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_PIT_P: + +ATC\_ANG\_PIT\_P: Pitch axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_YAW_P: + +ATC\_ANG\_YAW\_P: Yaw axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _ATC_ANG_LIM_TC: + +ATC\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Limit \(to maintain altitude\) Time Constant + + ++-------------+ +| Range | ++=============+ +| 0.5 to 10.0 | ++-------------+ + + + + +.. _ATC_RATE_R_MAX: + +ATC\_RATE\_R\_MAX: Angular Velocity Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ATC_RATE_P_MAX: + +ATC\_RATE\_P\_MAX: Angular Velocity Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ATC_RATE_Y_MAX: + +ATC\_RATE\_Y\_MAX: Angular Velocity Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ATC_INPUT_TC: + +ATC\_INPUT\_TC: Attitude control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _ATC_LAND_R_MULT: + +ATC\_LAND\_R\_MULT: Landed roll gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the roll axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_LAND_P_MULT: + +ATC\_LAND\_P\_MULT: Landed pitch gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the pitch axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_LAND_Y_MULT: + +ATC\_LAND\_Y\_MULT: Landed yaw gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the yaw axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _ATC_RAT_RLL_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_P \(AC\_AttitudeControl\_Multi\): Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.01 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_I \(AC\_AttitudeControl\_Multi\): Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_IMAX \(AC\_AttitudeControl\_Multi\): Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_D \(AC\_AttitudeControl\_Multi\): Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FF \(AC\_AttitudeControl\_Multi\): Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTT \(AC\_AttitudeControl\_Multi\): Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTE \(AC\_AttitudeControl\_Multi\): Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_FLTD \(AC\_AttitudeControl\_Multi\): Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_RLL_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_SMAX \(AC\_AttitudeControl\_Multi\): Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_PDMX: + +ATC\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_D\_FF \(AC\_AttitudeControl\_Multi\): Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_RLL_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_NTF \(AC\_AttitudeControl\_Multi\): Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_RLL_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_RLL\_NEF \(AC\_AttitudeControl\_Multi\): Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_P \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.01 to 0.50 | ++-----------+--------------+ + + + + +.. _ATC_RAT_PIT_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_I \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_IMAX \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_D \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FF \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTT \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTE \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_FLTD \(AC\_AttitudeControl\_Multi\): Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _ATC_RAT_PIT_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_SMAX \(AC\_AttitudeControl\_Multi\): Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_PDMX: + +ATC\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_D\_FF \(AC\_AttitudeControl\_Multi\): Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_PIT_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_NTF \(AC\_AttitudeControl\_Multi\): Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_PIT\_NEF \(AC\_AttitudeControl\_Multi\): Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_YAW_P__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_P \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.10 to 2.50 | ++-----------+--------------+ + + + + +.. _ATC_RAT_YAW_I__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_I \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.010 to 1.0 | ++-----------+--------------+ + + + + +.. _ATC_RAT_YAW_IMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_IMAX \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_D__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_D \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FF \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_FLTT__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTT \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTE__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTE \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 20 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTD__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_FLTD \(AC\_AttitudeControl\_Multi\): Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_SMAX__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_SMAX \(AC\_AttitudeControl\_Multi\): Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_PDMX: + +ATC\_RAT\_YAW\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_D_FF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_D\_FF \(AC\_AttitudeControl\_Multi\): Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_YAW_NTF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_NTF \(AC\_AttitudeControl\_Multi\): Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _ATC_RAT_YAW_NEF__AC_AttitudeControl_Multi: + +ATC\_RAT\_YAW\_NEF \(AC\_AttitudeControl\_Multi\): Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_THR_MIX_MIN: + +ATC\_THR\_MIX\_MIN: Throttle Mix Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\) + + ++-------------+ +| Range | ++=============+ +| 0.1 to 0.25 | ++-------------+ + + + + +.. _ATC_THR_MIX_MAX: + +ATC\_THR\_MIX\_MAX: Throttle Mix Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _ATC_THR_MIX_MAN: + +ATC\_THR\_MIX\_MAN: Throttle Mix Manual +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.1 to 0.9 | ++------------+ + + + + +.. _ATC_THR_G_BOOST: + +ATC\_THR\_G\_BOOST: Throttle\-gain boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle\-gain boost ratio\. A value of 0 means no boosting is applied\, a value of 1 means full boosting is applied\. Describes the ratio increase that is applied to angle P and PD on pitch and roll\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_HOVR_ROL_TRM: + +ATC\_HOVR\_ROL\_TRM: Hover Roll Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Trim the hover roll angle to counter tail rotor thrust in a hover + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 1000 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _ATC_RAT_RLL_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_P \(AC\_AttitudeControl\_Heli\): Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.0 to 0.35 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_I \(AC\_AttitudeControl\_Heli\): Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 0.6 | ++-----------+------------+ + + + + +.. _ATC_RAT_RLL_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_IMAX \(AC\_AttitudeControl\_Heli\): Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_RLL_ILMI: + +ATC\_RAT\_RLL\_ILMI: Roll axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_RLL_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_D \(AC\_AttitudeControl\_Heli\): Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.03 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FF \(AC\_AttitudeControl\_Heli\): Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.05 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_RLL_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTT \(AC\_AttitudeControl\_Heli\): Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTE \(AC\_AttitudeControl\_Heli\): Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_FLTD \(AC\_AttitudeControl\_Heli\): Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_RLL_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_SMAX \(AC\_AttitudeControl\_Heli\): Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_RLL_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_D\_FF \(AC\_AttitudeControl\_Heli\): Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_RLL_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_NTF \(AC\_AttitudeControl\_Heli\): Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_RLL_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_RLL\_NEF \(AC\_AttitudeControl\_Heli\): Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_P \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.0 to 0.35 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_I \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 0.6 | ++-----------+------------+ + + + + +.. _ATC_RAT_PIT_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_IMAX \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_PIT_ILMI: + +ATC\_RAT\_PIT\_ILMI: Pitch axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_PIT_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_D \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.03 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FF \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.05 to 0.5 | ++-----------+-------------+ + + + + +.. _ATC_RAT_PIT_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTT \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTE \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_FLTD \(AC\_AttitudeControl\_Heli\): Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_PIT_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_SMAX \(AC\_AttitudeControl\_Heli\): Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_PIT_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_D\_FF \(AC\_AttitudeControl\_Heli\): Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_PIT_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_NTF \(AC\_AttitudeControl\_Heli\): Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_PIT_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_PIT\_NEF \(AC\_AttitudeControl\_Heli\): Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_RAT_YAW_P__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_P \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.005 | 0.180 to 0.60 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_I__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_I \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.2 | ++-----------+-------------+ + + + + +.. _ATC_RAT_YAW_IMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_IMAX \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _ATC_RAT_YAW_ILMI: + +ATC\_RAT\_YAW\_ILMI: Yaw axis rate controller I\-term leak minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point below which I\-term will not leak down + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ATC_RAT_YAW_D__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_D \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _ATC_RAT_YAW_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FF \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_FLTT__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTT \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTE__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTE \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_FLTD__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_FLTD \(AC\_AttitudeControl\_Heli\): Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _ATC_RAT_YAW_SMAX__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_SMAX \(AC\_AttitudeControl\_Heli\): Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_RAT_YAW_D_FF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_D\_FF \(AC\_AttitudeControl\_Heli\): Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _ATC_RAT_YAW_NTF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_NTF \(AC\_AttitudeControl\_Heli\): Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _ATC_RAT_YAW_NEF__AC_AttitudeControl_Heli: + +ATC\_RAT\_YAW\_NEF \(AC\_AttitudeControl\_Heli\): Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_PIRO_COMP: + +ATC\_PIRO\_COMP: Piro Comp Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pirouette compensation enabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _parameters_AUTOTUNE_: + +AUTOTUNE\_ Parameters +--------------------- + + +.. _AUTOTUNE_AXES__AC_AutoTune_Multi: + +AUTOTUNE\_AXES \(AC\_AutoTune\_Multi\): Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ +| 3 | YawD | ++-----+---------+ + + + + +.. _AUTOTUNE_AGGR: + +AUTOTUNE\_AGGR: Autotune aggressiveness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\. + + ++--------------+ +| Range | ++==============+ +| 0.05 to 0.10 | ++--------------+ + + + + +.. _AUTOTUNE_MIN_D: + +AUTOTUNE\_MIN\_D: AutoTune minimum D +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the minimum D gain + + ++-----------------+ +| Range | ++=================+ +| 0.0001 to 0.005 | ++-----------------+ + + + + +.. _AUTOTUNE_AXES__AC_AutoTune_Heli: + +AUTOTUNE\_AXES \(AC\_AutoTune\_Heli\): Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _AUTOTUNE_SEQ: + +AUTOTUNE\_SEQ: AutoTune Sequence Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +2\-byte bitmask to select what tuning should be performed\. Max gain automatically performed if Rate D is selected\. Values\: 7\:All\,1\:VFF Only\,2\:Rate D\/Rate P Only\(incl max gain\)\,4\:Angle P Only\,8\:Max Gain Only\,16\:Tune Check\,3\:VFF and Rate D\/Rate P\(incl max gain\)\,5\:VFF and Angle P\,6\:Rate D\/Rate P\(incl max gain\) and angle P + + ++-----+------------------------------+ +| Bit | Meaning | ++=====+==============================+ +| 0 | VFF | ++-----+------------------------------+ +| 1 | Rate D/Rate P(incl max gain) | ++-----+------------------------------+ +| 2 | Angle P | ++-----+------------------------------+ +| 3 | Max Gain Only | ++-----+------------------------------+ +| 4 | Tune Check | ++-----+------------------------------+ + + + + +.. _AUTOTUNE_FRQ_MIN: + +AUTOTUNE\_FRQ\_MIN: AutoTune minimum sweep frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the start frequency for sweeps and dwells + + ++----------+ +| Range | ++==========+ +| 10 to 30 | ++----------+ + + + + +.. _AUTOTUNE_FRQ_MAX: + +AUTOTUNE\_FRQ\_MAX: AutoTune maximum sweep frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the end frequency for sweeps and dwells + + ++-----------+ +| Range | ++===========+ +| 50 to 120 | ++-----------+ + + + + +.. _AUTOTUNE_GN_MAX: + +AUTOTUNE\_GN\_MAX: AutoTune maximum response gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the response gain \(output\/input\) to tune + + ++----------+ +| Range | ++==========+ +| 1 to 2.5 | ++----------+ + + + + +.. _AUTOTUNE_VELXY_P: + +AUTOTUNE\_VELXY\_P: AutoTune velocity xy P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity xy P gain used to hold position during Max Gain\, Rate P\, and Rate D frequency sweeps + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _AUTOTUNE_ACC_MAX: + +AUTOTUNE\_ACC\_MAX: AutoTune maximum allowable angular acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum angular acceleration in deg\/s\/s allowed during autotune maneuvers + + ++-----------+ +| Range | ++===========+ +| 1 to 4000 | ++-----------+ + + + + +.. _AUTOTUNE_RAT_MAX: + +AUTOTUNE\_RAT\_MAX: Autotune maximum allowable angular rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum angular rate in deg\/s allowed during autotune maneuvers + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + + +.. _parameters_AVD_: + +AVD\_ Parameters +---------------- + + +.. _AVD_ENABLE: + +AVD\_ENABLE: Enable Avoidance using ADSB +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _AVD_F_ACTION: + +AVD\_F\_ACTION: Collision Avoidance Behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + + ++-------+----------------------------+ +| Value | Meaning | ++=======+============================+ +| 0 | None | ++-------+----------------------------+ +| 1 | Report | ++-------+----------------------------+ +| 2 | Climb Or Descend | ++-------+----------------------------+ +| 3 | Move Horizontally | ++-------+----------------------------+ +| 4 | Move Perpendicularly in 3D | ++-------+----------------------------+ +| 5 | RTL | ++-------+----------------------------+ +| 6 | Hover | ++-------+----------------------------+ + + + + +.. _AVD_W_ACTION: + +AVD\_W\_ACTION: Collision Avoidance Behavior \- Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Report | ++-------+---------+ + + + + +.. _AVD_F_RCVRY: + +AVD\_F\_RCVRY: Recovery behaviour after a fail event +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | Remain in AVOID_ADSB | ++-------+-----------------------------+ +| 1 | Resume previous flight mode | ++-------+-----------------------------+ +| 2 | RTL | ++-------+-----------------------------+ +| 3 | Resume if AUTO else Loiter | ++-------+-----------------------------+ + + + + +.. _AVD_OBS_MAX: + +AVD\_OBS\_MAX: Maximum number of obstacles to track +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of obstacles to track + + +.. _AVD_W_TIME: + +AVD\_W\_TIME: Time Horizon Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\) + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_F_TIME: + +AVD\_F\_TIME: Time Horizon Fail +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_W_DIST_XY: + +AVD\_W\_DIST\_XY: Distance Warn XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before W\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_XY: + +AVD\_F\_DIST\_XY: Distance Fail XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before F\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_W_DIST_Z: + +AVD\_W\_DIST\_Z: Distance Warn Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_W is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_Z: + +AVD\_F\_DIST\_Z: Distance Fail Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_F is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_ALT_MIN: + +AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum AMSL \(above mean sea level\) altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_AVOID_: + +AVOID\_ Parameters +------------------ + + +.. _AVOID_ENABLE: + +AVOID\_ENABLE: Avoidance control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable avoidance input sources + + ++-----+--------------------+ +| Bit | Meaning | ++=====+====================+ +| 0 | UseFence | ++-----+--------------------+ +| 1 | UseProximitySensor | ++-----+--------------------+ +| 2 | UseBeaconFence | ++-----+--------------------+ + + + + +.. _AVOID_ANGLE_MAX: + +AVOID\_ANGLE\_MAX: Avoidance max lean angle in non\-GPS flight modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max lean angle used to avoid obstacles while in non\-GPS modes + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _AVOID_DIST_MAX: + +AVOID\_DIST\_MAX: Avoidance distance maximum in non\-GPS flight modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance from object at which obstacle avoidance will begin in non\-GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 30 | meters | ++---------+--------+ + + + + +.. _AVOID_MARGIN: + +AVOID\_MARGIN: Avoidance distance margin in GPS modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _AVOID_BEHAVE: + +AVOID\_BEHAVE: Avoidance behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Avoidance behaviour \(slide or stop\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Slide | ++-------+---------+ +| 1 | Stop | ++-------+---------+ + + + + +.. _AVOID_BACKUP_SPD: + +AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + +.. _AVOID_ALT_MIN: + +AVOID\_ALT\_MIN: Avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude above which proximity based avoidance will start working\. This requires a valid downward facing rangefinder reading to work\. Set zero to disable + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 6 | meters | ++--------+--------+ + + + + +.. _AVOID_ACCEL_MAX: + +AVOID\_ACCEL\_MAX: Avoidance maximum acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum acceleration with which obstacles will be avoided with\. Set zero to disable acceleration limits + + ++--------+--------------------------+ +| Range | Units | ++========+==========================+ +| 0 to 9 | meters per square second | ++--------+--------------------------+ + + + + +.. _AVOID_BACKUP_DZ: + +AVOID\_BACKUP\_DZ: Avoidance deadzone between stopping and backing away from obstacle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from obstacles\. Increase this parameter if you see vehicle going back and forth in front of obstacle\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 2 | meters | ++--------+--------+ + + + + +.. _AVOID_BACKZ_SPD: + +AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstBaro | ++-------+-----------+ +| 1 | 2ndBaro | ++-------+-----------+ +| 2 | 3rdBaro | ++-------+-----------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Bus0 | ++-------+----------+ +| 1 | Bus1 | ++-------+----------+ +| 6 | Bus6 | ++-------+----------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | BMP085 | ++-----+---------+ +| 1 | BMP280 | ++-----+---------+ +| 2 | MS5611 | ++-----+---------+ +| 3 | MS5607 | ++-----+---------+ +| 4 | MS5637 | ++-----+---------+ +| 5 | FBM320 | ++-----+---------+ +| 6 | DPS280 | ++-----+---------+ +| 7 | LPS25H | ++-----+---------+ +| 8 | Keller | ++-----+---------+ +| 9 | MS5837 | ++-----+---------+ +| 10 | BMP388 | ++-----+---------+ +| 11 | SPL06 | ++-----+---------+ +| 12 | MSP | ++-----+---------+ +| 13 | BMP581 | ++-----+---------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Treat MS5611 as MS5607 | ++-----+------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Land | ++-------+---------------------------+ +| 2 | RTL | ++-------+---------------------------+ +| 3 | SmartRTL or RTL | ++-------+---------------------------+ +| 4 | SmartRTL or Land | ++-------+---------------------------+ +| 5 | Terminate | ++-------+---------------------------+ +| 6 | Auto DO_LAND_START or RTL | ++-------+---------------------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BCN: + +BCN Parameters +-------------- + + +.. _BCN_TYPE: + +BCN\_TYPE: Beacon based position estimation device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Pozyx | ++-------+------------+ +| 2 | Marvelmind | ++-------+------------+ +| 3 | Nooploop | ++-------+------------+ +| 10 | SITL | ++-------+------------+ + + + + +.. _BCN_LATITUDE: + +BCN\_LATITUDE: Beacon origin\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _BCN_LONGITUDE: + +BCN\_LONGITUDE: Beacon origin\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _BCN_ALT: + +BCN\_ALT: Beacon origin\'s altitude above sealevel in meters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s altitude above sealevel in meters + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _BCN_ORIENT_YAW: + +BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | 50Hz | ++-------+----------+ +| 2 | 75Hz | ++-------+----------+ +| 3 | 100Hz | ++-------+----------+ +| 4 | 150Hz | ++-------+----------+ +| 5 | 200Hz | ++-------+----------+ +| 6 | 250Hz | ++-------+----------+ +| 7 | 300Hz | ++-------+----------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Output1 | ++-----+----------+ +| 1 | Output2 | ++-----+----------+ +| 2 | Output3 | ++-----+----------+ +| 3 | Output4 | ++-----+----------+ +| 4 | Output5 | ++-----+----------+ +| 5 | Output6 | ++-----+----------+ +| 6 | Output7 | ++-----+----------+ +| 7 | Output8 | ++-----+----------+ +| 8 | Output9 | ++-----+----------+ +| 9 | Output10 | ++-----+----------+ +| 10 | Output11 | ++-----+----------+ +| 11 | Output12 | ++-----+----------+ +| 12 | Output13 | ++-----+----------+ +| 13 | Output14 | ++-----+----------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | AUTO | ++-------+----------------+ +| 1 | PX4V1 | ++-------+----------------+ +| 2 | Pixhawk | ++-------+----------------+ +| 3 | Cube/Pixhawk2 | ++-------+----------------+ +| 4 | Pixracer | ++-------+----------------+ +| 5 | PixhawkMini | ++-------+----------------+ +| 6 | Pixhawk2Slim | ++-------+----------------+ +| 13 | Intel Aero FC | ++-------+----------------+ +| 14 | Pixhawk Pro | ++-------+----------------+ +| 20 | AUAV2.1 | ++-------+----------------+ +| 21 | PCNC1 | ++-------+----------------+ +| 22 | MINDPXV2 | ++-------+----------------+ +| 23 | SP01 | ++-------+----------------+ +| 24 | CUAVv5/FMUV5 | ++-------+----------------+ +| 30 | VRX BRAIN51 | ++-------+----------------+ +| 32 | VRX BRAIN52 | ++-------+----------------+ +| 33 | VRX BRAIN52E | ++-------+----------------+ +| 34 | VRX UBRAIN51 | ++-------+----------------+ +| 35 | VRX UBRAIN52 | ++-------+----------------+ +| 36 | VRX CORE10 | ++-------+----------------+ +| 38 | VRX BRAIN54 | ++-------+----------------+ +| 39 | PX4 FMUV6 | ++-------+----------------+ +| 100 | PX4 OLDDRIVERS | ++-------+----------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | EnableNoFWUpdate | ++-------+------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----+-------------------------------------------+ +| Bit | Meaning | ++=====+===========================================+ +| 0 | ActiveForSafetyDisable | ++-----+-------------------------------------------+ +| 1 | ActiveForSafetyEnable | ++-----+-------------------------------------------+ +| 2 | ActiveWhenArmed | ++-----+-------------------------------------------+ +| 3 | Force safety on when the aircraft disarms | ++-----+-------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 3.3V | ++-------+---------+ +| 1 | 5V | ++-------+---------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----+-------------------------------------------------------+ +| Bit | Meaning | ++=====+=======================================================+ +| 0 | Enable hardware watchdog | ++-----+-------------------------------------------------------+ +| 1 | Disable MAVftp | ++-----+-------------------------------------------------------+ +| 2 | Enable set of internal parameters | ++-----+-------------------------------------------------------+ +| 3 | Enable Debug Pins | ++-----+-------------------------------------------------------+ +| 4 | Unlock flash on reboot | ++-----+-------------------------------------------------------+ +| 5 | Write protect firmware flash on reboot | ++-----+-------------------------------------------------------+ +| 6 | Write protect bootloader flash on reboot | ++-----+-------------------------------------------------------+ +| 7 | Skip board validation | ++-----+-------------------------------------------------------+ +| 8 | Disable board arming gpio output change on arm/disarm | ++-----+-------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | StandardFW | ++-------+------------+ +| 1 | DshotFW | ++-------+------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | CYRF6936 | ++-------+----------+ +| 2 | CC2500 | ++-------+----------+ +| 3 | BK2425 | ++-------+----------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | DSM2 | ++-------+---------+ +| 2 | DSMX | ++-------+---------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotDisabled | ++-------+-------------+ +| 1 | Disabled | ++-------+-------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MinChannel | ++-------+--------------+ +| 2 | MidChannel | ++-------+--------------+ +| 3 | MaxChannel | ++-------+--------------+ +| 4 | MinChannelCW | ++-------+--------------+ +| 5 | MidChannelCW | ++-------+--------------+ +| 6 | MaxChannelCW | ++-------+--------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | Mode1 | ++-------+---------+ +| 2 | Mode2 | ++-------+---------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | TestChan1 | ++-------+-----------+ +| 2 | TestChan2 | ++-------+-----------+ +| 3 | TestChan3 | ++-------+-----------+ +| 4 | TestChan4 | ++-------+-----------+ +| 5 | TestChan5 | ++-------+-----------+ +| 6 | TestChan6 | ++-------+-----------+ +| 7 | TestChan7 | ++-------+-----------+ +| 8 | TestChan8 | ++-------+-----------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | GPS | ++-----+---------------------+ +| 1 | MAVLINK_SYSTEM_TIME | ++-----+---------------------+ +| 2 | HW | ++-----+---------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Always | ++-------+-------------------+ +| 1 | Only when in AUTO | ++-------+-------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | RunCam Split Micro/RunCam with UART | ++-------+-------------------------------------+ +| 2 | RunCam Split | ++-------+-------------------------------------+ +| 3 | RunCam Split4 4k | ++-------+-------------------------------------+ +| 4 | RunCam Hybrid/RunCam Thumb Pro | ++-------+-------------------------------------+ +| 5 | Runcam 2 4k | ++-------+-------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Power Button | ++-----+-----------------+ +| 1 | WiFi Button | ++-----+-----------------+ +| 2 | Change Mode | ++-----+-----------------+ +| 3 | 5-Key OSD | ++-----+-----------------+ +| 4 | Settings Access | ++-----+-----------------+ +| 5 | DisplayPort | ++-----+-----------------+ +| 6 | Start Recording | ++-----+-----------------+ +| 7 | Stop Recording | ++-----+-----------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Stick yaw right | ++-----+-----------------------+ +| 1 | Stick roll right | ++-----+-----------------------+ +| 2 | 3-position switch | ++-----+-----------------------+ +| 3 | 2-position switch | ++-----+-----------------------+ +| 4 | Autorecording enabled | ++-----+-----------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Log None | ++-------+-----------------------+ +| 1 | Log Error | ++-------+-----------------------+ +| 2 | Log Warning and below | ++-------+-----------------------+ +| 3 | Log Info and below | ++-------+-----------------------+ +| 4 | Log Everything | ++-------+-----------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | First interface | ++-------+------------------+ +| 2 | Second interface | ++-------+------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CC: + +CC Parameters +------------- + + +.. _CC_TYPE: + +CC\_TYPE: Custom control type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Custom control type to be used + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Empty | ++-------+---------+ +| 2 | PID | ++-------+---------+ + + + + +.. _CC_AXIS_MASK: + +CC\_AXIS\_MASK: Custom Controller bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Custom Controller bitmask to chose which axis to run + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + + +.. _parameters_CHUTE_: + +CHUTE\_ Parameters +------------------ + + +.. _CHUTE_ENABLED: + +CHUTE\_ENABLED: Parachute release enabled or disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release enabled or disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CHUTE_TYPE: + +CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release mechanism type \(relay number in versions prior to 4\.5\, or servo\)\. Values 0\-3 all are relay\. Relay number used for release is set by RELAYx\_FUNCTION in 4\.5 or later\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Relay | ++-------+---------+ +| 10 | Servo | ++-------+---------+ + + + + +.. _CHUTE_SERVO_ON: + +CHUTE\_SERVO\_ON: Parachute Servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_SERVO_OFF: + +CHUTE\_SERVO\_OFF: Servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is not released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_ALT_MIN: + +CHUTE\_ALT\_MIN: Parachute min altitude in meters above home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32000 | meters | ++-----------+------------+--------+ + + + + +.. _CHUTE_DELAY_MS: + +CHUTE\_DELAY\_MS: Parachute release delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay in millseconds between motor stop and chute release + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 1 | 0 to 5000 | milliseconds | ++-----------+-----------+--------------+ + + + + +.. _CHUTE_CRT_SINK: + +CHUTE\_CRT\_SINK: Critical sink speed rate in m\/s to trigger emergency parachute +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Release parachute when critical sink rate is reached + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 15 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CHUTE_OPTIONS: + +CHUTE\_OPTIONS: Parachute options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optional behaviour for parachute + + ++-----+--------------------------------------+ +| Bit | Meaning | ++=====+======================================+ +| 0 | hold open forever after release | ++-----+--------------------------------------+ +| 1 | skip disarm before parachute release | ++-----+--------------------------------------+ + + + + + +.. _parameters_CIRCLE_: + +CIRCLE\_ Parameters +------------------- + + +.. _CIRCLE_RADIUS: + +CIRCLE\_RADIUS: Circle Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the radius of the circle the vehicle will fly when in Circle flight mode + + ++-----------+-------------+-------------+ +| Increment | Range | Units | ++===========+=============+=============+ +| 100 | 0 to 200000 | centimeters | ++-----------+-------------+-------------+ + + + + +.. _CIRCLE_RATE: + +CIRCLE\_RATE: Circle rate +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle mode\'s turn rate in deg\/sec\. Positive to turn clockwise\, negative for counter clockwise\. Circle rate must be less than ATC\_SLEW\_YAW parameter\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | -90 to 90 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _CIRCLE_OPTIONS: + +CIRCLE\_OPTIONS: Circle options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\:Enable or disable using the pitch\/roll stick control circle mode\'s radius and rate + + ++-----+------------------------------------------+ +| Bit | Meaning | ++=====+==========================================+ +| 0 | manual control | ++-----+------------------------------------------+ +| 1 | face direction of travel | ++-----+------------------------------------------+ +| 2 | Start at center rather than on perimeter | ++-----+------------------------------------------+ +| 3 | Make Mount ROI the center of the circle | ++-----+------------------------------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Disabled | ++-------+-------------------+ +| 1 | Internal-Learning | ++-------+-------------------+ +| 2 | EKF-Learning | ++-------+-------------------+ +| 3 | InFlight-Learning | ++-------+-------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | Use Throttle | ++-------+--------------+ +| 2 | Use Current | ++-------+--------------+ + + + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 4 | Very Strict | ++-------+-------------+ +| 8 | Strict | ++-------+-------------+ +| 16 | Default | ++-------+-------------+ +| 32 | Relaxed | ++-------+-------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.1 | 4 to 32 | ++-----------+---------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | HMC5883 | ++-----+--------------+ +| 1 | LSM303D | ++-----+--------------+ +| 2 | AK8963 | ++-----+--------------+ +| 3 | BMM150 | ++-----+--------------+ +| 4 | LSM9DS1 | ++-----+--------------+ +| 5 | LIS3MDL | ++-----+--------------+ +| 6 | AK09916 | ++-----+--------------+ +| 7 | IST8310 | ++-----+--------------+ +| 8 | ICM20948 | ++-----+--------------+ +| 9 | MMC3416 | ++-----+--------------+ +| 11 | DroneCAN | ++-----+--------------+ +| 12 | QMC5883 | ++-----+--------------+ +| 14 | MAG3110 | ++-----+--------------+ +| 15 | IST8308 | ++-----+--------------+ +| 16 | RM3100 | ++-----+--------------+ +| 17 | MSP | ++-----+--------------+ +| 18 | ExternalAHRS | ++-----+--------------+ +| 19 | MMC5XX3 | ++-----+--------------+ +| 20 | QMC5883P | ++-----+--------------+ +| 21 | BMM350 | ++-----+--------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++-------+----------------------------------------------------+ +| Value | Meaning | ++=======+====================================================+ +| 0 | Disabled | ++-------+----------------------------------------------------+ +| 1 | CheckOnly | ++-------+----------------------------------------------------+ +| 2 | CheckAndFix | ++-------+----------------------------------------------------+ +| 3 | use same tolerance to auto rotate 45 deg rotations | ++-------+----------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----+-------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================================================+ +| 0 | CalRequireGPS | ++-----+-------------------------------------------------------------------------------------------+ +| 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | ++-----+-------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Driver1 | ++-------+----------+ +| 2 | Driver2 | ++-------+----------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | EnforceArming | ++-----+---------------------------+ +| 1 | AllowNonGPSPosition | ++-----+---------------------------+ +| 2 | LockUASIDOnFirstBasicIDRx | ++-----+---------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | VectorNav | ++-------+--------------+ +| 2 | MicroStrain5 | ++-------+--------------+ +| 5 | InertialLabs | ++-------+--------------+ +| 7 | MicroStrain7 | ++-------+--------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Vector Nav use uncompensated values for accel gyro and mag. | ++-----+-------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | IMU | ++-----+---------+ +| 2 | Baro | ++-----+---------+ +| 3 | Compass | ++-----+---------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | Serial-MS | ++-------+---------------+ +| 2 | NWPMU | ++-------+---------------+ +| 3 | Serial-Lutan | ++-------+---------------+ +| 5 | DroneCAN | ++-------+---------------+ +| 6 | Currawong-ECU | ++-------+---------------+ +| 7 | Scripting | ++-------+---------------+ +| 8 | Hirth | ++-------+---------------+ +| 9 | MAVLink | ++-------+---------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | GPS 3D Vel and 2D Pos | ++-------+-----------------------+ +| 1 | GPS 2D vel and 2D pos | ++-------+-----------------------+ +| 2 | GPS 2D pos | ++-------+-----------------------+ +| 3 | No GPS | ++-------+-----------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Use Baro | ++-------+------------------+ +| 1 | Use Range Finder | ++-------+------------------+ +| 2 | Use GPS | ++-------+------------------+ +| 3 | Use Range Beacon | ++-------+------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | When flying | ++-------+-----------------------------+ +| 1 | When manoeuvring | ++-------+-----------------------------+ +| 2 | Never | ++-------+-----------------------------+ +| 3 | After first climb yaw reset | ++-------+-----------------------------+ +| 4 | Always | ++-------+-----------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | DisableExternalNavigation | ++-----+---------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++-------+---------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=================================================================================+ +| 0 | When flying | ++-------+---------------------------------------------------------------------------------+ +| 1 | When manoeuvring | ++-------+---------------------------------------------------------------------------------+ +| 2 | Never | ++-------+---------------------------------------------------------------------------------+ +| 3 | After first climb yaw reset | ++-------+---------------------------------------------------------------------------------+ +| 4 | Always | ++-------+---------------------------------------------------------------------------------+ +| 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ +| 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Always | ++-----+-----------------+ +| 1 | WhenNoYawSensor | ++-----+-----------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | EnableGPSAffinity | ++-----+------------------------+ +| 1 | EnableBaroAffinity | ++-----+------------------------+ +| 2 | EnableCompassAffinity | ++-----+------------------------+ +| 3 | EnableAirspeedAffinity | ++-----+------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | JammingExpected | ++-----+-----------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++-----+--------------------------------+ +| Bit | Meaning | ++=====+================================+ +| 0 | FuseAllVelocities | ++-----+--------------------------------+ +| 1 | AlignExtNavPosWhenUsingOptFlow | ++-----+--------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++-----+--------------------------------------+ +| Bit | Meaning | ++=====+======================================+ +| 0 | Max altitude | ++-----+--------------------------------------+ +| 1 | Circle Centered on Home | ++-----+--------------------------------------+ +| 2 | Inclusion/Exclusion Circles+Polygons | ++-----+--------------------------------------+ +| 3 | Min altitude | ++-----+--------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Report Only | ++-------+-------------------------+ +| 1 | RTL or Land | ++-------+-------------------------+ +| 2 | Always Land | ++-------+-------------------------+ +| 3 | SmartRTL or RTL or Land | ++-------+-------------------------+ +| 4 | Brake or Land | ++-------+-------------------------+ +| 5 | SmartRTL or Land | ++-------+-------------------------+ + + + + +.. _FENCE_ALT_MAX: + +FENCE\_ALT\_MAX: Fence Maximum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum altitude allowed before geofence triggers + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 10 to 1000 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _FENCE_ALT_MIN: + +FENCE\_ALT\_MIN: Fence Minimum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude allowed before geofence triggers + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FENCE_AUTOENABLE: + +FENCE\_AUTOENABLE: Fence Auto\-Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auto\-enable of fences\. AutoEnableOnTakeoff enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings the fences will be disabled\. AutoEnableDisableFloorOnLanding enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings only the Minimum Altitude fence will be disabled\. AutoEnableOnlyWhenArmed enables all configured fences on arming\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, but no fences are disabled during autolandings\. However\, fence breaches are ignored while executing prior breach recovery actions which may include autolandings\. + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | AutoEnableOff | ++-------+---------------------------------+ +| 1 | AutoEnableOnTakeoff | ++-------+---------------------------------+ +| 2 | AutoEnableDisableFloorOnLanding | ++-------+---------------------------------+ +| 3 | AutoEnableOnlyWhenArmed | ++-------+---------------------------------+ + + + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _FENCE_OPTIONS: + +FENCE\_OPTIONS: Fence options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When bit 0 is set sisable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. + + ++-----+--------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+==========================================================================+ +| 0 | Disable mode change following fence action until fence breach is cleared | ++-----+--------------------------------------------------------------------------+ +| 1 | Allow union of inclusion areas | ++-----+--------------------------------------------------------------------------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Auto | ++-------+--------------------------+ +| 1 | Center Frequency | ++-------+--------------------------+ +| 2 | Lower-Shoulder Frequency | ++-------+--------------------------+ +| 3 | Upper-Shoulder Frequency | ++-------+--------------------------+ +| 4 | Roll-Axis | ++-------+--------------------------+ +| 5 | Pitch-Axis | ++-------+--------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable post-filter FFT | ++-----+------------------------+ +| 1 | Check motor noise | ++-----+------------------------+ + + + + + +.. _parameters_FHLD: + +FHLD Parameters +--------------- + + +.. _FHLD_XY_P: + +FHLD\_XY\_P: FlowHold P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) P gain\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _FHLD_XY_I: + +FHLD\_XY\_I: FlowHold I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) I gain + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _FHLD_XY_IMAX: + +FHLD\_XY\_IMAX: FlowHold Integrator Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) integrator maximum + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _FHLD_XY_FILT_HZ: + +FHLD\_XY\_FILT\_HZ: FlowHold filter on input to control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FlowHold \(horizontal\) filter on input to control + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _FHLD_FLOW_MAX: + +FHLD\_FLOW\_MAX: FlowHold Flow Rate Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls maximum apparent flow rate in flowhold + + ++------------+ +| Range | ++============+ +| 0.1 to 2.5 | ++------------+ + + + + +.. _FHLD_FILT_HZ: + +FHLD\_FILT\_HZ: FlowHold Filter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Filter frequency for flow data + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 100 | hertz | ++----------+-------+ + + + + +.. _FHLD_QUAL_MIN: + +FHLD\_QUAL\_MIN: FlowHold Flow quality minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum flow quality to use flow position hold + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FHLD_BRAKE_RATE: + +FHLD\_BRAKE\_RATE: FlowHold Braking rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls deceleration rate on stick release + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 1 to 30 | degrees per second | ++---------+--------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | PX4Flow | ++-------+----------+ +| 2 | Pixart | ++-------+----------+ +| 3 | Bebop | ++-------+----------+ +| 4 | CXOF | ++-------+----------+ +| 5 | MAVLink | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MSP | ++-------+----------+ +| 8 | UPFLOW | ++-------+----------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| 0 | North-East-Down | ++-------+----------------------------------+ +| 1 | Relative to lead vehicle heading | ++-------+----------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Face Lead Vehicle | ++-------+----------------------+ +| 2 | Same as Lead vehicle | ++-------+----------------------+ +| 3 | Direction of Flight | ++-------+----------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | absolute | ++-------+----------+ +| 1 | relative | ++-------+----------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | None | ++-------+------------------------------------------+ +| 1 | Mount Follows lead vehicle on mode enter | ++-------+------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ +| 27 | 27 | ++-------+---------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++-----+------------------------------+ +| Bit | Meaning | ++=====+==============================+ +| 0 | EnableAirspeedAndGroundspeed | ++-----+------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | IE 650w 800w Fuel Cell | ++-------+------------------------+ +| 2 | IE 2.4kW Fuel Cell | ++-------+------------------------+ +| 3 | Richenpower | ++-------+------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Suppress Maintenance-Required Warnings | ++-----+----------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Portable | ++-------+------------+ +| 2 | Stationary | ++-------+------------+ +| 3 | Pedestrian | ++-------+------------+ +| 4 | Automotive | ++-------+------------+ +| 5 | Sea | ++-------+------------+ +| 6 | Airborne1G | ++-------+------------+ +| 7 | Airborne2G | ++-------+------------+ +| 8 | Airborne4G | ++-------+------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Use primary | ++-------+---------------------------------+ +| 1 | UseBest | ++-------+---------------------------------+ +| 2 | Blend | ++-------+---------------------------------+ +| 4 | Use primary if 3D fix or better | ++-------+---------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | send to first GPS | ++-------+-------------------+ +| 1 | send to 2nd GPS | ++-------+-------------------+ +| 127 | send to all | ++-------+-------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None (0x0000) | ++-------+------------------------+ +| -1 | All (0xFFFF) | ++-------+------------------------+ +| -256 | External only (0xFF00) | ++-------+------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | Ignore | ++-------+------------------------------------------+ +| 1 | Always log | ++-------+------------------------------------------+ +| 2 | Stop logging when disarmed (SBF only) | ++-------+------------------------------------------+ +| 5 | Only log every five samples (uBlox only) | ++-------+------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Do not save config | ++-------+-----------------------+ +| 1 | Save config | ++-------+-----------------------+ +| 2 | Save only when needed | ++-------+-----------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++-------+------------------------------------------------------+ +| Value | Meaning | ++=======+======================================================+ +| 0 | Disables automatic configuration | ++-------+------------------------------------------------------+ +| 1 | Enable automatic configuration for Serial GPSes only | ++-------+------------------------------------------------------+ +| 2 | Enable automatic configuration for DroneCAN as well | ++-------+------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Horiz Pos | ++-----+-----------+ +| 1 | Vert Pos | ++-----+-----------+ +| 2 | Speed | ++-----+-----------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++-----+-----------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================================+ +| 0 | Use UART2 for moving baseline on ublox | ++-----+-----------------------------------------------------------------------------+ +| 1 | Use base station for GPS yaw on SBF | ++-----+-----------------------------------------------------------------------------+ +| 2 | Use baudrate 115200 | ++-----+-----------------------------------------------------------------------------+ +| 3 | Use dedicated CAN port b/w GPSes for moving baseline | ++-----+-----------------------------------------------------------------------------+ +| 4 | Use ellipsoid height instead of AMSL | ++-----+-----------------------------------------------------------------------------+ +| 5 | Override GPS satellite health of L5 band from L1 health | ++-----+-----------------------------------------------------------------------------+ +| 6 | Enable RTCM full parse even for a single channel | ++-----+-----------------------------------------------------------------------------+ +| 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | ++-----+-----------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstGPS | ++-------+-----------+ +| 1 | SecondGPS | ++-------+-----------+ + + + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Servo | ++-------+---------+ +| 2 | EPM | ++-------+---------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_H_: + +H\_ Parameters +-------------- + + +.. _H_TAIL_TYPE: + +H\_TAIL\_TYPE: Tail Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tail type selection\. Servo Only uses tail rotor pitch to provide yaw control \(including stabilization\) via an output assigned to Motor4\. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo\. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4\. Direct Drive Variable Pitch\(DDVP\) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC\. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function\. Direct Drive Fixed Pitch \(DDFP\) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4\. Direct Drive Fixed Pitch \(DDFP\) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4\. In both DDFP cases\, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed\. + + ++-------+----------------------------+ +| Value | Meaning | ++=======+============================+ +| 0 | Servo only | ++-------+----------------------------+ +| 1 | Servo with ExtGyro | ++-------+----------------------------+ +| 2 | DirectDrive VarPitch | ++-------+----------------------------+ +| 3 | DirectDrive FixedPitch CW | ++-------+----------------------------+ +| 4 | DirectDrive FixedPitch CCW | ++-------+----------------------------+ + + + + +.. _H_GYR_GAIN: + +H\_GYR\_GAIN: External Gyro Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM in microseconds sent to external gyro on an servo\/output whose function is Motor7 when tail type is Servo w\/ ExtGyro + + ++-----------+-----------+---------------------+ +| Increment | Range | Units | ++===========+===========+=====================+ +| 1 | 0 to 1000 | PWM in microseconds | ++-----------+-----------+---------------------+ + + + + +.. _H_FLYBAR_MODE: + +H\_FLYBAR\_MODE: Flybar Mode Selector +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Flybar present or not\. Affects attitude controller used during ACRO flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | NoFlybar | ++-------+----------+ +| 1 | Flybar | ++-------+----------+ + + + + +.. _H_TAIL_SPEED: + +H\_TAIL\_SPEED: DDVP Tail ESC speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direct drive\, variable pitch tail ESC speed in percent output to the tail motor esc \(HeliTailRSC Servo\) when motor interlock enabled \(throttle hold off\) and speed fully ramped up after spoolup\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_GYR_GAIN_ACRO: + +H\_GYR\_GAIN\_ACRO: ACRO External Gyro Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM in microseconds sent to external gyro on an servo\/output whose function is Motor7 when tail type is Servo w\/ ExtGyro in mode ACRO instead of H\_GYR\_GAIN\. A value of zero means to use H\_GYR\_GAIN + + ++-----------+-----------+---------------------+ +| Increment | Range | Units | ++===========+===========+=====================+ +| 1 | 0 to 1000 | PWM in microseconds | ++-----------+-----------+---------------------+ + + + + +.. _H_SW_TYPE__AP_MotorsHeli_Single: + +H\_SW\_TYPE \(AP\_MotorsHeli\_Single\): Swashplate Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | H3 Generic | ++-------+-------------+ +| 1 | H1 non-CPPM | ++-------+-------------+ +| 2 | H3_140 | ++-------+-------------+ +| 3 | H3_120 | ++-------+-------------+ +| 4 | H4_90 | ++-------+-------------+ +| 5 | H4_45 | ++-------+-------------+ + + + + +.. _H_SW_COL_DIR__AP_MotorsHeli_Single: + +H\_SW\_COL\_DIR \(AP\_MotorsHeli\_Single\): Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _H_SW_LIN_SVO__AP_MotorsHeli_Single: + +H\_SW\_LIN\_SVO \(AP\_MotorsHeli\_Single\): Linearize Swash Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW_H3_ENABLE__AP_MotorsHeli_Single: + +H\_SW\_H3\_ENABLE \(AP\_MotorsHeli\_Single\): H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate\. Do not set manually\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW_H3_SV1_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV1\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV2_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV2\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV3_POS__AP_MotorsHeli_Single: + +H\_SW\_H3\_SV3\_POS \(AP\_MotorsHeli\_Single\): H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_PHANG__AP_MotorsHeli_Single: + +H\_SW\_H3\_PHANG \(AP\_MotorsHeli\_Single\): H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_COL2YAW: + +H\_COL2YAW: Collective\-Yaw Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feed\-forward compensation to automatically add rudder input when collective pitch is increased\. Can be positive or negative depending on mechanics\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.1 | -2 to 2 | ++-----------+---------+ + + + + +.. _H_DDFP_THST_EXPO: + +H\_DDFP\_THST\_EXPO: DDFP Tail Rotor Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tail rotor DDFP motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _H_DDFP_SPIN_MIN: + +H\_DDFP\_SPIN\_MIN: DDFP Tail Rotor Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.0 | Low | ++-------+---------+ +| 0.15 | Default | ++-------+---------+ +| 0.3 | High | ++-------+---------+ + + + + +.. _H_DDFP_SPIN_MAX: + +H\_DDFP\_SPIN\_MAX: DDFP Tail Rotor Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.9 | Low | ++-------+---------+ +| 0.95 | Default | ++-------+---------+ +| 1.0 | High | ++-------+---------+ + + + + +.. _H_DDFP_BAT_IDX: + +H\_DDFP\_BAT\_IDX: DDFP Tail Rotor Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which battery monitor should be used for doing compensation + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | First battery | ++-------+----------------+ +| 1 | Second battery | ++-------+----------------+ + + + + +.. _H_DDFP_BAT_V_MAX: + +H\_DDFP\_BAT\_V\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _H_DDFP_BAT_V_MIN: + +H\_DDFP\_BAT\_V\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _H_YAW_TRIM: + +H\_YAW\_TRIM: Tail Rotor Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Fixed offset applied to yaw output to minimize yaw I\-term contribution needed to counter rotor drag\. Currently only works of DDFP tails \(H\_TAIL\_TYPE \= 3 or H\_TAIL\_TYPE \= 4\)\. If using the H\_COL2YAW compensation this trim is used to compensate for the main rotor profile drag\. If H\_COL2YAW is not used\, this value can be set to reduce the yaw I contribution to zero when in a steady hover\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _H_DUAL_MODE: + +H\_DUAL\_MODE: Dual Mode +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the dual mode of the heli\, either as tandem\, transverse\, or intermeshing\/coaxial\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Longitudinal | ++-------+----------------------+ +| 1 | Transverse | ++-------+----------------------+ +| 2 | Intermeshing/Coaxial | ++-------+----------------------+ + + + + +.. _H_DCP_SCALER: + +H\_DCP\_SCALER: Differential\-Collective\-Pitch Scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor applied to the differential\-collective\-pitch + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _H_DCP_YAW: + +H\_DCP\_YAW: Differential\-Collective\-Pitch Yaw Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feed\-forward compensation to automatically add yaw input when differential collective pitch is applied\. Disabled for intermeshing mode\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -10 to 10 | ++-----------+-----------+ + + + + +.. _H_YAW_SCALER: + +H\_YAW\_SCALER: Scaler for yaw mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaler for mixing yaw into roll or pitch\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -10 to 10 | ++-----------+-----------+ + + + + +.. _H_COL2_MIN: + +H\_COL2\_MIN: Swash 2 Minimum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest possible servo position in PWM microseconds for swashplate 2 + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_COL2_MAX: + +H\_COL2\_MAX: Swash 2 Maximum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Highest possible servo position in PWM microseconds for swashplate 2 + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_SW_TYPE__AP_MotorsHeli_Dual: + +H\_SW\_TYPE \(AP\_MotorsHeli\_Dual\): Swash 1 Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | H3 Generic | ++-------+-------------+ +| 1 | H1 non-CPPM | ++-------+-------------+ +| 2 | H3_140 | ++-------+-------------+ +| 3 | H3_120 | ++-------+-------------+ +| 4 | H4_90 | ++-------+-------------+ +| 5 | H4_45 | ++-------+-------------+ + + + + +.. _H_SW_COL_DIR__AP_MotorsHeli_Dual: + +H\_SW\_COL\_DIR \(AP\_MotorsHeli\_Dual\): Swash 1 Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _H_SW_LIN_SVO__AP_MotorsHeli_Dual: + +H\_SW\_LIN\_SVO \(AP\_MotorsHeli\_Dual\): Linearize Swash 1 Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate 1 servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW_H3_ENABLE__AP_MotorsHeli_Dual: + +H\_SW\_H3\_ENABLE \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 1\. Do not set manually\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW_H3_SV1_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV1\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV2_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV2\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_SV3_POS__AP_MotorsHeli_Dual: + +H\_SW\_H3\_SV3\_POS \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW_H3_PHANG__AP_MotorsHeli_Dual: + +H\_SW\_H3\_PHANG \(AP\_MotorsHeli\_Dual\): Swash 1 H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_SW2_TYPE: + +H\_SW2\_TYPE: Swash 2 Type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +H3 is generic\, three\-servo only\. H3\_120\/H3\_140 plates have Motor1 left side\, Motor2 right side\, Motor3 elevator in rear\. HR3\_120\/HR3\_140 have Motor1 right side\, Motor2 left side\, Motor3 elevator in front \- use H3\_120\/H3\_140 and reverse servo and collective directions as necessary\. For all H3\_90 swashplates use H4\_90 and don\'t use servo output for the missing servo\. For H4\-90 Motors1\&2 are left\/right respectively\, Motors3\&4 are rear\/front respectively\. For H4\-45 Motors1\&2 are LF\/RF\, Motors3\&4 are LR\/RR + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | H3 Generic | ++-------+-------------+ +| 1 | H1 non-CPPM | ++-------+-------------+ +| 2 | H3_140 | ++-------+-------------+ +| 3 | H3_120 | ++-------+-------------+ +| 4 | H4_90 | ++-------+-------------+ +| 5 | H4_45 | ++-------+-------------+ + + + + +.. _H_SW2_COL_DIR: + +H\_SW2\_COL\_DIR: Swash 2 Collective Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction collective moves for positive pitch\. 0 for Normal\, 1 for Reversed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _H_SW2_LIN_SVO: + +H\_SW2\_LIN\_SVO: Linearize Swash 2 Servos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This linearizes the swashplate 2 servo\'s mechanical output to account for nonlinear output due to arm rotation\. This requires a specific setup procedure to work properly\. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible\. Leveling the swashplate can only be done through the pitch links\. See the ardupilot wiki for more details on setup\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW2_H3_ENABLE: + +H\_SW2\_H3\_ENABLE: Swash 2 H3 Generic Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically set when H3 generic swash type is selected for swashplate 2\. Do not set manually\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_SW2_H3_SV1_POS: + +H\_SW2\_H3\_SV1\_POS: Swash 2 H3 Generic Servo 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_SV2_POS: + +H\_SW2\_H3\_SV2\_POS: Swash 2 H3 Generic Servo 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_SV3_POS: + +H\_SW2\_H3\_SV3\_POS: Swash 2 H3 Generic Servo 3 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _H_SW2_H3_PHANG: + +H\_SW2\_H3\_PHANG: Swash 2 H3 Generic Phase Angle Comp +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Only for H3 swashplate\. If pitching the swash forward induces a roll\, this can be correct the problem + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -30 to 30 | degrees | ++-----------+-----------+---------+ + + + + +.. _H_DCP_TRIM: + +H\_DCP\_TRIM: Differential Collective Pitch Trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup\. If DCP axis has I term bias while hovering in calm winds\, use value of bias in DCP\_TRIM to re\-center I term\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | -0.2 to 0.2 | ++-----------+-------------+ + + + + +.. _H_YAW_REV_EXPO: + +H\_YAW\_REV\_EXPO: Yaw reverser expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +For intermeshing mode only\. Yaw revereser smoothing exponent\, smoothen transition near zero collective region\. Increase this parameter to shink smoothing range\. Set to \-1 to disable reverser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 1.0 | -1 to 1000 | ++-----------+------------+ + + + + +.. _H_COL_MIN: + +H\_COL\_MIN: Minimum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest possible servo position in PWM microseconds for the swashplate + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_COL_MAX: + +H\_COL\_MAX: Maximum Collective Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Highest possible servo position in PWM microseconds for the swashplate + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _H_SV_MAN: + +H\_SV\_MAN: Manual Servo Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Manual servo override for swash set\-up\. Must be 0 \(Disabled\) for flight\! + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | Passthrough | ++-------+------------------------+ +| 2 | Max collective | ++-------+------------------------+ +| 3 | Zero thrust collective | ++-------+------------------------+ +| 4 | Min collective | ++-------+------------------------+ + + + + +.. _H_CYC_MAX: + +H\_CYC\_MAX: Maximum Cyclic Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum cyclic pitch angle of the swash plate\. There are no units to this parameter\. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes\. Typically this should be 6\-7 deg \(measured blade pitch angle difference between stick centered and stick max deflection\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 100 | 0 to 4500 | ++-----------+-----------+ + + + + +.. _H_SV_TEST: + +H\_SV\_TEST: Boot\-up Servo Test Cycles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of cycles to run servo test on boot\-up + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _H_COL_HOVER: + +H\_COL\_HOVER: Collective Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Collective needed to hover expressed as a number from 0 to 1 where 0 is H\_COL\_MIN and 1 is H\_COL\_MAX + + ++------------+ +| Range | ++============+ +| 0.3 to 0.8 | ++------------+ + + + + +.. _H_HOVER_LEARN: + +H\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover collective + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | Learn | ++-------+----------------+ +| 2 | Learn and Save | ++-------+----------------+ + + + + +.. _H_OPTIONS: + +H\_OPTIONS: Heli\_Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of heli options\. Bit 0 changes how the pitch\, roll\, and yaw axis integrator term is managed for low speed and takeoff\/landing\. In AC 4\.0 and earlier\, scheme uses a leaky integrator for ground speeds less than 5 m\/s and won\'t let the steady state integrator build above ILMI\. The integrator is allowed to build to the ILMI value when it is landed\. The other integrator management scheme bases integrator limiting on takeoff and landing\. Whenever the aircraft is landed the integrator is set to zero\. When the aicraft is airborne\, the integrator is only limited by IMAX\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | Use Leaky I | ++-----+-------------+ + + + + +.. _H_COL_ANG_MIN: + +H\_COL\_ANG\_MIN: Collective Blade Pitch Angle Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch \(H\_COL\_MIN\)\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | -20 to 0 | degrees | ++-----------+----------+---------+ + + + + +.. _H_COL_ANG_MAX: + +H\_COL\_ANG\_MAX: Collective Blade Pitch Angle Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch \(H\_COL\_MAX\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 5 to 20 | degrees | ++-----------+---------+---------+ + + + + +.. _H_COL_ZERO_THRST: + +H\_COL\_ZERO\_THRST: Collective Blade Pitch at Zero Thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Collective blade pitch angle at zero thrust in degrees\. For symetric airfoil blades this value is zero deg\. For chambered airfoil blades this value is typically negative\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -5 to 0 | degrees | ++-----------+---------+---------+ + + + + +.. _H_COL_LAND_MIN: + +H\_COL\_LAND\_MIN: Collective Blade Pitch Minimum when Landed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum collective blade pitch angle when landed in degrees for non\-manual collective modes \(i\.e\. modes that use altitude hold\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -5 to 0 | degrees | ++-----------+---------+---------+ + + + + + +.. _parameters_H_RSC_: + +H\_RSC\_ Parameters +------------------- + + +.. _H_RSC_SETPOINT: + +H\_RSC\_SETPOINT: External Motor Governor Setpoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle \(HeliRSC Servo\) output in percent to the external motor governor when motor interlock enabled \(throttle hold off\)\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_MODE: + +H\_RSC\_MODE: Rotor Speed Control Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled \(throttle hold off\)\. RC Passthrough sends the input from the RC Motor Interlock channel as throttle output\. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output\. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output\. AutoThrottle requires a rotor speed sensor\, contains an advanced autothrottle governor and is primarily for piston and turbine engines\. WARNING\: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 1 | RC Passthrough | ++-------+-----------------------+ +| 2 | External Gov SetPoint | ++-------+-----------------------+ +| 3 | Throttle Curve | ++-------+-----------------------+ +| 4 | AutoThrottle | ++-------+-----------------------+ + + + + +.. _H_RSC_RAMP_TIME: + +H\_RSC\_RAMP\_TIME: Throttle Ramp Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time in seconds for throttle output \(HeliRSC servo\) to ramp from ground idle \(RSC\_IDLE\) to flight idle throttle setting when motor interlock is enabled \(throttle hold off\)\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 60 | seconds | ++---------+---------+ + + + + +.. _H_RSC_RUNUP_TIME: + +H\_RSC\_RUNUP\_TIME: Rotor Runup Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled \(throttle hold off\)\. Must be at least one second longer than the Throttle Ramp Time that is set with RSC\_RAMP\_TIME\. WARNING\: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON\. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power\, ready for takeoff\. Failure to heed this warning could result in the auto\-takeoff mode attempting to lift up into hover before the engine has reached full power\, and subsequent loss of control + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 60 | seconds | ++---------+---------+ + + + + +.. _H_RSC_CRITICAL: + +H\_RSC\_CRITICAL: Critical Rotor Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage of normal rotor speed where flight is no longer possible\. However currently the rotor runup\/rundown is estimated using the RSC\_RUNUP\_TIME parameter\. Estimated rotor speed increases\/decreases between 0 \(rotor stopped\) to 1 \(rotor at normal speed\) in the RSC\_RUNUP\_TIME in seconds\. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds\. So if you had a 10 second runup time then set RSC\_CRITICAL to 70\%\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_IDLE: + +H\_RSC\_IDLE: Throttle Output at Idle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle output \(HeliRSC Servo\) in percent while armed but motor interlock is disabled \(throttle hold on\)\. FOR COMBUSTION ENGINES\. Sets the engine ground idle throttle percentage with clutch disengaged\. This must be set to zero for electric helicopters under most situations\. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC\. Consult the operating manual for your ESC to set it properly for this purpose + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 50 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_SLEWRATE: + +H\_RSC\_SLEWRATE: Throttle Slew Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the maximum rate at which the throttle output \(HeliRSC servo\) can change\, as a percentage per second\. A value of 100 means the throttle can change over its full range in one second\. A value of zero gives unlimited slew rate\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 10 | 0 to 500 | ++-----------+----------+ + + + + +.. _H_RSC_THRCRV_0: + +H\_RSC\_THRCRV\_0: Throttle Curve at 0\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at the minimum collective pitch position\. The 0 percent collective is defined by H\_COL\_MIN\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, this setting would correspond to \-2 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_25: + +H\_RSC\_THRCRV\_25: Throttle Curve at 25\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 25\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 25\% of 12 degrees is 3 degrees\, so this setting would correspond to \+1 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_50: + +H\_RSC\_THRCRV\_50: Throttle Curve at 50\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 50\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 50\% of 12 degrees is 6 degrees\, so this setting would correspond to \+4 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_75: + +H\_RSC\_THRCRV\_75: Throttle Curve at 75\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at 75\% of full collective travel where he 0 percent collective is defined by H\_COL\_MIN and 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, the total range is 12 degrees\. 75\% of 12 degrees is 9 degrees\, so this setting would correspond to \+7 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_THRCRV_100: + +H\_RSC\_THRCRV\_100: Throttle Curve at 100\% Coll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the throttle output \(HeliRSC servo\) in percent for the throttle curve at the minimum collective pitch position\. The 100 percent collective is defined by H\_COL\_MAX\. Example\: if the setup has \-2 degree to \+10 degree collective pitch setup\, this setting would correspond to \+10 degree of pitch\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_RANGE: + +H\_RSC\_GOV\_RANGE: Governor Operational Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RPM range \+\/\- governor rpm reference setting where governor is operational\. If speed sensor fails or rpm falls outside of this range\, the governor will disengage and return to throttle curve\. Recommended range is 100 + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 50 to 200 | Revolutions Per Minute | ++-----------+-----------+------------------------+ + + + + +.. _H_RSC_CLDWN_TIME: + +H\_RSC\_CLDWN\_TIME: Cooldown Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50\% for the number of seconds the timer is set for\. A setting of zero disables the fast idle\. This feature will only apply after the runup complete has been declared\. This will not extend the time before ground idle is declared\, which triggers engine shutdown for autonomous landings\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_COMP: + +H\_RSC\_GOV\_COMP: Governor Torque Compensator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude\. If RPM is low or high by more than 2\-5 RPM\, increase this setting by 1\% at a time until the governor speed matches your RPM setting\. Setting the compensator too high can result in surging and throttle \"hunting\"\. Do not make large adjustments at one time + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 70 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_GOV_DROOP: + +H\_RSC\_GOV\_DROOP: Governor Droop Compensator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +AutoThrottle governor droop response under load\, normal settings of 0\-50\%\. Higher value is quicker response to large speed changes due to load but may cause surging\. Adjust this to be as aggressive as possible without getting surging or RPM over\-run when the governor responds to large load changes on the rotor system + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_FF: + +H\_RSC\_GOV\_FF: Governor Feedforward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Feedforward governor gain to throttle response during sudden loading\/unloading of the rotor system\. If RPM drops excessively during full collective climb with the droop response set correctly\, increase the governor feedforward\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _H_RSC_GOV_RPM: + +H\_RSC\_GOV\_RPM: Rotor RPM Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Main rotor RPM that governor maintains when engaged + + ++-----------+-------------+------------------------+ +| Increment | Range | Units | ++===========+=============+========================+ +| 10 | 800 to 3500 | Revolutions Per Minute | ++-----------+-------------+------------------------+ + + + + +.. _H_RSC_GOV_TORQUE: + +H\_RSC\_GOV\_TORQUE: Governor Torque Limiter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Adjusts the engine\'s percentage of torque rise on autothrottle during ramp\-up to governor speed\. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50\% of the rotor RPM setting\. The sequence of events engaging the governor is as follows\: Throttle ramp time will engage the clutch and start the main rotor turning\. The collective should be at flat pitch and the throttle curve set to provide at least 50\% of normal RPM at flat pitch\. The autothrottle torque limiter will automatically activate and start accelerating the main rotor\. If the autothrottle consistently fails to accelerate the main rotor during ramp\-in due to engine tune or other factors\, then increase the torque limiter setting\. NOTE\: throttle ramp time and throttle curve should be tuned using RSC\_MODE Throttle Curve before using RSC\_MODE AutoThrottle + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 10 to 60 | percent | ++-----------+----------+---------+ + + + + + +.. _parameters_H_RSC_AROT_: + +H\_RSC\_AROT\_ Parameters +------------------------- + + +.. _H_RSC_AROT_ENBL: + +H\_RSC\_AROT\_ENBL: Enable autorotation handling in RSC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the autorotation functionality within the Rotor Speed Controller\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _H_RSC_AROT_RAMP: + +H\_RSC\_AROT\_RAMP: Time for in\-flight power re\-engagement when exiting autorotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When exiting an autorotation in a bailout manoeuvre\, this is the time in seconds for the throttle output \(HeliRSC servo\) to ramp from idle \(H\_RSC\_AROT\_IDLE\) to flight throttle setting when motor interlock is re\-enabled\. When using an ESC with an autorotation bailout function\, this parameter should be set to 0\.1 \(minimum value\)\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.1 to 10 | seconds | ++-----------+-----------+---------+ + + + + +.. _H_RSC_AROT_IDLE: + +H\_RSC\_AROT\_IDLE: Idle throttle percentage during autorotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Idle throttle used for during autotoration\. For external governors\, this would be set to a value that is within the autorotation window of the governer\/ESC to enable fast spool\-up\, when bailing out of an autorotation\. Set 0 to disable\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 40 | percent | ++-----------+---------+---------+ + + + + +.. _H_RSC_AROT_RUNUP: + +H\_RSC\_AROT\_RUNUP: Time allowed for in\-flight power re\-engagement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When exiting an autorotation in a bailout manoeuvre\, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled\. Must be at least one second longer than the H\_RSC\_AROT\_RAMP time that is set\. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power\. Failure to heed this warning could result in early entry into autonomously controlled collective modes \(e\.g\. alt hold\, loiter\, etc\)\, whereby the collective could be raised before the engine has reached full power\, with a subsequently dangerous slowing of head speed\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 1 to 10 | seconds | ++-----------+---------+---------+ + + + + + +.. _parameters_IM_: + +IM\_ Parameters +--------------- + + +.. _IM_ACRO_COL_EXP: + +IM\_ACRO\_COL\_EXP: Acro Mode Collective Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to soften collective pitch inputs near center point in Acro mode\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + +.. _IM_STB_COL_1: + +IM\_STB\_COL\_1: Stabilize Collective Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s minimum collective pitch setting at zero collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_2: + +IM\_STB\_COL\_2: Stabilize Collective Mid\-Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s collective pitch setting at mid\-low \(40\%\) collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_3: + +IM\_STB\_COL\_3: Stabilize Collective Mid\-High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s collective pitch setting at mid\-high \(60\%\) collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _IM_STB_COL_4: + +IM\_STB\_COL\_4: Stabilize Collective High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Helicopter\'s maximum collective pitch setting at full collective stick input in Stabilize mode\. Set this as a percent of collective range given by H\_COL\_MAX minus H\_COL\_MIN\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Never | ++-------+---------------+ +| 1 | Start-up only | ++-------+---------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++-------+--------------------------------------------------------+ +| Value | Meaning | ++=======+========================================================+ +| 0 | Don't adjust the trims | ++-------+--------------------------------------------------------+ +| 1 | Assume first orientation was level | ++-------+--------------------------------------------------------+ +| 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | ++-------+--------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | IMU 1 | ++-------+---------+ +| 2 | IMU 2 | ++-------+---------+ +| 3 | IMU 3 | ++-------+---------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | FirstIMU | ++-----+------------+ +| 1 | SecondIMU | ++-----+------------+ +| 2 | ThirdIMU | ++-----+------------+ +| 3 | FourthIMU | ++-----+------------+ +| 4 | FifthIMU | ++-----+------------+ +| 5 | SixthIMU | ++-----+------------+ +| 6 | SeventhIMU | ++-----+------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 1kHz | ++-------+---------+ +| 1 | 2kHz | ++-------+---------+ +| 2 | 4kHz | ++-------+---------+ +| 3 | 8kHz | ++-------+---------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | PersistTemps | ++-----+---------------+ +| 1 | PersistAccels | ++-----+---------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Log primary gyro only | ++-----+-----------------------+ +| 1 | Log all gyros | ++-----+-----------------------+ +| 2 | Post filter | ++-----+-----------------------+ +| 3 | Pre and post filter | ++-----+-----------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | IMU1 | ++-----+---------+ +| 1 | IMU2 | ++-----+---------+ +| 2 | IMU3 | ++-----+---------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | ++-----+-------------------------------------------------------------+ +| 1 | Sample post-filtering | ++-----+-------------------------------------------------------------+ +| 2 | Sample pre- and post-filter | ++-----+-------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LGR_: + +LGR\_ Parameters +---------------- + + +.. _LGR_ENABLE: + +LGR\_ENABLE: Enable landing gear +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable landing gear control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LGR_STARTUP: + +LGR\_STARTUP: Landing Gear Startup position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Landing Gear Startup behaviour control + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | WaitForPilotInput | ++-------+-------------------+ +| 1 | Retract | ++-------+-------------------+ +| 2 | Deploy | ++-------+-------------------+ + + + + +.. _LGR_DEPLOY_PIN: + +LGR\_DEPLOY\_PIN: Chassis deployment feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for detection of gear deployment\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _LGR_DEPLOY_POL: + +LGR\_DEPLOY\_POL: Chassis deployment feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when gear are deployed\. If set to 0 then then deployed gear level is low\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _LGR_WOW_PIN: + +LGR\_WOW\_PIN: Weight on wheels feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for feedback of weight on wheels condition\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _LGR_WOW_POL: + +LGR\_WOW\_POL: Weight on wheels feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when there is weight on wheels\. If set to 0 then then weight on wheels level is low\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _LGR_DEPLOY_ALT: + +LGR\_DEPLOY\_ALT: Landing gear deployment altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be deployed\. This should be lower than the RETRACT\_ALT\. If zero then altitude is not used for deploying landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_RETRACT_ALT: + +LGR\_RETRACT\_ALT: Landing gear retract altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be retracted\. This should be higher than the DEPLOY\_ALT\. If zero then altitude is not used for retracting landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_OPTIONS: + +LGR\_OPTIONS: Landing gear auto retract\/deploy options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to retract or deploy landing gear in Auto or Guided mode + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Retract after Takeoff | ++-----+-----------------------+ +| 1 | Deploy during Land | ++-----+-----------------------+ + + + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | File | ++-----+---------+ +| 1 | MAVLink | ++-----+---------+ +| 2 | Block | ++-----+---------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Disabled on USB connection | ++-------+--------------------------------------+ +| 3 | Discard log on reboot if never armed | ++-------+--------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_LOIT_: + +LOIT\_ Parameters +----------------- + + +.. _LOIT_ANG_MAX: + +LOIT\_ANG\_MAX: Loiter pilot angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle\. Set to zero for 2\/3 of PSC\_ANGLE\_MAX\/ANGLE\_MAX\. The maximum vehicle lean angle is still limited by PSC\_ANGLE\_MAX\/ANGLE\_MAX + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _LOIT_SPEED: + +LOIT\_SPEED: Loiter Horizontal Maximum Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum speed in cm\/s which the aircraft will travel horizontally while in loiter mode + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 20 to 3500 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _LOIT_ACC_MAX: + +LOIT\_ACC\_MAX: Loiter maximum correction acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm\/s\/s\. Higher values cause the copter to correct position errors more aggressively\. + + ++-----------+------------+-------------------------------+ +| Increment | Range | Units | ++===========+============+===============================+ +| 1 | 100 to 981 | centimeters per square second | ++-----------+------------+-------------------------------+ + + + + +.. _LOIT_BRK_ACCEL: + +LOIT\_BRK\_ACCEL: Loiter braking acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking acceleration in cm\/s\/s\. Higher values stop the copter more quickly when the stick is centered\. + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 1 | 25 to 250 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _LOIT_BRK_JERK: + +LOIT\_BRK\_JERK: Loiter braking jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking jerk in cm\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 1 | 500 to 5000 | centimeters per cubic second | ++-----------+-------------+------------------------------+ + + + + +.. _LOIT_BRK_DELAY: + +LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter brake start delay \(in seconds\) + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Resume Mission | ++-------+-----------------+ +| 1 | Restart Mission | ++-------+-----------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++-----+-------------------------+ +| Bit | Meaning | ++=====+=========================+ +| 0 | Clear Mission on reboot | ++-----+-------------------------+ +| 2 | ContinueAfterLand | ++-----+-------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MOT_: + +MOT\_ Parameters +---------------- + + +.. _MOT_YAW_HEADROOM: + +MOT\_YAW\_HEADROOM: Matrix Yaw Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 500 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _MOT_THST_EXPO: + +MOT\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _MOT_SPIN_MAX: + +MOT\_SPIN\_MAX: Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.9 | Low | ++-------+---------+ +| 0.95 | Default | ++-------+---------+ +| 1.0 | High | ++-------+---------+ + + + + +.. _MOT_BAT_VOLT_MAX: + +MOT\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _MOT_BAT_VOLT_MIN: + +MOT\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _MOT_BAT_CURR_MAX: + +MOT\_BAT\_CURR\_MAX: Motor Current Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited \(0 \= Disabled\) + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 200 | ampere | ++----------+--------+ + + + + +.. _MOT_PWM_TYPE: + +MOT\_PWM\_TYPE: Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output\.PWMRange and PWMAngle are PWM special\/rare cases for ESCs that dont calibrate normally \(some Sub motors\) or where each ESC must have its PWM range set individually using the Servo params instead of PWM\_MIN\/MAX parameters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Normal | ++-------+------------+ +| 1 | OneShot | ++-------+------------+ +| 2 | OneShot125 | ++-------+------------+ +| 3 | Brushed | ++-------+------------+ +| 4 | DShot150 | ++-------+------------+ +| 5 | DShot300 | ++-------+------------+ +| 6 | DShot600 | ++-------+------------+ +| 7 | DShot1200 | ++-------+------------+ +| 8 | PWMRange | ++-------+------------+ +| 9 | PWMAngle | ++-------+------------+ + + + + +.. _MOT_PWM_MIN: + +MOT\_PWM\_MIN: PWM output minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _MOT_PWM_MAX: + +MOT\_PWM\_MAX: PWM output maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _MOT_SPIN_MIN: + +MOT\_SPIN\_MIN: Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.0 | Low | ++-------+---------+ +| 0.15 | Default | ++-------+---------+ +| 0.25 | High | ++-------+---------+ + + + + +.. _MOT_SPIN_ARM: + +MOT\_SPIN\_ARM: Motor Spin armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.0 | Low | ++-------+---------+ +| 0.1 | Default | ++-------+---------+ +| 0.2 | High | ++-------+---------+ + + + + +.. _MOT_BAT_CURR_TC: + +MOT\_BAT\_CURR\_TC: Motor Current Max Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _MOT_THST_HOVER: + +MOT\_THST\_HOVER: Thrust Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + + ++------------+ +| Range | ++============+ +| 0.2 to 0.8 | ++------------+ + + + + +.. _MOT_HOVER_LEARN: + +MOT\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover throttle + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | Learn | ++-------+----------------+ +| 2 | Learn and Save | ++-------+----------------+ + + + + +.. _MOT_SAFE_DISARM: + +MOT\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | PWM enabled while disarmed | ++-------+-----------------------------+ +| 1 | PWM disabled while disarmed | ++-------+-----------------------------+ + + + + +.. _MOT_YAW_SV_ANGLE: + +MOT\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw servo\'s maximum lean angle \(Tricopter only\) + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 5 to 80 | degrees | ++-----------+---------+---------+ + + + + +.. _MOT_SPOOL_TIME: + +MOT\_SPOOL\_TIME: Spool up time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.05 to 2 | seconds | ++-----------+-----------+---------+ + + + + +.. _MOT_BOOST_SCALE: + +MOT\_BOOST\_SCALE: Motor boost scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle\. The output to the BoostThrottle servo will be the main throttle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 5 | ++-----------+--------+ + + + + +.. _MOT_BAT_IDX: + +MOT\_BAT\_IDX: Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | First battery | ++-------+----------------+ +| 1 | Second battery | ++-------+----------------+ + + + + +.. _MOT_SLEW_UP_TIME: + +MOT\_SLEW\_UP\_TIME: Output slew time for increasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _MOT_SLEW_DN_TIME: + +MOT\_SLEW\_DN\_TIME: Output slew time for decreasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _MOT_SAFE_TIME: + +MOT\_SAFE\_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _MOT_OPTIONS: + +MOT\_OPTIONS: Motor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor options + + ++-----+---------------------------------------+ +| Bit | Meaning | ++=====+=======================================+ +| 0 | Voltage compensation uses raw voltage | ++-----+---------------------------------------+ + + + + +.. _MOT_SPOOL_TIM_DN: + +MOT\_SPOOL\_TIM\_DN: Spool down time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle\. If set to 0 then SPOOL\_TIME is used instead\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | 1 | ++-------+---------+ +| 2 | 2 | ++-------+---------+ +| 3 | 3 | ++-------+---------+ +| 4 | 4 | ++-------+---------+ +| 5 | 5 | ++-------+---------+ +| 6 | 6 | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | EnableTelemetryMode | ++-----+---------------------+ +| 1 | unused | ++-----+---------------------+ +| 2 | EnableBTFLFonts | ++-----+---------------------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | UDP echo test | ++-----+------------------+ +| 1 | TCP echo test | ++-----+------------------+ +| 2 | TCP discard test | ++-----+------------------+ +| 3 | TCP reflect test | ++-----+------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | EnablePPP Ethernet gateway | ++-----+-------------------------------+ +| 1 | Enable CAN1 multicast gateway | ++-----+-------------------------------+ +| 2 | Enable CAN2 multicast gateway | ++-----+-------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPGGA | ++-----+---------+ +| 1 | GPRMC | ++-----+---------+ +| 2 | PASHR | ++-----+---------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Off | ++-------+---------+ +| 1 | Low | ++-------+---------+ +| 2 | Medium | ++-------+---------+ +| 3 | High | ++-------+---------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Built-in buzzer | ++-----+-----------------+ +| 1 | DShot | ++-----+-----------------+ +| 2 | DroneCAN | ++-----+-----------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | Standard | ++-------+-----------------------------+ +| 1 | MAVLink/Scripting/AP_Periph | ++-------+-----------------------------+ +| 2 | OutbackChallenge | ++-------+-----------------------------+ +| 3 | TrafficLight | ++-------+-----------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | ssd1306 | ++-------+---------+ +| 2 | sh1106 | ++-------+---------+ +| 10 | SITL | ++-------+---------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Aircraft | ++-------+----------+ +| 2 | Rover | ++-------+----------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Built-in LED | ++-----+---------------------+ +| 1 | Internal ToshibaLED | ++-----+---------------------+ +| 2 | External ToshibaLED | ++-----+---------------------+ +| 3 | External PCA9685 | ++-----+---------------------+ +| 4 | Oreo LED | ++-----+---------------------+ +| 5 | DroneCAN | ++-----+---------------------+ +| 6 | NCP5623 External | ++-----+---------------------+ +| 7 | NCP5623 Internal | ++-----+---------------------+ +| 8 | NeoPixel | ++-----+---------------------+ +| 9 | ProfiLED | ++-----+---------------------+ +| 10 | Scripting | ++-----+---------------------+ +| 11 | DShot | ++-----+---------------------+ +| 12 | ProfiLED_SPI | ++-----+---------------------+ +| 13 | LP5562 External | ++-----+---------------------+ +| 14 | LP5562 Internal | ++-----+---------------------+ +| 15 | IS31FL3195 External | ++-----+---------------------+ +| 16 | IS31FL3195 Internal | ++-----+---------------------+ +| 17 | DiscreteRGB | ++-----+---------------------+ +| 18 | NeoPixelRGB | ++-----+---------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | LowIsOn | ++-------+----------+ +| 1 | HighIsOn | ++-------+----------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OA_: + +OA\_ Parameters +--------------- + + +.. _OA_TYPE: + +OA\_TYPE: Object Avoidance Path Planning algorithm to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable path planning around obstacles + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Disabled | ++-------+--------------------------+ +| 1 | BendyRuler | ++-------+--------------------------+ +| 2 | Dijkstra | ++-------+--------------------------+ +| 3 | Dijkstra with BendyRuler | ++-------+--------------------------+ + + + + +.. _OA_MARGIN_MAX: + +OA\_MARGIN\_MAX: Object Avoidance wide margin distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will ignore objects more than this many meters from vehicle + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0.1 to 100 | meters | ++-----------+------------+--------+ + + + + +.. _OA_OPTIONS: + +OA\_OPTIONS: Options while recovering from Object Avoidance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance \(i\.e Avoidance is turned off after the path ahead is clear\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 1 | log Dijkstra points | ++-----+----------------------------------------+ +| 2 | Allow fast waypoints (Dijkastras only) | ++-----+----------------------------------------+ + + + + + +.. _parameters_OA_BR_: + +OA\_BR\_ Parameters +------------------- + + +.. _OA_BR_LOOKAHEAD: + +OA\_BR\_LOOKAHEAD: Object Avoidance look ahead distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will look this many meters ahead of vehicle + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _OA_BR_CONT_RATIO: + +OA\_BR\_CONT\_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle \(or fence\) to present calculated margin is atleast this much\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 1.1 to 2 | ++-----------+----------+ + + + + +.. _OA_BR_CONT_ANGLE: + +OA\_BR\_CONT\_ANGLE: BendyRuler\'s bearing change resistance threshold angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 5 | 20 to 180 | ++-----------+-----------+ + + + + +.. _OA_BR_TYPE: + +OA\_BR\_TYPE: Type of BendyRuler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +BendyRuler will search for clear path along the direction defined by this parameter + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 1 | Horizontal search | ++-------+-------------------+ +| 2 | Vertical search | ++-------+-------------------+ + + + + + +.. _parameters_OA_DB_: + +OA\_DB\_ Parameters +------------------- + + +.. _OA_DB_SIZE: + +OA\_DB\_SIZE: OADatabase maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase maximum number of points\. Set to 0 to disable the OA Database\. Larger means more points but is more cpu intensive to process + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _OA_DB_EXPIRE: + +OA\_DB\_EXPIRE: OADatabase item timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase item timeout\. The time an item will linger without any updates before it expires\. Zero means never expires which is useful for a sent\-once static environment but terrible for dynamic ones\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _OA_DB_QUEUE_SIZE: + +OA\_DB\_QUEUE\_SIZE: OADatabase queue maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase queue maximum number of points\. This in an input buffer size\. Larger means it can handle larger bursts of incoming data points to filter into the database\. No impact on cpu\, only RAM\. Recommend larger for faster datalinks or for sensors that generate a lot of data\. + + ++----------+ +| Range | ++==========+ +| 1 to 200 | ++----------+ + + + + +.. _OA_DB_OUTPUT: + +OA\_DB\_OUTPUT: OADatabase output level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station\. All data is always available internally for avoidance algorithms\. + + ++-------+---------------------------------------+ +| Value | Meaning | ++=======+=======================================+ +| 0 | Disabled | ++-------+---------------------------------------+ +| 1 | Send only HIGH importance items | ++-------+---------------------------------------+ +| 2 | Send HIGH and NORMAL importance items | ++-------+---------------------------------------+ +| 3 | Send all items | ++-------+---------------------------------------+ + + + + +.. _OA_DB_BEAM_WIDTH: + +OA\_DB\_BEAM\_WIDTH: OADatabase beam width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Beam width of incoming lidar data + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | degrees | ++---------+---------+ + + + + +.. _OA_DB_RADIUS_MIN: + +OA\_DB\_RADIUS\_MIN: OADatabase Minimum radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum radius of objects held in database + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_DIST_MAX: + +OA\_DB\_DIST\_MAX: OADatabase Distance Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance of objects held in database\. Set to zero to disable the limits + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_ALT_MIN: + +OA\_DB\_ALT\_MIN: OADatabase minimum altitude above home before storing obstacles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase will reject obstacles if vehicle\'s altitude above home is below this parameter\, in a 3 meter radius around home\. Set 0 to disable this feature\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 4 | meters | ++--------+--------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 5 | Chan5 | ++-------+---------+ +| 6 | Chan6 | ++-------+---------+ +| 7 | Chan7 | ++-------+---------+ +| 8 | Chan8 | ++-------+---------+ +| 9 | Chan9 | ++-------+---------+ +| 10 | Chan10 | ++-------+---------+ +| 11 | Chan11 | ++-------+---------+ +| 12 | Chan12 | ++-------+---------+ +| 13 | Chan13 | ++-------+---------+ +| 14 | Chan14 | ++-------+---------+ +| 15 | Chan15 | ++-------+---------+ +| 16 | Chan16 | ++-------+---------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++-------+---------------------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=============================================================================================+ +| 0 | switch to next screen if channel value was changed | ++-------+---------------------------------------------------------------------------------------------+ +| 1 | select screen based on pwm ranges specified for each screen | ++-------+---------------------------------------------------------------------------------------------+ +| 2 | switch to next screen after low to high transition and every 1s while channel value is high | ++-------+---------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++-----+----------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================+ +| 0 | UseDecimalPack | ++-----+----------------------------------------------------+ +| 1 | InvertedWindArrow | ++-----+----------------------------------------------------+ +| 2 | InvertedAHRoll | ++-----+----------------------------------------------------+ +| 3 | Convert feet to miles at 5280ft instead of 10000ft | ++-----+----------------------------------------------------+ +| 4 | DisableCrosshair | ++-----+----------------------------------------------------+ +| 5 | TranslateArrows | ++-----+----------------------------------------------------+ +| 6 | AviationStyleAH | ++-----+----------------------------------------------------+ +| 7 | Prefix LQ with RF Mode | ++-----+----------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Metric | ++-------+----------+ +| 1 | Imperial | ++-------+----------+ +| 2 | SI | ++-------+----------+ +| 3 | Aviation | ++-------+----------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | MAVLink | ++-------+-------------+ +| 2 | IRLock | ++-------+-------------+ +| 3 | SITL_Gazebo | ++-------+-------------+ +| 4 | SITL | ++-------+-------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | RawSensor | ++-------+--------------+ +| 1 | KalmanFilter | ++-------+--------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| -1 | DefaultBus | ++-------+-------------+ +| 0 | InternalI2C | ++-------+-------------+ +| 1 | ExternalI2C | ++-------+-------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++-------+----------------------------------------+ +| Value | Meaning | ++=======+========================================+ +| 0 | Land Vertically (Not strict) | ++-------+----------------------------------------+ +| 1 | Retry Landing(Normal Strictness) | ++-------+----------------------------------------+ +| 2 | Do not land (just Hover) (Very Strict) | ++-------+----------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++-------+--------------------------------------------------------------------+ +| Value | Meaning | ++=======+====================================================================+ +| 0 | Go to the last location where landing target was detected | ++-------+--------------------------------------------------------------------+ +| 1 | Go towards the approximate location of the detected landing target | ++-------+--------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----+-------------------------------------------------+ +| Bit | Meaning | ++=====+=================================================+ +| 0 | Moving Landing Target | ++-----+-------------------------------------------------+ +| 1 | Allow Precision Landing after manual reposition | ++-----+-------------------------------------------------+ +| 2 | Maintain high speed in final descent | ++-----+-------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + + +.. _parameters_PRX: + +PRX Parameters +-------------- + + +.. _PRX_IGN_GND: + +PRX\_IGN\_GND: Proximity sensor land detection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ignore proximity data that is within 1 meter of the ground below the vehicle\. This requires a downward facing rangefinder + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PRX_LOG_RAW: + +PRX\_LOG\_RAW: Proximity raw distances log +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered\(raw\) distances from sensor should be enabled + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Off | ++-------+---------+ +| 1 | On | ++-------+---------+ + + + + +.. _PRX_FILT: + +PRX\_FILT: Proximity filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 20 | hertz | ++---------+-------+ + + + + +.. _PRX_ALT_MIN: + +PRX\_ALT\_MIN: Proximity lowest altitude\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum altitude below which proximity should not work\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + + +.. _parameters_PRX1: + +PRX1 Parameters +--------------- + + +.. _PRX1_TYPE: + +PRX1\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX1_ORIENT: + +PRX1\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX1_YAW_CORR: + +PRX1\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX1_IGN_ANG1: + +PRX1\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID1: + +PRX1\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG2: + +PRX1\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID2: + +PRX1\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG3: + +PRX1\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID3: + +PRX1\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG4: + +PRX1\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID4: + +PRX1\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_MIN: + +PRX1\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_MAX: + +PRX1\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_ADDR: + +PRX1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX1_: + +PRX1\_ Parameters +----------------- + + +.. _PRX1_RECV_ID: + +PRX1\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX2: + +PRX2 Parameters +--------------- + + +.. _PRX2_TYPE: + +PRX2\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX2_ORIENT: + +PRX2\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX2_YAW_CORR: + +PRX2\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX2_IGN_ANG1: + +PRX2\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID1: + +PRX2\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG2: + +PRX2\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID2: + +PRX2\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG3: + +PRX2\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID3: + +PRX2\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG4: + +PRX2\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID4: + +PRX2\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_MIN: + +PRX2\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_MAX: + +PRX2\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_ADDR: + +PRX2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX2_: + +PRX2\_ Parameters +----------------- + + +.. _PRX2_RECV_ID: + +PRX2\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX3: + +PRX3 Parameters +--------------- + + +.. _PRX3_TYPE: + +PRX3\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX3_ORIENT: + +PRX3\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX3_YAW_CORR: + +PRX3\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX3_IGN_ANG1: + +PRX3\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID1: + +PRX3\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG2: + +PRX3\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID2: + +PRX3\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG3: + +PRX3\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID3: + +PRX3\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG4: + +PRX3\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID4: + +PRX3\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_MIN: + +PRX3\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_MAX: + +PRX3\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_ADDR: + +PRX3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX3_: + +PRX3\_ Parameters +----------------- + + +.. _PRX3_RECV_ID: + +PRX3\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX4: + +PRX4 Parameters +--------------- + + +.. _PRX4_TYPE: + +PRX4\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX4_ORIENT: + +PRX4\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX4_YAW_CORR: + +PRX4\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX4_IGN_ANG1: + +PRX4\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID1: + +PRX4\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG2: + +PRX4\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID2: + +PRX4\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG3: + +PRX4\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID3: + +PRX4\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG4: + +PRX4\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID4: + +PRX4\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_MIN: + +PRX4\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_MAX: + +PRX4\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_ADDR: + +PRX4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX4_: + +PRX4\_ Parameters +----------------- + + +.. _PRX4_RECV_ID: + +PRX4\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PSC: + +PSC Parameters +-------------- + + +.. _PSC_ACC_XY_FILT: + +PSC\_ACC\_XY\_FILT: XY Acceleration filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.1 | 0.5 to 5 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_POSZ_P: + +PSC\_POSZ\_P: Position \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position \(vertical\) controller P gain\. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 3.000 | ++----------------+ + + + + +.. _PSC_VELZ_P: + +PSC\_VELZ\_P: Velocity \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _PSC_VELZ_I: + +PSC\_VELZ\_I: Velocity \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller I gain\. Corrects long\-term difference in desired velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELZ_IMAX: + +PSC\_VELZ\_IMAX: Velocity \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller I gain maximum\. Constrains the target acceleration that the I gain will output + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _PSC_VELZ_D: + +PSC\_VELZ\_D: Velocity \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELZ_FF: + +PSC\_VELZ\_FF: Velocity \(vertical\) controller Feed Forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller Feed Forward gain\. Produces an output that is proportional to the magnitude of the target + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PSC_VELZ_FLTE: + +PSC\_VELZ\_FLTE: Velocity \(vertical\) error filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) error filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELZ_FLTD: + +PSC\_VELZ\_FLTD: Velocity \(vertical\) input filter for D term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) input filter for D term\. This filter \(in Hz\) is applied to the input for D terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_ACCZ_P: + +PSC\_ACCZ\_P: Acceleration \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller P gain\. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.05 | 0.200 to 1.500 | ++-----------+----------------+ + + + + +.. _PSC_ACCZ_I: + +PSC\_ACCZ\_I: Acceleration \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain\. Corrects long\-term difference in desired vertical acceleration and actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 3.000 | ++----------------+ + + + + +.. _PSC_ACCZ_IMAX: + +PSC\_ACCZ\_IMAX: Acceleration \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain maximum\. Constrains the maximum pwm that the I term will generate + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _PSC_ACCZ_D: + +PSC\_ACCZ\_D: Acceleration \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller D gain\. Compensates for short\-term change in desired vertical acceleration vs actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _PSC_ACCZ_FF: + +PSC\_ACCZ\_FF: Acceleration \(vertical\) controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _PSC_ACCZ_FLTT: + +PSC\_ACCZ\_FLTT: Acceleration \(vertical\) controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PSC_ACCZ_FLTE: + +PSC\_ACCZ\_FLTE: Acceleration \(vertical\) controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_ACCZ_FLTD: + +PSC\_ACCZ\_FLTD: Acceleration \(vertical\) controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _PSC_ACCZ_SMAX: + +PSC\_ACCZ\_SMAX: Accel \(vertical\) slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _PSC_ACCZ_PDMX: + +PSC\_ACCZ\_PDMX: Acceleration \(vertical\) controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _PSC_ACCZ_D_FF: + +PSC\_ACCZ\_D\_FF: Accel \(vertical\) Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _PSC_ACCZ_NTF: + +PSC\_ACCZ\_NTF: Accel \(vertical\) Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PSC_ACCZ_NEF: + +PSC\_ACCZ\_NEF: Accel \(vertical\) Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PSC_POSXY_P: + +PSC\_POSXY\_P: Position \(horizontal\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance \(in the latitude direction\) to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _PSC_VELXY_P: + +PSC\_VELXY\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _PSC_VELXY_I: + +PSC\_VELXY\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELXY_D: + +PSC\_VELXY\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VELXY_IMAX: + +PSC\_VELXY\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _PSC_VELXY_FLTE: + +PSC\_VELXY\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELXY_FLTD: + +PSC\_VELXY\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VELXY_FF: + +PSC\_VELXY\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + +.. _PSC_ANGLE_MAX: + +PSC\_ANGLE\_MAX: Position Control Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request\. Set to zero to use ANGLE\_MAX parameter value + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _PSC_JERK_XY: + +PSC\_JERK\_XY: Jerk limit for the horizontal kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 1 to 20 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + +.. _PSC_JERK_Z: + +PSC\_JERK\_Z: Jerk limit for the vertical kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 5 to 50 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | DoNotIncludeHome | ++-------+------------------+ +| 1 | IncludeHome | ++-------+------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++-----+--------------------------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================================+ +| 0 | Ignore RC Receiver | ++-----+--------------------------------------------------------------------+ +| 1 | Ignore MAVLink Overrides | ++-----+--------------------------------------------------------------------+ +| 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | ++-----+--------------------------------------------------------------------+ +| 3 | FPort Pad | ++-----+--------------------------------------------------------------------+ +| 4 | Log RC input bytes | ++-----+--------------------------------------------------------------------+ +| 5 | Arming check throttle for 0 input | ++-----+--------------------------------------------------------------------+ +| 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | ++-----+--------------------------------------------------------------------+ +| 7 | Allow Switch reverse | ++-----+--------------------------------------------------------------------+ +| 8 | Use passthrough for CRSF telemetry | ++-----+--------------------------------------------------------------------+ +| 9 | Suppress CRSF mode/rate message for ELRS systems | ++-----+--------------------------------------------------------------------+ +| 10 | Enable multiple receiver support | ++-----+--------------------------------------------------------------------+ +| 11 | Use Link Quality for RSSI with CRSF | ++-----+--------------------------------------------------------------------+ +| 12 | Annotate CRSF flight mode with * on disarm | ++-----+--------------------------------------------------------------------+ +| 13 | Use 420kbaud for ELRS protocol | ++-----+--------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | All | ++-----+----------+ +| 1 | PPM | ++-----+----------+ +| 2 | IBUS | ++-----+----------+ +| 3 | SBUS | ++-----+----------+ +| 4 | SBUS_NI | ++-----+----------+ +| 5 | DSM | ++-----+----------+ +| 6 | SUMD | ++-----+----------+ +| 7 | SRXL | ++-----+----------+ +| 8 | SRXL2 | ++-----+----------+ +| 9 | CRSF | ++-----+----------+ +| 10 | ST24 | ++-----+----------+ +| 11 | FPORT | ++-----+----------+ +| 12 | FPORT2 | ++-----+----------+ +| 13 | FastSBUS | ++-----+----------+ +| 14 | DroneCAN | ++-----+----------+ +| 15 | Ghost | ++-----+----------+ +| 16 | MAVRadio | ++-----+----------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+---------------------------------------------+ +| Value | Meaning | ++=======+=============================================+ +| 0 | Do Nothing | ++-------+---------------------------------------------+ +| 2 | FLIP Mode | ++-------+---------------------------------------------+ +| 3 | Simple Mode | ++-------+---------------------------------------------+ +| 4 | RTL | ++-------+---------------------------------------------+ +| 5 | Save Trim | ++-------+---------------------------------------------+ +| 7 | Save WP | ++-------+---------------------------------------------+ +| 9 | Camera Trigger | ++-------+---------------------------------------------+ +| 10 | RangeFinder Enable | ++-------+---------------------------------------------+ +| 11 | Fence Enable | ++-------+---------------------------------------------+ +| 13 | Super Simple Mode | ++-------+---------------------------------------------+ +| 14 | Acro Trainer | ++-------+---------------------------------------------+ +| 15 | Sprayer Enable | ++-------+---------------------------------------------+ +| 16 | AUTO Mode | ++-------+---------------------------------------------+ +| 17 | AUTOTUNE Mode | ++-------+---------------------------------------------+ +| 18 | LAND Mode | ++-------+---------------------------------------------+ +| 19 | Gripper Release | ++-------+---------------------------------------------+ +| 21 | Parachute Enable | ++-------+---------------------------------------------+ +| 22 | Parachute Release | ++-------+---------------------------------------------+ +| 23 | Parachute 3pos | ++-------+---------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+---------------------------------------------+ +| 25 | AttCon Feed Forward | ++-------+---------------------------------------------+ +| 26 | AttCon Accel Limits | ++-------+---------------------------------------------+ +| 27 | Retract Mount1 | ++-------+---------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+---------------------------------------------+ +| 29 | Landing Gear | ++-------+---------------------------------------------+ +| 30 | Lost Copter Sound | ++-------+---------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+---------------------------------------------+ +| 32 | Motor Interlock | ++-------+---------------------------------------------+ +| 33 | BRAKE Mode | ++-------+---------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+---------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+---------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+---------------------------------------------+ +| 37 | THROW Mode | ++-------+---------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+---------------------------------------------+ +| 39 | PrecLoiter Enable | ++-------+---------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+---------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+---------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+---------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+---------------------------------------------+ +| 44 | Winch Enable | ++-------+---------------------------------------------+ +| 45 | Winch Control | ++-------+---------------------------------------------+ +| 46 | RC Override Enable | ++-------+---------------------------------------------+ +| 47 | User Function 1 | ++-------+---------------------------------------------+ +| 48 | User Function 2 | ++-------+---------------------------------------------+ +| 49 | User Function 3 | ++-------+---------------------------------------------+ +| 52 | ACRO Mode | ++-------+---------------------------------------------+ +| 55 | GUIDED Mode | ++-------+---------------------------------------------+ +| 56 | LOITER Mode | ++-------+---------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+---------------------------------------------+ +| 58 | Clear Waypoints | ++-------+---------------------------------------------+ +| 60 | ZigZag Mode | ++-------+---------------------------------------------+ +| 61 | ZigZag SaveWP | ++-------+---------------------------------------------+ +| 62 | Compass Learn | ++-------+---------------------------------------------+ +| 65 | GPS Disable | ++-------+---------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+---------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+---------------------------------------------+ +| 68 | STABILIZE Mode | ++-------+---------------------------------------------+ +| 69 | POSHOLD Mode | ++-------+---------------------------------------------+ +| 70 | ALTHOLD Mode | ++-------+---------------------------------------------+ +| 71 | FLOWHOLD Mode | ++-------+---------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+---------------------------------------------+ +| 73 | DRIFT Mode | ++-------+---------------------------------------------+ +| 75 | SurfaceTrackingUpDown | ++-------+---------------------------------------------+ +| 76 | STANDBY Mode | ++-------+---------------------------------------------+ +| 78 | RunCam Control | ++-------+---------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+---------------------------------------------+ +| 80 | VisOdom Align | ++-------+---------------------------------------------+ +| 81 | Disarm | ++-------+---------------------------------------------+ +| 83 | ZigZag Auto | ++-------+---------------------------------------------+ +| 84 | AirMode | ++-------+---------------------------------------------+ +| 85 | Generator | ++-------+---------------------------------------------+ +| 90 | EKF Source Set | ++-------+---------------------------------------------+ +| 94 | VTX Power | ++-------+---------------------------------------------+ +| 99 | AUTO RTL | ++-------+---------------------------------------------+ +| 100 | KillIMU1 | ++-------+---------------------------------------------+ +| 101 | KillIMU2 | ++-------+---------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+---------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+---------------------------------------------+ +| 109 | use Custom Controller | ++-------+---------------------------------------------+ +| 110 | KillIMU3 | ++-------+---------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+---------------------------------------------+ +| 113 | Retract Mount2 | ++-------+---------------------------------------------+ +| 151 | TURTLE Mode | ++-------+---------------------------------------------+ +| 152 | SIMPLE heading reset | ++-------+---------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+---------------------------------------------+ +| 154 | ArmDisarm with AirMode (4.2 and higher) | ++-------+---------------------------------------------+ +| 158 | Optflow Calibration | ++-------+---------------------------------------------+ +| 159 | Force IS_Flying | ++-------+---------------------------------------------+ +| 161 | Turbine Start(heli) | ++-------+---------------------------------------------+ +| 162 | FFT Tune | ++-------+---------------------------------------------+ +| 163 | Mount Lock | ++-------+---------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+---------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+---------------------------------------------+ +| 166 | Camera Record Video | ++-------+---------------------------------------------+ +| 167 | Camera Zoom | ++-------+---------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+---------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+---------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+---------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+---------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+---------------------------------------------+ +| 175 | Camera Lens | ++-------+---------------------------------------------+ +| 177 | Mount LRF enable | ++-------+---------------------------------------------+ +| 178 | FlightMode Pause/Resume | ++-------+---------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+---------------------------------------------+ +| 212 | Mount1 Roll | ++-------+---------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+---------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+---------------------------------------------+ +| 215 | Mount2 Roll | ++-------+---------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+---------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+---------------------------------------------+ +| 219 | Transmitter Tuning | ++-------+---------------------------------------------+ +| 300 | Scripting1 | ++-------+---------------------------------------------+ +| 301 | Scripting2 | ++-------+---------------------------------------------+ +| 302 | Scripting3 | ++-------+---------------------------------------------+ +| 303 | Scripting4 | ++-------+---------------------------------------------+ +| 304 | Scripting5 | ++-------+---------------------------------------------+ +| 305 | Scripting6 | ++-------+---------------------------------------------+ +| 306 | Scripting7 | ++-------+---------------------------------------------+ +| 307 | Scripting8 | ++-------+---------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | None | ++-------+-----------+ +| 1 | Relay | ++-------+-----------+ +| 3 | Parachute | ++-------+-----------+ +| 4 | Camera | ++-------+-----------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | AnalogPin | ++-------+--------------------+ +| 2 | RCChannelPwmValue | ++-------+--------------------+ +| 3 | ReceiverProtocol | ++-------+--------------------+ +| 4 | PWMInputPin | ++-------+--------------------+ +| 5 | TelemetryRadioRSSI | ++-------+--------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 8 | V5 Nano | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | ShowSlips | ++-------+--------------+ +| 3 | ShowOverruns | ++-------+--------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | Enable per-task perf info | ++-----+---------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Lua Scripts | ++-------+-------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++-----+----------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================================================+ +| 0 | No Scripts to run message if all scripts have stopped | ++-----+----------------------------------------------------------------------------------------+ +| 1 | Runtime messages for memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 2 | Suppress logging scripts to dataflash | ++-----+----------------------------------------------------------------------------------------+ +| 3 | log runtime memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 4 | Disable pre-arm check | ++-----+----------------------------------------------------------------------------------------+ +| 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | ++-----+----------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | ROMFS | ++-----+-------------+ +| 1 | APM/scripts | ++-----+-------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Normal | ++-------+------------------+ +| 1 | IO Priority | ++-------+------------------+ +| 2 | Storage Priority | ++-------+------------------+ +| 3 | UART Priority | ++-------+------------------+ +| 4 | I2C Priority | ++-------+------------------+ +| 5 | SPI Priority | ++-------+------------------+ +| 6 | Timer Priority | ++-------+------------------+ +| 7 | Main Priority | ++-------+------------------+ +| 8 | Boost Priority | ++-------+------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 1 | MAVLink1 | ++-------+----------+ +| 2 | MAVLink2 | ++-------+----------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | 1Khz | ++-------+---------------------+ +| 1 | loop-rate | ++-------+---------------------+ +| 2 | double loop-rate | ++-------+---------------------+ +| 3 | triple loop-rate | ++-------+---------------------+ +| 4 | quadruple loop rate | ++-------+---------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | BLHeli32/Kiss/AM32 | ++-------+------------------------+ +| 2 | BLHeli_S/BlueJay | ++-------+------------------------+ +| 3 | BLHeli32/AM32/Kiss+EDT | ++-------+------------------------+ +| 4 | BLHeli_S/BlueJay+EDT | ++-------+------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | RCIN1Scaled | ++-----+---------------+ +| 1 | RCIN2Scaled | ++-----+---------------+ +| 2 | RCIN3Scaled | ++-----+---------------+ +| 3 | RCIN4Scaled | ++-----+---------------+ +| 4 | RCIN5Scaled | ++-----+---------------+ +| 5 | RCIN6Scaled | ++-----+---------------+ +| 6 | RCIN7Scaled | ++-----+---------------+ +| 7 | RCIN8Scaled | ++-----+---------------+ +| 8 | RCIN9Scaled | ++-----+---------------+ +| 9 | RCIN10Scaled | ++-----+---------------+ +| 10 | RCIN11Scaled | ++-----+---------------+ +| 11 | SRCIN12Scaled | ++-----+---------------+ +| 12 | RCIN13Scaled | ++-----+---------------+ +| 13 | RCIN14Scaled | ++-----+---------------+ +| 14 | RCIN15Scaled | ++-----+---------------+ +| 15 | RCIN16Scaled | ++-----+---------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| -1 | GPIO | ++-------+---------------------+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | RCPassThru | ++-------+---------------------+ +| 6 | Mount1Yaw | ++-------+---------------------+ +| 7 | Mount1Pitch | ++-------+---------------------+ +| 8 | Mount1Roll | ++-------+---------------------+ +| 9 | Mount1Retract | ++-------+---------------------+ +| 10 | CameraTrigger | ++-------+---------------------+ +| 12 | Mount2Yaw | ++-------+---------------------+ +| 13 | Mount2Pitch | ++-------+---------------------+ +| 14 | Mount2Roll | ++-------+---------------------+ +| 15 | Mount2Retract | ++-------+---------------------+ +| 22 | SprayerPump | ++-------+---------------------+ +| 23 | SprayerSpinner | ++-------+---------------------+ +| 27 | Parachute | ++-------+---------------------+ +| 28 | Gripper | ++-------+---------------------+ +| 29 | LandingGear | ++-------+---------------------+ +| 30 | EngineRunEnable | ++-------+---------------------+ +| 31 | HeliRSC | ++-------+---------------------+ +| 32 | HeliTailRSC | ++-------+---------------------+ +| 33 | Motor1 | ++-------+---------------------+ +| 34 | Motor2 | ++-------+---------------------+ +| 35 | Motor3 | ++-------+---------------------+ +| 36 | Motor4 | ++-------+---------------------+ +| 37 | Motor5 | ++-------+---------------------+ +| 38 | Motor6 | ++-------+---------------------+ +| 39 | Motor7 | ++-------+---------------------+ +| 40 | Motor8 | ++-------+---------------------+ +| 51 | RCIN1 | ++-------+---------------------+ +| 52 | RCIN2 | ++-------+---------------------+ +| 53 | RCIN3 | ++-------+---------------------+ +| 54 | RCIN4 | ++-------+---------------------+ +| 55 | RCIN5 | ++-------+---------------------+ +| 56 | RCIN6 | ++-------+---------------------+ +| 57 | RCIN7 | ++-------+---------------------+ +| 58 | RCIN8 | ++-------+---------------------+ +| 59 | RCIN9 | ++-------+---------------------+ +| 60 | RCIN10 | ++-------+---------------------+ +| 61 | RCIN11 | ++-------+---------------------+ +| 62 | RCIN12 | ++-------+---------------------+ +| 63 | RCIN13 | ++-------+---------------------+ +| 64 | RCIN14 | ++-------+---------------------+ +| 65 | RCIN15 | ++-------+---------------------+ +| 66 | RCIN16 | ++-------+---------------------+ +| 73 | ThrottleLeft | ++-------+---------------------+ +| 74 | ThrottleRight | ++-------+---------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------+ +| 81 | BoostThrottle | ++-------+---------------------+ +| 82 | Motor9 | ++-------+---------------------+ +| 83 | Motor10 | ++-------+---------------------+ +| 84 | Motor11 | ++-------+---------------------+ +| 85 | Motor12 | ++-------+---------------------+ +| 88 | Winch | ++-------+---------------------+ +| 90 | CameraISO | ++-------+---------------------+ +| 91 | CameraAperture | ++-------+---------------------+ +| 92 | CameraFocus | ++-------+---------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------+ +| 94 | Script1 | ++-------+---------------------+ +| 95 | Script2 | ++-------+---------------------+ +| 96 | Script3 | ++-------+---------------------+ +| 97 | Script4 | ++-------+---------------------+ +| 98 | Script5 | ++-------+---------------------+ +| 99 | Script6 | ++-------+---------------------+ +| 100 | Script7 | ++-------+---------------------+ +| 101 | Script8 | ++-------+---------------------+ +| 102 | Script9 | ++-------+---------------------+ +| 103 | Script10 | ++-------+---------------------+ +| 104 | Script11 | ++-------+---------------------+ +| 105 | Script12 | ++-------+---------------------+ +| 106 | Script13 | ++-------+---------------------+ +| 107 | Script14 | ++-------+---------------------+ +| 108 | Script15 | ++-------+---------------------+ +| 109 | Script16 | ++-------+---------------------+ +| 120 | NeoPixel1 | ++-------+---------------------+ +| 121 | NeoPixel2 | ++-------+---------------------+ +| 122 | NeoPixel3 | ++-------+---------------------+ +| 123 | NeoPixel4 | ++-------+---------------------+ +| 124 | RateRoll | ++-------+---------------------+ +| 125 | RatePitch | ++-------+---------------------+ +| 126 | RateThrust | ++-------+---------------------+ +| 127 | RateYaw | ++-------+---------------------+ +| 129 | ProfiLED1 | ++-------+---------------------+ +| 130 | ProfiLED2 | ++-------+---------------------+ +| 131 | ProfiLED3 | ++-------+---------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------+ +| 133 | Winch Clutch | ++-------+---------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------+ +| 138 | Alarm | ++-------+---------------------+ +| 139 | Alarm Inverted | ++-------+---------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | TestMotor1 | ++-------+------------+ +| 2 | TestMotor2 | ++-------+------------+ +| 3 | TestMotor3 | ++-------+------------+ +| 4 | TestMotor4 | ++-------+------------+ +| 5 | TestMotor5 | ++-------+------------+ +| 6 | TestMotor6 | ++-------+------------+ +| 7 | TestMotor7 | ++-------+------------+ +| 8 | TestMotor8 | ++-------+------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | OneShot | ++-------+------------+ +| 2 | OneShot125 | ++-------+------------+ +| 3 | Brushed | ++-------+------------+ +| 4 | DShot150 | ++-------+------------+ +| 5 | DShot300 | ++-------+------------+ +| 6 | DShot600 | ++-------+------------+ +| 7 | DShot1200 | ++-------+------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Console | ++-------+-------------------------+ +| 1 | Mavlink Serial Channel1 | ++-------+-------------------------+ +| 2 | Mavlink Serial Channel2 | ++-------+-------------------------+ +| 3 | Mavlink Serial Channel3 | ++-------+-------------------------+ +| 4 | Mavlink Serial Channel4 | ++-------+-------------------------+ +| 5 | Mavlink Serial Channel5 | ++-------+-------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ +| 16 | Channel17 | ++-----+-----------+ +| 17 | Channel18 | ++-----+-----------+ +| 18 | Channel19 | ++-----+-----------+ +| 19 | Channel20 | ++-----+-----------+ +| 20 | Channel21 | ++-----+-----------+ +| 21 | Channel22 | ++-----+-----------+ +| 22 | Channel23 | ++-----+-----------+ +| 23 | Channel24 | ++-----+-----------+ +| 24 | Channel25 | ++-----+-----------+ +| 25 | Channel26 | ++-----+-----------+ +| 26 | Channel27 | ++-----+-----------+ +| 28 | Channel29 | ++-----+-----------+ +| 29 | Channel30 | ++-----+-----------+ +| 30 | Channel31 | ++-----+-----------+ +| 31 | Channel32 | ++-----+-----------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_SID: + +SID Parameters +-------------- + + +.. _SID_AXIS: + +SID\_AXIS: System identification axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls which axis are being excited\. Set to non\-zero to see more parameters + + ++-------+--------------------------------+ +| Value | Meaning | ++=======+================================+ +| 0 | None | ++-------+--------------------------------+ +| 1 | Input Roll Angle | ++-------+--------------------------------+ +| 2 | Input Pitch Angle | ++-------+--------------------------------+ +| 3 | Input Yaw Angle | ++-------+--------------------------------+ +| 4 | Recovery Roll Angle | ++-------+--------------------------------+ +| 5 | Recovery Pitch Angle | ++-------+--------------------------------+ +| 6 | Recovery Yaw Angle | ++-------+--------------------------------+ +| 7 | Rate Roll | ++-------+--------------------------------+ +| 8 | Rate Pitch | ++-------+--------------------------------+ +| 9 | Rate Yaw | ++-------+--------------------------------+ +| 10 | Mixer Roll | ++-------+--------------------------------+ +| 11 | Mixer Pitch | ++-------+--------------------------------+ +| 12 | Mixer Yaw | ++-------+--------------------------------+ +| 13 | Mixer Thrust | ++-------+--------------------------------+ +| 14 | Measured Lateral Position | ++-------+--------------------------------+ +| 15 | Measured Longitudinal Position | ++-------+--------------------------------+ +| 16 | Measured Lateral Velocity | ++-------+--------------------------------+ +| 17 | Measured Longitudinal Velocity | ++-------+--------------------------------+ +| 18 | Input Lateral Velocity | ++-------+--------------------------------+ +| 19 | Input Longitudinal Velocity | ++-------+--------------------------------+ + + + + +.. _SID_MAGNITUDE: + +SID\_MAGNITUDE: System identification Chirp Magnitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Magnitude of sweep in deg\, deg\/s and 0\-1 for mixer outputs\. + + +.. _SID_F_START_HZ: + +SID\_F\_START\_HZ: System identification Start Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frequency at the start of the sweep + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.01 to 100 | hertz | ++-------------+-------+ + + + + +.. _SID_F_STOP_HZ: + +SID\_F\_STOP\_HZ: System identification Stop Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frequency at the end of the sweep + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.01 to 100 | hertz | ++-------------+-------+ + + + + +.. _SID_T_FADE_IN: + +SID\_T\_FADE\_IN: System identification Fade in time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to reach maximum amplitude of sweep + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _SID_T_REC: + +SID\_T\_REC: System identification Total Sweep length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time taken to complete the sweep + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _SID_T_FADE_OUT: + +SID\_T\_FADE\_OUT: System identification Fade out time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to reach zero amplitude at the end of the sweep + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-------+-----------------------------------------------+ +| Value | Meaning | ++=======+===============================================+ +| 0 | Disabled | ++-------+-----------------------------------------------+ +| 1 | No RC pusles | ++-------+-----------------------------------------------+ +| 2 | All Channels neutral except Throttle is 950us | ++-------+-----------------------------------------------+ + + + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Transceiever disable | ++-------+----------------------+ +| 1 | Transceiever enable | ++-------+----------------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Servo 1 | ++-----+---------+ +| 1 | Servo 2 | ++-----+---------+ +| 2 | Servo 3 | ++-----+---------+ +| 3 | Servo 4 | ++-----+---------+ +| 4 | Servo 5 | ++-----+---------+ +| 5 | Servo 6 | ++-----+---------+ +| 6 | Servo 7 | ++-----+---------+ +| 7 | Servo 8 | ++-----+---------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | square law | ++-------+------------------------+ +| 1 | none | ++-------+------------------------+ +| 2 | linear-see WIND_T_COEF | ++-------+------------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | disabled | ++-------+--------------------------+ +| 1 | roll and pitch | ++-------+--------------------------+ +| 2 | roll and pitch and heave | ++-------+--------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | MegaSquirt EFI system | ++-------+-----------------------+ +| 2 | Löweheiser EFI system | ++-------+-----------------------+ +| 8 | Hirth engines | ++-------+-----------------------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Vicon Healthy | ++-------+---------------+ +| 1 | Vicon Failed | ++-------+---------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | VISION_POSITION_ESTIMATE | ++-----+--------------------------+ +| 1 | VISION_SPEED_ESTIMATE | ++-----+--------------------------+ +| 2 | VICON_POSITION_ESTIMATE | ++-----+--------------------------+ +| 3 | VISION_POSITION_DELTA | ++-----+--------------------------+ +| 4 | ODOMETRY | ++-----+--------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | MAVLink | ++-----+-------------+ +| 3 | SageTechMXS | ++-----+-------------+ + + + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG1 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG2 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG3 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL1 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL2 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL3 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL4 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL5 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Normal | ++-------+---------+ +| 1 | Reverse | ++-------+---------+ + + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | cylinder | ++-------+----------+ +| 1 | cone | ++-------+----------+ +| 2 | sphere | ++-------+----------+ + + + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Front | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 24 | Up | ++-------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable target distance | ++-----+------------------------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++-----+--------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================+ +| 0 | Reset position on startup | ++-----+--------------------------------------------------------+ +| 1 | Swap first 4 and last 4 servos (for quadplane testing) | ++-----+--------------------------------------------------------+ +| 2 | Demix heli servos and send roll/pitch/collective/yaw | ++-----+--------------------------------------------------------+ +| 3 | Don't print frame rate stats | ++-----+--------------------------------------------------------+ + + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_SPRAY_: + +SPRAY\_ Parameters +------------------ + + +.. _SPRAY_ENABLE: + +SPRAY\_ENABLE: Sprayer enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the sprayer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SPRAY_PUMP_RATE: + +SPRAY\_PUMP\_RATE: Pump speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pump speed when travelling 1m\/s expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _SPRAY_SPINNER: + +SPRAY\_SPINNER: Spinner rotation speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Spinner\'s rotation speed in PWM \(a higher rate will disperse the spray over a wider area horizontally\) + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 1000 to 2000 | milliseconds | ++--------------+--------------+ + + + + +.. _SPRAY_SPEED_MIN: + +SPRAY\_SPEED\_MIN: Speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed minimum at which we will begin spraying + + ++-----------+------------------------+ +| Range | Units | ++===========+========================+ +| 0 to 1000 | centimeters per second | ++-----------+------------------------+ + + + + +.. _SPRAY_PUMP_MIN: + +SPRAY\_PUMP\_MIN: Pump speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum pump speed expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Unused +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Unused + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\,GENERATOR\_STATUS\, and WINCH\_STATUS + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SRTL_: + +SRTL\_ Parameters +----------------- + + +.. _SRTL_ACCURACY: + +SRTL\_ACCURACY: SmartRTL accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SmartRTL accuracy\. The minimum distance between points\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SRTL_POINTS: + +SRTL\_POINTS: SmartRTL maximum number of points on path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +SmartRTL maximum number of points on path\. Set to 0 to disable SmartRTL\. 100 points consumes about 3k of memory\. + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + +.. _SRTL_OPTIONS: + +SRTL\_OPTIONS: SmartRTL options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of SmartRTL options\. + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 2 | Ignore pilot yaw | ++-----+------------------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_TCAL: + +TCAL Parameters +--------------- + + +.. _TCAL_ENABLED: + +TCAL\_ENABLED: Temperature calibration enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable temperature calibration\. Set to 0 to disable\. Set to 1 to use learned values\. Set to 2 to learn new values and use the values + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | Enabled | ++-------+----------------+ +| 2 | EnableAndLearn | ++-------+----------------+ + + + + +.. _TCAL_TEMP_MIN: + +TCAL\_TEMP\_MIN: Temperature calibration min learned temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum learned temperature\. This is automatically set by the learning process + + ++----------+-----------------+----------+ +| ReadOnly | Units | Volatile | ++==========+=================+==========+ +| True | degrees Celsius | True | ++----------+-----------------+----------+ + + + + +.. _TCAL_TEMP_MAX: + +TCAL\_TEMP\_MAX: Temperature calibration max learned temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum learned temperature\. This is automatically set by the learning process + + ++----------+-----------------+----------+ +| ReadOnly | Units | Volatile | ++==========+=================+==========+ +| True | degrees Celsius | True | ++----------+-----------------+----------+ + + + + +.. _TCAL_BARO_EXP: + +TCAL\_BARO\_EXP: Temperature Calibration barometer exponent +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Learned exponent for barometer temperature correction + + ++----------+----------+ +| ReadOnly | Volatile | ++==========+==========+ +| True | True | ++----------+----------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++-------+---------------------------------------------------+ +| Value | Meaning | ++=======+===================================================+ +| 0 | Disabled | ++-------+---------------------------------------------------+ +| 1 | Log all instances | ++-------+---------------------------------------------------+ +| 2 | Log only instances with sensor source set to None | ++-------+---------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TERRAIN_: + +TERRAIN\_ Parameters +-------------------- + + +.. _TERRAIN_ENABLE: + +TERRAIN\_ENABLE: Terrain data enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable terrain data\. This enables the vehicle storing a database of terrain data on the SD card\. The terrain data is requested from the ground station as needed\, and stored for later use on the SD card\. To be useful the ground station must support TERRAIN\_REQUEST messages and have access to a terrain database\, such as the SRTM database\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _TERRAIN_SPACING: + +TERRAIN\_SPACING: Terrain grid spacing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Distance between terrain grid points in meters\. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station\. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy\, then a resolution of 100 meters is appropriate\. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution\. The grid spacing also controls how much data is kept in memory during flight\. A larger grid spacing will allow for a larger amount of data in memory\. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2\.7 kilometers by 3\.2 kilometers\. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 1 | meters | ++-----------+--------+ + + + + +.. _TERRAIN_OPTIONS: + +TERRAIN\_OPTIONS: Terrain options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | Disable Download | ++-----+------------------+ + + + + +.. _TERRAIN_MARGIN: + +TERRAIN\_MARGIN: Acceptance margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Margin in centi\-meters to accept terrain data from the GCS\. This can be used to allow older terrain data generated with less accurate latitude\/longitude scaling to be used + + ++---------------+--------+ +| Range | Units | ++===============+========+ +| 0.05 to 50000 | meters | ++---------------+--------+ + + + + +.. _TERRAIN_OFS_MAX: + +TERRAIN\_OFS\_MAX: Terrain reference offset maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed\. When the vehicle is armed the location of the vehicle is recorded\, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming\. This height adjustment is applied to all terrain data\. This parameter clamps the amount of adjustment\. A value of zero disables the use of terrain height adjustment\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _TERRAIN_CACHE_SZ: + +TERRAIN\_CACHE\_SZ: Terrain cache size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory\. Each block uses about 1800 bytes of memory + + ++----------+ +| Range | ++==========+ +| 0 to 128 | ++----------+ + + + + + +.. _parameters_TMODE: + +TMODE Parameters +---------------- + + +.. _TMODE_ENABLE: + +TMODE\_ENABLE: tmode enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +tmode \(or \"toy\" mode\) gives a simplified user interface designed for mass market drones\. Version1 is for the SkyViper V2450GPS\. Version2 is for the F412 based boards + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | EnableVersion1 | ++-------+----------------+ +| 2 | EnableVersion2 | ++-------+----------------+ + + + + +.. _TMODE_MODE1: + +TMODE\_MODE1: Tmode first mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the initial mode when the vehicle is first turned on\. This mode is assumed to not require GPS + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Stabilize | ++-------+--------------+ +| 1 | Acro | ++-------+--------------+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 11 | Drift | ++-------+--------------+ +| 13 | Sport | ++-------+--------------+ +| 14 | Flip | ++-------+--------------+ +| 15 | AutoTune | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 18 | Throw | ++-------+--------------+ +| 19 | Avoid_ADSB | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | FlowHold | ++-------+--------------+ + + + + +.. _TMODE_MODE2: + +TMODE\_MODE2: Tmode second mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the secondary mode\. This mode is assumed to require GPS + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Stabilize | ++-------+--------------+ +| 1 | Acro | ++-------+--------------+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 11 | Drift | ++-------+--------------+ +| 13 | Sport | ++-------+--------------+ +| 14 | Flip | ++-------+--------------+ +| 15 | AutoTune | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 18 | Throw | ++-------+--------------+ +| 19 | Avoid_ADSB | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | FlowHold | ++-------+--------------+ + + + + +.. _TMODE_ACTION1: + +TMODE\_ACTION1: Tmode action 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left action button is pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_ACTION2: + +TMODE\_ACTION2: Tmode action 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right action button is pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_ACTION3: + +TMODE\_ACTION3: Tmode action 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the power button is pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_ACTION4: + +TMODE\_ACTION4: Tmode action 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left action button is pressed while the left \(Mode\) button is held down + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_ACTION5: + +TMODE\_ACTION5: Tmode action 5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right action is pressed while the left \(Mode\) button is held down + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_ACTION6: + +TMODE\_ACTION6: Tmode action 6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the power button is pressed while the left \(Mode\) button is held down + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_LEFT: + +TMODE\_LEFT: Tmode left action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left \(Mode\) button is pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_LEFT_LONG: + +TMODE\_LEFT\_LONG: Tmode left long action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the left \(Mode\) button is long\-pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ +| 24 | ModeFlowHold | ++-------+-----------------------+ + + + + +.. _TMODE_TRIM_AUTO: + +TMODE\_TRIM\_AUTO: Stick auto trim limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving\. It is a PWM limit value away from 1500 + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _TMODE_RIGHT: + +TMODE\_RIGHT: Tmode right action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the action taken when the right \(Return\) button is pressed + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | TakePhoto | ++-------+-----------------------+ +| 2 | ToggleVideo | ++-------+-----------------------+ +| 3 | ModeAcro | ++-------+-----------------------+ +| 4 | ModeAltHold | ++-------+-----------------------+ +| 5 | ModeAuto | ++-------+-----------------------+ +| 6 | ModeLoiter | ++-------+-----------------------+ +| 7 | ModeRTL | ++-------+-----------------------+ +| 8 | ModeCircle | ++-------+-----------------------+ +| 9 | ModeLand | ++-------+-----------------------+ +| 10 | ModeDrift | ++-------+-----------------------+ +| 11 | ModeSport | ++-------+-----------------------+ +| 12 | ModeAutoTune | ++-------+-----------------------+ +| 13 | ModePosHold | ++-------+-----------------------+ +| 14 | ModeBrake | ++-------+-----------------------+ +| 15 | ModeThrow | ++-------+-----------------------+ +| 16 | Flip | ++-------+-----------------------+ +| 17 | ModeStabilize | ++-------+-----------------------+ +| 18 | Disarm | ++-------+-----------------------+ +| 19 | ToggleMode | ++-------+-----------------------+ +| 20 | Arm-Land-RTL | ++-------+-----------------------+ +| 21 | ToggleSimpleMode | ++-------+-----------------------+ +| 22 | ToggleSuperSimpleMode | ++-------+-----------------------+ +| 23 | MotorLoadTest | ++-------+-----------------------+ + + + + +.. _TMODE_FLAGS: + +TMODE\_FLAGS: Tmode flags +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flags to change the behaviour of tmode\. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed\. ArmOnHighThrottle means to arm if throttle is above 80\% for 1 second\. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT\_HOLD\, then auto\-upgrading to LOITER once GPS is available\. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | DisarmOnLowThrottle | ++-----+---------------------+ +| 1 | ArmOnHighThrottle | ++-----+---------------------+ +| 2 | UpgradeToLoiter | ++-----+---------------------+ +| 3 | RTLStickCancel | ++-----+---------------------+ + + + + +.. _TMODE_VMIN: + +TMODE\_VMIN: Min voltage for output limiting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the battery voltage below which no output limiting is done + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _TMODE_VMAX: + +TMODE\_VMAX: Max voltage for output limiting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the battery voltage above which thrust min is used + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _TMODE_TMIN: + +TMODE\_TMIN: Min thrust multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is high + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_TMAX: + +TMODE\_TMAX: Max thrust multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the thrust multiplier when voltage is low + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_LOAD_MUL: + +TMODE\_LOAD\_MUL: Load test multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the load test output\, as a value between 0 and 1 + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _TMODE_LOAD_FILT: + +TMODE\_LOAD\_FILT: Load test filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This filters the load test output\. A value of 1 means no filter\. 2 means values are repeated once\. 3 means values are repeated 3 times\, etc + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _TMODE_LOAD_TYPE: + +TMODE\_LOAD\_TYPE: Load test type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the type of load test + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | ConstantThrust | ++-------+----------------+ +| 1 | LogReplay1 | ++-------+----------------+ +| 2 | LogReplay2 | ++-------+----------------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | MAVLink | ++-------+---------------+ +| 2 | IntelT265 | ++-------+---------------+ +| 3 | VOXL(ModalAI) | ++-------+---------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 2 | Right | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 6 | Left | ++-------+---------+ +| 24 | Up | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Band A | ++-------+--------------+ +| 1 | Band B | ++-------+--------------+ +| 2 | Band E | ++-------+--------------+ +| 3 | Airwave | ++-------+--------------+ +| 4 | RaceBand | ++-------+--------------+ +| 5 | Low RaceBand | ++-------+--------------+ +| 6 | 1G3 Band A | ++-------+--------------+ +| 7 | 1G3 Band B | ++-------+--------------+ +| 8 | Band X | ++-------+--------------+ +| 9 | 3G3 Band A | ++-------+--------------+ +| 10 | 3G3 Band B | ++-------+--------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++-----+-----------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================+ +| 0 | Pitmode | ++-----+-----------------------------------------------------------+ +| 1 | Pitmode until armed | ++-----+-----------------------------------------------------------+ +| 2 | Pitmode when disarmed | ++-----+-----------------------------------------------------------+ +| 3 | Unlocked | ++-----+-----------------------------------------------------------+ +| 4 | Add leading zero byte to requests | ++-----+-----------------------------------------------------------+ +| 5 | Use 1 stop-bit in SmartAudio | ++-----+-----------------------------------------------------------+ +| 6 | Ignore CRC in SmartAudio | ++-----+-----------------------------------------------------------+ +| 7 | Ignore status updates in CRSF and blindly set VTX options | ++-----+-----------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_WINCH: + +WINCH Parameters +---------------- + + +.. _WINCH_TYPE: + +WINCH\_TYPE: Winch Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch Type + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | PWM | ++-------+---------+ +| 2 | Daiwa | ++-------+---------+ + + + + +.. _WINCH_RATE_MAX: + +WINCH\_RATE\_MAX: Winch deploy or retract rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch deploy or retract rate maximum\. Set to maximum rate with no load\. + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _WINCH_POS_P: + +WINCH\_POS\_P: Winch control position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch control position error P gain + + ++--------------+ +| Range | ++==============+ +| 0.01 to 10.0 | ++--------------+ + + + + +.. _WINCH_OPTIONS: + +WINCH\_OPTIONS: Winch options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Winch options + + ++----------------------------------------------------------------------------+ +| Bitmask | ++============================================================================+ +| 0:Spin freely on startup, 1:Verbose output, 2:Retry if stuck (Daiwa only) | ++----------------------------------------------------------------------------+ + + + + + +.. _parameters_WPNAV_: + +WPNAV\_ Parameters +------------------ + + +.. _WPNAV_SPEED: + +WPNAV\_SPEED: Waypoint Horizontal Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 2000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _WPNAV_RADIUS: + +WPNAV\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from a waypoint\, that when crossed indicates the wp has been hit\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 5 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _WPNAV_SPEED_UP: + +WPNAV\_SPEED\_UP: Waypoint Climb Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while climbing during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 1000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _WPNAV_SPEED_DN: + +WPNAV\_SPEED\_DN: Waypoint Descent Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while descending during a WP mission + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 10 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _WPNAV_ACCEL: + +WPNAV\_ACCEL: Waypoint Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _WPNAV_ACCEL_Z: + +WPNAV\_ACCEL\_Z: Waypoint Vertical Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the vertical acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _WPNAV_RFND_USE: + +WPNAV\_RFND\_USE: Waypoint missions use rangefinder for terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _WPNAV_JERK: + +WPNAV\_JERK: Waypoint Jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal jerk in m\/s\/s used during missions + + ++---------+-------------------------+ +| Range | Units | ++=========+=========================+ +| 1 to 20 | meters per cubic second | ++---------+-------------------------+ + + + + +.. _WPNAV_TER_MARGIN: + +WPNAV\_TER\_MARGIN: Waypoint Terrain following altitude margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin\. Vehicle will stop if distance from target altitude is larger than this margin \(in meters\) + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _WPNAV_ACCEL_C: + +WPNAV\_ACCEL\_C: Waypoint Cornering Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum cornering acceleration in cm\/s\/s used during missions\. If zero uses 2x accel value\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 0 to 500 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + + +.. _parameters_WVANE_: + +WVANE\_ Parameters +------------------ + + +.. _WVANE_ENABLE: + +WVANE\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~~~ + + +Enable weather vaning\. When active\, the aircraft will automatically yaw into wind when in a VTOL position controlled mode\. Pilot yaw commands override the weathervaning action\. + + ++-------+------------------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+==========================================================================================+ +| -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters | ++-------+------------------------------------------------------------------------------------------+ +| 0 | Disabled | ++-------+------------------------------------------------------------------------------------------+ +| 1 | Nose into wind | ++-------+------------------------------------------------------------------------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------------------------------------------------------------------------+ +| 3 | Side into wind | ++-------+------------------------------------------------------------------------------------------+ +| 4 | tail into wind | ++-------+------------------------------------------------------------------------------------------+ + + + + +.. _WVANE_GAIN: + +WVANE\_GAIN: Weathervaning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This converts the target roll\/pitch angle of the aircraft into the correcting \(into wind\) yaw rate\. e\.g\. Gain \= 2\, roll \= 30 deg\, pitch \= 0 deg\, yaw rate \= 60 deg\/s\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 0.5 to 4 | ++-----------+----------+ + + + + +.. _WVANE_ANG_MIN: + +WVANE\_ANG\_MIN: Weathervaning min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum target roll\/pitch angle before active weathervaning will start\. This provides a dead zone that is particularly useful for poorly trimmed quadplanes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | degrees | ++-----------+---------+---------+ + + + + +.. _WVANE_HGT_MIN: + +WVANE\_HGT\_MIN: Weathervaning min height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Above this height weathervaning is permitted\. If a range finder is fitted or if terrain is enabled\, this parameter sets height AGL\. Otherwise\, this parameter sets height above home\. Set zero to ignore minimum height requirement to activate weathervaning\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _WVANE_SPD_MAX: + +WVANE\_SPD\_MAX: Weathervaning max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Below this ground speed weathervaning is permitted\. Set to 0 to ignore this condition when checking if vehicle should weathervane\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _WVANE_VELZ_MAX: + +WVANE\_VELZ\_MAX: Weathervaning max vertical speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum climb or descent speed that the vehicle will still attempt to weathervane\. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb\/descent rate\. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _WVANE_TAKEOFF: + +WVANE\_TAKEOFF: Takeoff override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in takeoffs + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| -1 | No override | ++-------+------------------------+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | Nose into wind | ++-------+------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------+ +| 3 | Side into wind | ++-------+------------------------+ +| 4 | tail into wind | ++-------+------------------------+ + + + + +.. _WVANE_LAND: + +WVANE\_LAND: Landing override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in landing + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| -1 | No override | ++-------+------------------------+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | Nose into wind | ++-------+------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------+ +| 3 | Side into wind | ++-------+------------------------+ +| 4 | tail into wind | ++-------+------------------------+ + + + + +.. _WVANE_OPTIONS: + +WVANE\_OPTIONS: Weathervaning options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options impacting weathervaning behaviour + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Use pitch when nose or tail-in for faster weathervaning | ++-----+---------------------------------------------------------+ + + + + + +.. _parameters_ZIGZ_: + +ZIGZ\_ Parameters +----------------- + + +.. _ZIGZ_AUTO_ENABLE: + +ZIGZ\_AUTO\_ENABLE: ZigZag auto enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) ZigZag auto feature + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ZIGZ_SPRAYER: + +ZIGZ\_SPRAYER: Auto sprayer in ZigZag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable the auto sprayer in ZigZag mode\. SPRAY\_ENABLE \= 1 and SERVOx\_FUNCTION \= 22\(SprayerPump\) \/ 23\(SprayerSpinner\) also must be set\. This makes the sprayer on while moving to destination A or B\. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ZIGZ_WP_DELAY: + +ZIGZ\_WP\_DELAY: The delay for zigzag waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waiting time after reached the destination + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | seconds | ++----------+---------+ + + + + +.. _ZIGZ_SIDE_DIST: + +ZIGZ\_SIDE\_DIST: Sideways distance in ZigZag auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The distance to move sideways in ZigZag mode + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _ZIGZ_DIRECTION: + +ZIGZ\_DIRECTION: Sideways direction in ZigZag auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The direction to move sideways in ZigZag mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | forward | ++-------+----------+ +| 1 | right | ++-------+----------+ +| 2 | backward | ++-------+----------+ +| 3 | left | ++-------+----------+ + + + + +.. _ZIGZ_LINE_NUM: + +ZIGZ\_LINE\_NUM: Total number of lines +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Total number of lines for ZigZag auto if 1 or more\. \-1\: Infinity\, 0\: Just moving to sideways + + ++-------------+ +| Range | ++=============+ +| -1 to 32767 | ++-------------+ + + + diff --git a/Copter-4.6/apm.pdef.json b/Copter-4.6/apm.pdef.json new file mode 100644 index 0000000..d19380e --- /dev/null +++ b/Copter-4.6/apm.pdef.json @@ -0,0 +1,54027 @@ +{ + "ADSB_": { + "ADSB_EMIT_TYPE": { + "Description": "ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).", + "DisplayName": "Emitter type", + "User": "Advanced", + "Values": { + "0": "NoInfo", + "1": "Light", + "10": "LightAir", + "11": "Parachute", + "12": "UltraLight", + "13": "RESERVED", + "14": "UAV", + "15": "Space", + "16": "RESERVED", + "17": "EmergencySurface", + "18": "ServiceSurface", + "19": "PointObstacle", + "2": "Small", + "3": "Large", + "4": "HighVortexlarge", + "5": "Heavy", + "6": "HighlyManuv", + "7": "Rotocraft", + "8": "RESERVED", + "9": "Glider" + } + }, + "ADSB_ICAO_ID": { + "Description": "ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.", + "DisplayName": "ICAO_ID vehicle identification number", + "Range": { + "high": "16777215", + "low": "-1" + }, + "User": "Advanced" + }, + "ADSB_ICAO_SPECL": { + "Description": "ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.", + "DisplayName": "ICAO_ID of special vehicle", + "User": "Advanced" + }, + "ADSB_LEN_WIDTH": { + "Description": "Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.", + "DisplayName": "Aircraft length and width", + "User": "Advanced", + "Values": { + "0": "NO_DATA", + "1": "L15W23", + "10": "L65W59P5", + "11": "L65W67", + "12": "L75W72P5", + "13": "L75W80", + "14": "L85W80", + "15": "L85W90", + "2": "L25W28P5", + "3": "L25W34", + "4": "L35W33", + "5": "L35W38", + "6": "L45W39P5", + "7": "L45W45", + "8": "L55W45", + "9": "L55W52" + } + }, + "ADSB_LIST_ALT": { + "Description": "ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.", + "DisplayName": "ADSB vehicle list altitude filter", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "ADSB_LIST_MAX": { + "Description": "ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.", + "DisplayName": "ADSB vehicle list size", + "Range": { + "high": "100", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "ADSB_LIST_RADIUS": { + "Description": "ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.", + "DisplayName": "ADSB vehicle list radius filter", + "Range": { + "high": "100000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "ADSB_LOG": { + "Description": "0: no logging, 1: log only special ID, 2:log all", + "DisplayName": "ADS-B logging", + "User": "Advanced", + "Values": { + "0": "no logging", + "1": "log only special ID", + "2": "log all" + } + }, + "ADSB_OFFSET_LAT": { + "Description": "GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.", + "DisplayName": "GPS antenna lateral offset", + "User": "Advanced", + "Values": { + "0": "NoData", + "1": "Left2m", + "2": "Left4m", + "3": "Left6m", + "4": "Center", + "5": "Right2m", + "6": "Right4m", + "7": "Right6m" + } + }, + "ADSB_OFFSET_LON": { + "Description": "GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor", + "DisplayName": "GPS antenna longitudinal offset", + "User": "Advanced", + "Values": { + "0": "NO_DATA", + "1": "AppliedBySensor" + } + }, + "ADSB_OPTIONS": { + "Bitmask": { + "0": "Ping200X Send GPS", + "1": "Squawk 7400 on RC failsafe", + "2": "Squawk 7400 on GCS failsafe", + "3": "Sagetech MXS use External Config" + }, + "Description": "Options for emergency failsafe codes and device capabilities", + "DisplayName": "ADS-B Options", + "User": "Advanced" + }, + "ADSB_RF_CAPABLE": { + "Bitmask": { + "0": "UAT_in", + "1": "1090ES_in", + "2": "UAT_out", + "3": "1090ES_out" + }, + "Description": "Describes your hardware RF In/Out capabilities.", + "DisplayName": "RF capabilities", + "User": "Advanced" + }, + "ADSB_RF_SELECT": { + "Bitmask": { + "0": "Rx", + "1": "Tx" + }, + "Description": "Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.", + "DisplayName": "Transceiver RF selection", + "User": "Advanced" + }, + "ADSB_SQUAWK": { + "Description": "VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.", + "DisplayName": "Squawk code", + "Range": { + "high": "7777", + "low": "0" + }, + "Units": "octal", + "User": "Advanced" + }, + "ADSB_TYPE": { + "Description": "Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled", + "DisplayName": "ADSB Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "uAvionix-MAVLink", + "2": "Sagetech", + "3": "uAvionix-UCP", + "4": "Sagetech MX Series" + } + } + }, + "AFS_": { + "AFS_AMSL_ERR_GPS": { + "Description": "This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.", + "DisplayName": "Error margin for GPS based AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_AMSL_LIMIT": { + "Description": "This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.", + "DisplayName": "AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_DUAL_LOSS": { + "Description": "This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a \"dual loss\" and cause termination.", + "DisplayName": "Enable dual loss terminate due to failure of both GCS and GPS simultaneously", + "User": "Advanced" + }, + "AFS_ENABLE": { + "Description": "This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect", + "DisplayName": "Enable Advanced Failsafe", + "User": "Advanced" + }, + "AFS_GCS_TIMEOUT": { + "Description": "The time (in seconds) of persistent data link loss before GCS failsafe occurs. ", + "DisplayName": "GCS timeout", + "Units": "s", + "User": "Advanced" + }, + "AFS_GEOFENCE": { + "Description": "This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable geofence Advanced Failsafe", + "User": "Advanced" + }, + "AFS_HB_PIN": { + "Description": "This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Heartbeat Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_MAN_PIN": { + "Description": "This sets a digital output pin to set high when in manual mode. See the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Manual Pin", + "User": "Advanced" + }, + "AFS_MAX_COM_LOSS": { + "Description": "Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.", + "DisplayName": "Maximum number of comms loss events", + "User": "Advanced" + }, + "AFS_MAX_GPS_LOSS": { + "Description": "Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.", + "DisplayName": "Maximum number of GPS loss events", + "User": "Advanced" + }, + "AFS_MAX_RANGE": { + "Description": "This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.", + "DisplayName": "Max allowed range", + "Units": "km", + "User": "Advanced" + }, + "AFS_OPTIONS": { + "Bitmask": { + "0": "Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)", + "1": "Enable AFS for all autonomous modes (not just AUTO)" + }, + "Description": "See description for each bitmask bit description", + "DisplayName": "AFS options" + }, + "AFS_QNH_PRESSURE": { + "Description": "This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.", + "DisplayName": "QNH pressure", + "Units": "hPa", + "User": "Advanced" + }, + "AFS_RC": { + "Description": "This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable RC Advanced Failsafe", + "User": "Advanced" + }, + "AFS_RC_FAIL_TIME": { + "Description": "This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.", + "DisplayName": "RC failure time", + "Units": "s", + "User": "Advanced" + }, + "AFS_RC_MAN_ONLY": { + "Description": "If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.", + "DisplayName": "Enable RC Termination only in manual control modes", + "User": "Advanced" + }, + "AFS_TERMINATE": { + "Description": "Can be set in flight to force termination of the heartbeat signal", + "DisplayName": "Force Terminate", + "User": "Advanced" + }, + "AFS_TERM_ACTION": { + "Description": "This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter", + "DisplayName": "Terminate action", + "User": "Advanced" + }, + "AFS_TERM_PIN": { + "Description": "This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Terminate Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_WP_COMMS": { + "Description": "Waypoint number to navigate to on comms loss", + "DisplayName": "Comms Waypoint", + "User": "Advanced" + }, + "AFS_WP_GPS_LOSS": { + "Description": "Waypoint number to navigate to on GPS lock loss", + "DisplayName": "GPS Loss Waypoint", + "User": "Advanced" + } + }, + "AHRS_": { + "AHRS_COMP_BETA": { + "Description": "This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.", + "DisplayName": "AHRS Velocity Complementary Filter Beta Coefficient", + "Increment": ".01", + "Range": { + "high": "0.5", + "low": "0.001" + }, + "User": "Advanced" + }, + "AHRS_CUSTOM_PIT": { + "Description": "Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_ROLL": { + "Description": "Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_YAW": { + "Description": "Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_EKF_TYPE": { + "Description": "This controls which NavEKF Kalman filter version is used for attitude and position estimation", + "DisplayName": "Use NavEKF Kalman filter for attitude and position estimation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "11": "ExternalAHRS", + "2": "Enable EKF2", + "3": "Enable EKF3" + } + }, + "AHRS_GPS_GAIN": { + "Description": "This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.", + "DisplayName": "AHRS GPS gain", + "Increment": ".01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "AHRS_GPS_MINSATS": { + "Description": "Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.", + "DisplayName": "AHRS GPS Minimum satellites", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "AHRS_GPS_USE": { + "Description": "This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.", + "DisplayName": "AHRS use GPS for DCM navigation and position-down", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use GPS for DCM position", + "2": "Use GPS for DCM position and height" + } + }, + "AHRS_OPTIONS": { + "Bitmask": { + "0": "DisableDCMFallbackFW", + "1": "DisableDCMFallbackVTOL", + "2": "DontDisableAirspeedUsingEKF" + }, + "Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency", + "DisplayName": "Optional AHRS behaviour", + "User": "Advanced" + }, + "AHRS_ORIENTATION": { + "Description": "Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.", + "DisplayName": "Board Orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "AHRS_RP_P": { + "Description": "This controls how fast the accelerometers correct the attitude", + "DisplayName": "AHRS RP_P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + }, + "AHRS_TRIM_X": { + "Description": "Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.", + "DisplayName": "AHRS Trim Roll", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Y": { + "Description": "Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.", + "DisplayName": "AHRS Trim Pitch", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Z": { + "Description": "Not Used", + "DisplayName": "AHRS Trim Yaw", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Advanced" + }, + "AHRS_WIND_MAX": { + "Description": "This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.", + "DisplayName": "Maximum wind", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "AHRS_YAW_P": { + "Description": "This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.", + "DisplayName": "Yaw P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "AIS_": { + "AIS_LIST_MAX": { + "Description": "AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.", + "DisplayName": "AIS vessel list size", + "Range": { + "high": "100", + "low": "1" + }, + "User": "Advanced" + }, + "AIS_LOGGING": { + "Bitmask": { + "0": "Log all AIVDM messages", + "1": "Log only unsupported AIVDM messages", + "2": "Log decoded messages" + }, + "Description": "Bitmask of AIS logging options", + "DisplayName": "AIS logging options", + "User": "Advanced" + }, + "AIS_TIME_OUT": { + "Description": "if no updates are received in this time a vessel will be removed from the list", + "DisplayName": "AIS vessel time out", + "Range": { + "high": "2000", + "low": "1" + }, + "Units": "s", + "User": "Advanced" + }, + "AIS_TYPE": { + "Description": "AIS receiver type", + "DisplayName": "AIS receiver type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "NMEA AIVDM message" + } + } + }, + "ARMING_": { + "ARMING_ACCTHRESH": { + "Description": "Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.", + "DisplayName": "Accelerometer error threshold", + "Range": { + "high": "3.0", + "low": "0.25" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "ARMING_CHECK": { + "Bitmask": { + "0": "All", + "1": "Barometer", + "10": "Logging Available", + "11": "Hardware safety switch", + "12": "GPS Configuration", + "13": "System", + "14": "Mission", + "15": "Rangefinder", + "16": "Camera", + "17": "AuxAuth", + "18": "VisualOdometry", + "19": "FFT", + "2": "Compass", + "3": "GPS lock", + "4": "INS", + "5": "Parameters", + "6": "RC Channels", + "7": "Board voltage", + "8": "Battery Level" + }, + "Description": "Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.", + "DisplayName": "Arm Checks to Perform (bitmask)", + "User": "Standard" + }, + "ARMING_CRSDP_IGN": { + "Description": "Must have value \"1\" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.", + "DisplayName": "Disable CrashDump Arming check", + "User": "Advanced", + "Values": { + "0": "Crash Dump arming check active", + "1": "Crash Dump arming check deactivated" + } + }, + "ARMING_MAGTHRESH": { + "Description": "Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check", + "DisplayName": "Compass magnetic field strength error threshold vs earth magnetic model", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "ARMING_MIS_ITEMS": { + "Bitmask": { + "0": "Land", + "1": "VTOL Land", + "2": "DO_LAND_START", + "3": "Takeoff", + "4": "VTOL Takeoff", + "5": "Rallypoint", + "6": "RTL" + }, + "Description": "Bitmask of mission items that are required to be planned in order to arm the aircraft", + "DisplayName": "Required mission items", + "User": "Advanced" + }, + "ARMING_OPTIONS": { + "Bitmask": { + "0": "Disable prearm display", + "1": "Do not send status text on state change" + }, + "Description": "Options that can be applied to change arming behaviour", + "DisplayName": "Arming options", + "User": "Advanced" + }, + "ARMING_RUDDER": { + "Description": "Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!", + "DisplayName": "Arming with Rudder enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ArmingOnly", + "2": "ArmOrDisarm" + } + } + }, + "AROT_": { + "AROT_AS_ACC_MAX": { + "Description": "Maximum forward acceleration to apply in speed controller.", + "DisplayName": "Forward Acceleration Limit", + "Increment": "10", + "Range": { + "high": "60", + "low": "30" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "AROT_COL_FILT_E": { + "Description": "Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.", + "DisplayName": "Entry Phase Collective Filter", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.2" + }, + "Units": "Hz", + "User": "Advanced" + }, + "AROT_COL_FILT_G": { + "Description": "Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.", + "DisplayName": "Glide Phase Collective Filter", + "Increment": "0.01", + "Range": { + "high": "0.15", + "low": "0.03" + }, + "Units": "Hz", + "User": "Advanced" + }, + "AROT_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the autonomous autorotation capability.", + "DisplayName": "Enable settings for RSC Setpoint", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "AROT_FW_V_FF": { + "Description": "Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity.", + "DisplayName": "Velocity (horizontal) feed forward", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "AROT_FW_V_P": { + "Description": "Velocity (horizontal) P gain. Determines the proportion of the target acceleration based on the velocity error.", + "DisplayName": "Velocity (horizontal) P gain", + "Increment": "0.1", + "Range": { + "high": "6.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "AROT_HS_P": { + "Description": "Increase value to increase sensitivity of head speed controller during autonomous autorotation.", + "DisplayName": "P gain for head speed controller", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0.3" + }, + "User": "Advanced" + }, + "AROT_HS_SENSOR": { + "Description": "Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.", + "DisplayName": "Main Rotor RPM Sensor ", + "Increment": "0.1", + "Range": { + "high": "3", + "low": "0.5" + }, + "Units": "s", + "User": "Advanced" + }, + "AROT_HS_SET_PT": { + "Description": "The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.", + "DisplayName": "Target Head Speed", + "Increment": "1", + "Range": { + "high": "2800", + "low": "1000" + }, + "Units": "RPM", + "User": "Advanced" + }, + "AROT_TARG_SP": { + "Description": "Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.", + "DisplayName": "Target Glide Ground Speed", + "Increment": "50", + "Range": { + "high": "2000", + "low": "800" + }, + "Units": "cm/s", + "User": "Advanced" + } + }, + "ARSPD": { + "ARSPD_ENABLE": { + "Description": "Enable airspeed sensor support", + "DisplayName": "Airspeed Enable", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_OFF_PCNT": { + "Description": "The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.", + "DisplayName": "Maximum offset cal speed error ", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "%", + "User": "Advanced" + }, + "ARSPD_OPTIONS": { + "Bitmask": { + "0": "SpeedMismatchDisable", + "1": "AllowSpeedMismatchRecovery", + "2": "DisableVoltageCorrection", + "3": "UseEkf3Consistency", + "4": "ReportOffset" + }, + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed options bitmask", + "User": "Advanced" + }, + "ARSPD_PRIMARY": { + "Description": "This selects which airspeed sensor will be the primary if multiple sensors are found", + "DisplayName": "Primary airspeed sensor", + "User": "Advanced", + "Values": { + "0": "FirstSensor", + "1": "2ndSensor" + } + }, + "ARSPD_TUBE_ORDER": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_WIND_GATE": { + "Description": "This parameter and function is not used by this vehicle.", + "DisplayName": "Re-enable Consistency Check Gate Size", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "ARSPD_WIND_MAX": { + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Maximum airspeed and ground speed difference", + "Units": "m/s", + "User": "Advanced" + }, + "ARSPD_WIND_WARN": { + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed and GPS speed difference that gives a warning", + "Units": "m/s", + "User": "Advanced" + } + }, + "ARSPD2_": { + "ARSPD2_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.", + "User": "Advanced" + }, + "ARSPD2_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD2_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD2_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD2_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD2_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD2_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD2_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD2_USE": { + "Description": "This parameter is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "ARSPD_": { + "ARSPD_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.", + "User": "Advanced" + }, + "ARSPD_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD_USE": { + "Description": "This parameter is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "ATC_": { + "ATC_ACCEL_P_MAX": { + "Description": "Maximum acceleration in pitch axis", + "DisplayName": "Acceleration Max for Pitch", + "Increment": "1000", + "Range": { + "high": "180000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "108000": "Medium", + "162000": "Fast", + "30000": "VerySlow", + "72000": "Slow" + } + }, + "ATC_ACCEL_R_MAX": { + "Description": "Maximum acceleration in roll axis", + "DisplayName": "Acceleration Max for Roll", + "Increment": "1000", + "Range": { + "high": "180000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "108000": "Medium", + "162000": "Fast", + "30000": "VerySlow", + "72000": "Slow" + } + }, + "ATC_ACCEL_Y_MAX": { + "Description": "Maximum acceleration in yaw axis", + "DisplayName": "Acceleration Max for Yaw", + "Increment": "1000", + "Range": { + "high": "72000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "18000": "Slow", + "36000": "Medium", + "54000": "Fast", + "9000": "VerySlow" + } + }, + "ATC_ANGLE_BOOST": { + "Description": "Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude", + "DisplayName": "Angle Boost", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ATC_ANG_LIM_TC": { + "Description": "Angle Limit (to maintain altitude) Time Constant", + "DisplayName": "Angle Limit (to maintain altitude) Time Constant", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "User": "Advanced" + }, + "ATC_ANG_PIT_P": { + "Description": "Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate", + "DisplayName": "Pitch axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "ATC_ANG_RLL_P": { + "Description": "Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate", + "DisplayName": "Roll axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "ATC_ANG_YAW_P": { + "Description": "Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate", + "DisplayName": "Yaw axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "ATC_HOVR_ROL_TRM": { + "Description": "Trim the hover roll angle to counter tail rotor thrust in a hover", + "DisplayName": "Hover Roll Trim", + "Increment": "10", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "ATC_INPUT_TC": { + "Description": "Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response", + "DisplayName": "Attitude control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "ATC_LAND_P_MULT": { + "Description": "Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis. ", + "DisplayName": "Landed pitch gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "ATC_LAND_R_MULT": { + "Description": "Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis. ", + "DisplayName": "Landed roll gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "ATC_LAND_Y_MULT": { + "Description": "Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis. ", + "DisplayName": "Landed yaw gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "ATC_PIRO_COMP": { + "Description": "Pirouette compensation enabled", + "DisplayName": "Piro Comp Enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ATC_RATE_FF_ENAB": { + "Description": "Controls whether body-frame rate feedforward is enabled or disabled", + "DisplayName": "Rate Feedforward Enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ATC_RATE_P_MAX": { + "Description": "Maximum angular velocity in pitch axis", + "DisplayName": "Angular Velocity Max for Pitch", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "ATC_RATE_R_MAX": { + "Description": "Maximum angular velocity in roll axis", + "DisplayName": "Angular Velocity Max for Roll", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "ATC_RATE_Y_MAX": { + "Description": "Maximum angular velocity in yaw axis", + "DisplayName": "Angular Velocity Max for Yaw", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "ATC_RAT_PIT_D": { + "Description": "Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_PIT_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Pitch Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_PIT_FF": { + "Description": "Pitch axis rate controller feed forward", + "DisplayName": "Pitch axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0.05" + }, + "User": "Standard" + }, + "ATC_RAT_PIT_FLTD": { + "Description": "Pitch axis rate controller derivative frequency in Hz", + "DisplayName": "Pitch axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_PIT_FLTE": { + "Description": "Pitch axis rate controller error frequency in Hz", + "DisplayName": "Pitch axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_PIT_FLTT": { + "Description": "Pitch axis rate controller target frequency in Hz", + "DisplayName": "Pitch axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_PIT_I": { + "Description": "Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.6", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_PIT_ILMI": { + "Description": "Point below which I-term will not leak down", + "DisplayName": "Pitch axis rate controller I-term leak minimum", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_PIT_IMAX": { + "Description": "Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Pitch axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ATC_RAT_PIT_NEF": { + "Description": "Pitch Error notch filter index", + "DisplayName": "Pitch Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_RAT_PIT_NTF": { + "Description": "Pitch Target notch filter index", + "DisplayName": "Pitch Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_RAT_PIT_P": { + "Description": "Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.35", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_PIT_PDMX": { + "Description": "Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Pitch axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "ATC_RAT_PIT_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Pitch slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_RLL_D": { + "Description": "Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_RLL_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Roll Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_RLL_FF": { + "Description": "Roll axis rate controller feed forward", + "DisplayName": "Roll axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0.05" + }, + "User": "Standard" + }, + "ATC_RAT_RLL_FLTD": { + "Description": "Roll axis rate controller derivative frequency in Hz", + "DisplayName": "Roll axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_RLL_FLTE": { + "Description": "Roll axis rate controller error frequency in Hz", + "DisplayName": "Roll axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_RLL_FLTT": { + "Description": "Roll axis rate controller target frequency in Hz", + "DisplayName": "Roll axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_RLL_I": { + "Description": "Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.6", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_RLL_ILMI": { + "Description": "Point below which I-term will not leak down", + "DisplayName": "Roll axis rate controller I-term leak minimum", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_RLL_IMAX": { + "Description": "Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Roll axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ATC_RAT_RLL_NEF": { + "Description": "Roll Error notch filter index", + "DisplayName": "Roll Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_RAT_RLL_NTF": { + "Description": "Roll Target notch filter index", + "DisplayName": "Roll Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_RAT_RLL_P": { + "Description": "Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.35", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_RAT_RLL_PDMX": { + "Description": "Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Roll axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "ATC_RAT_RLL_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Roll slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_YAW_D": { + "Description": "Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.02", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_RAT_YAW_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Yaw Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_YAW_FF": { + "Description": "Yaw axis rate controller feed forward", + "DisplayName": "Yaw axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "ATC_RAT_YAW_FLTD": { + "Description": "Yaw axis rate controller derivative frequency in Hz", + "DisplayName": "Yaw axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_YAW_FLTE": { + "Description": "Yaw axis rate controller error frequency in Hz", + "DisplayName": "Yaw axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_YAW_FLTT": { + "Description": "Yaw axis rate controller target frequency in Hz", + "DisplayName": "Yaw axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_RAT_YAW_I": { + "Description": "Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0.01" + }, + "User": "Standard" + }, + "ATC_RAT_YAW_ILMI": { + "Description": "Point below which I-term will not leak down", + "DisplayName": "Yaw axis rate controller I-term leak minimum", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_RAT_YAW_IMAX": { + "Description": "Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Yaw axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ATC_RAT_YAW_NEF": { + "Description": "Yaw Error notch filter index", + "DisplayName": "Yaw Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_RAT_YAW_NTF": { + "Description": "Yaw Target notch filter index", + "DisplayName": "Yaw Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "ATC_RAT_YAW_P": { + "Description": "Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.60", + "low": "0.180" + }, + "User": "Standard" + }, + "ATC_RAT_YAW_PDMX": { + "Description": "Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Yaw axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "ATC_RAT_YAW_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Yaw slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_SLEW_YAW": { + "Description": "Maximum rate the yaw target can be updated in RTL and Auto flight modes", + "DisplayName": "Yaw target slew rate", + "Increment": "100", + "Range": { + "high": "18000", + "low": "500" + }, + "Units": "cdeg/s", + "User": "Advanced" + }, + "ATC_THR_G_BOOST": { + "Description": "Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.", + "DisplayName": "Throttle-gain boost", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_THR_MIX_MAN": { + "Description": "Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Manual", + "Range": { + "high": "0.9", + "low": "0.1" + }, + "User": "Advanced" + }, + "ATC_THR_MIX_MAX": { + "Description": "Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Maximum", + "Range": { + "high": "0.9", + "low": "0.5" + }, + "User": "Advanced" + }, + "ATC_THR_MIX_MIN": { + "Description": "Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Minimum", + "Range": { + "high": "0.25", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "AUTOTUNE_": { + "AUTOTUNE_ACC_MAX": { + "Description": "maximum angular acceleration in deg/s/s allowed during autotune maneuvers", + "DisplayName": "AutoTune maximum allowable angular acceleration", + "Range": { + "high": "4000", + "low": "1" + }, + "User": "Standard" + }, + "AUTOTUNE_AGGR": { + "Description": "Autotune aggressiveness. Defines the bounce back used to detect size of the D term.", + "DisplayName": "Autotune aggressiveness", + "Range": { + "high": "0.10", + "low": "0.05" + }, + "User": "Standard" + }, + "AUTOTUNE_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "1-byte bitmap of axes to autotune", + "DisplayName": "Autotune axis bitmask", + "User": "Standard" + }, + "AUTOTUNE_FRQ_MAX": { + "Description": "Defines the end frequency for sweeps and dwells", + "DisplayName": "AutoTune maximum sweep frequency", + "Range": { + "high": "120", + "low": "50" + }, + "User": "Standard" + }, + "AUTOTUNE_FRQ_MIN": { + "Description": "Defines the start frequency for sweeps and dwells", + "DisplayName": "AutoTune minimum sweep frequency", + "Range": { + "high": "30", + "low": "10" + }, + "User": "Standard" + }, + "AUTOTUNE_GN_MAX": { + "Description": "Defines the response gain (output/input) to tune", + "DisplayName": "AutoTune maximum response gain", + "Range": { + "high": "2.5", + "low": "1" + }, + "User": "Standard" + }, + "AUTOTUNE_MIN_D": { + "Description": "Defines the minimum D gain", + "DisplayName": "AutoTune minimum D", + "Range": { + "high": "0.005", + "low": "0.0001" + }, + "User": "Standard" + }, + "AUTOTUNE_RAT_MAX": { + "Description": "maximum angular rate in deg/s allowed during autotune maneuvers", + "DisplayName": "Autotune maximum allowable angular rate", + "Range": { + "high": "500", + "low": "0" + }, + "User": "Standard" + }, + "AUTOTUNE_SEQ": { + "Bitmask": { + "0": "VFF", + "1": "Rate D/Rate P(incl max gain)", + "2": "Angle P", + "3": "Max Gain Only", + "4": "Tune Check" + }, + "Description": "2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P", + "DisplayName": "AutoTune Sequence Bitmask", + "User": "Standard" + }, + "AUTOTUNE_VELXY_P": { + "Description": "Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps", + "DisplayName": "AutoTune velocity xy P gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + } + }, + "AVD_": { + "AVD_ENABLE": { + "Description": "Enable Avoidance using ADSB", + "DisplayName": "Enable Avoidance using ADSB", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "AVD_F_ACTION": { + "Description": "Specifies aircraft behaviour when a collision is imminent", + "DisplayName": "Collision Avoidance Behavior", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Report", + "2": "Climb Or Descend", + "3": "Move Horizontally", + "4": "Move Perpendicularly in 3D", + "5": "RTL", + "6": "Hover" + } + }, + "AVD_F_ALT_MIN": { + "Description": "Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.", + "DisplayName": "ADS-B avoidance minimum altitude", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_DIST_XY": { + "Description": "Closest allowed projected distance before F_ACTION is undertaken", + "DisplayName": "Distance Fail XY", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_DIST_Z": { + "Description": "Closest allowed projected distance before BEHAVIOUR_F is undertaken", + "DisplayName": "Distance Fail Z", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_RCVRY": { + "Description": "Determines what the aircraft will do after a fail event is resolved", + "DisplayName": "Recovery behaviour after a fail event", + "User": "Advanced", + "Values": { + "0": "Remain in AVOID_ADSB", + "1": "Resume previous flight mode", + "2": "RTL", + "3": "Resume if AUTO else Loiter" + } + }, + "AVD_F_TIME": { + "Description": "Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken", + "DisplayName": "Time Horizon Fail", + "Units": "s", + "User": "Advanced" + }, + "AVD_OBS_MAX": { + "Description": "Maximum number of obstacles to track", + "DisplayName": "Maximum number of obstacles to track", + "User": "Advanced" + }, + "AVD_W_ACTION": { + "Description": "Specifies aircraft behaviour when a collision may occur", + "DisplayName": "Collision Avoidance Behavior - Warn", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Report" + } + }, + "AVD_W_DIST_XY": { + "Description": "Closest allowed projected distance before W_ACTION is undertaken", + "DisplayName": "Distance Warn XY", + "Units": "m", + "User": "Advanced" + }, + "AVD_W_DIST_Z": { + "Description": "Closest allowed projected distance before BEHAVIOUR_W is undertaken", + "DisplayName": "Distance Warn Z", + "Units": "m", + "User": "Advanced" + }, + "AVD_W_TIME": { + "Description": "Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)", + "DisplayName": "Time Horizon Warn", + "Units": "s", + "User": "Advanced" + } + }, + "AVOID_": { + "AVOID_ACCEL_MAX": { + "Description": "Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits", + "DisplayName": "Avoidance maximum acceleration", + "Range": { + "high": "9", + "low": "0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "AVOID_ALT_MIN": { + "Description": "Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable", + "DisplayName": "Avoidance minimum altitude", + "Range": { + "high": "6", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "AVOID_ANGLE_MAX": { + "Description": "Max lean angle used to avoid obstacles while in non-GPS modes", + "DisplayName": "Avoidance max lean angle in non-GPS flight modes", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cdeg", + "User": "Standard" + }, + "AVOID_BACKUP_DZ": { + "Description": "Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.", + "DisplayName": "Avoidance deadzone between stopping and backing away from obstacle", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "AVOID_BACKUP_SPD": { + "Description": "Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.", + "DisplayName": "Avoidance maximum horizontal backup speed", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "AVOID_BACKZ_SPD": { + "Description": "Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.", + "DisplayName": "Avoidance maximum vertical backup speed", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "AVOID_BEHAVE": { + "Description": "Avoidance behaviour (slide or stop)", + "DisplayName": "Avoidance behaviour", + "User": "Standard", + "Values": { + "0": "Slide", + "1": "Stop" + } + }, + "AVOID_DIST_MAX": { + "Description": "Distance from object at which obstacle avoidance will begin in non-GPS modes", + "DisplayName": "Avoidance distance maximum in non-GPS flight modes", + "Range": { + "high": "30", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "AVOID_ENABLE": { + "Bitmask": { + "0": "UseFence", + "1": "UseProximitySensor", + "2": "UseBeaconFence" + }, + "Description": "Enabled/disable avoidance input sources", + "DisplayName": "Avoidance control enable/disable", + "User": "Standard" + }, + "AVOID_MARGIN": { + "Description": "Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes", + "DisplayName": "Avoidance distance margin in GPS modes", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m", + "User": "Standard" + } + }, + "BARO": { + "BARO1_DEVID": { + "Description": "Barometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO1_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO2_DEVID": { + "Description": "Barometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID2", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO2_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO3_DEVID": { + "Description": "Barometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID3", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO3_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Absolute Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_ALTERR_MAX": { + "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.", + "DisplayName": "Altitude error maximum", + "Increment": "1", + "Range": { + "high": "5000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "BARO_ALT_OFFSET": { + "Description": "altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.", + "DisplayName": "altitude offset", + "Increment": "0.1", + "Units": "m", + "User": "Advanced" + }, + "BARO_EXT_BUS": { + "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.", + "DisplayName": "External baro bus", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Bus0", + "1": "Bus1", + "6": "Bus6" + } + }, + "BARO_FIELD_ELV": { + "Description": "User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.", + "DisplayName": "field elevation", + "Increment": "0.1", + "Units": "m", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "BARO_GND_TEMP": { + "Description": "User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.", + "DisplayName": "ground temperature", + "Increment": "1", + "Units": "degC", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_OPTIONS": { + "Bitmask": { + "0": "Treat MS5611 as MS5607" + }, + "Description": "Barometer options", + "DisplayName": "Barometer options", + "User": "Advanced" + }, + "BARO_PRIMARY": { + "Description": "This selects which barometer will be the primary if multiple barometers are found", + "DisplayName": "Primary barometer", + "User": "Advanced", + "Values": { + "0": "FirstBaro", + "1": "2ndBaro", + "2": "3rdBaro" + } + }, + "BARO_PROBE_EXT": { + "Bitmask": { + "0": "BMP085", + "1": "BMP280", + "10": "BMP388", + "11": "SPL06", + "12": "MSP", + "13": "BMP581", + "2": "MS5611", + "3": "MS5607", + "4": "MS5637", + "5": "FBM320", + "6": "DPS280", + "7": "LPS25H", + "8": "Keller", + "9": "MS5837" + }, + "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.", + "DisplayName": "External barometers to probe", + "User": "Advanced" + } + }, + "BARO1_WCF_": { + "BARO1_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO1_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO2_WCF_": { + "BARO2_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO2_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO3_WCF_": { + "BARO3_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO3_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BATT2_": { + "BATT2_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT2_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT2_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT2_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT2_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT2_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT2_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT2_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT2_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT2_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT2_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT2_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT2_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT2_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT2_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT2_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT2_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT2_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT2_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT2_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT2_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT2_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT2_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT2_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT3_": { + "BATT3_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT3_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT3_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT3_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT3_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT3_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT3_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT3_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT3_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT3_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT3_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT3_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT3_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT3_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT3_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT3_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT3_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT3_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT3_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT3_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT3_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT3_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT3_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT3_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT4_": { + "BATT4_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT4_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT4_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT4_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT4_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT4_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT4_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT4_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT4_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT4_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT4_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT4_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT4_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT4_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT4_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT4_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT4_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT4_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT4_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT4_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT4_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT4_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT4_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT4_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT5_": { + "BATT5_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT5_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT5_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT5_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT5_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT5_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT5_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT5_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT5_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT5_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT5_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT5_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT5_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT5_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT5_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT5_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT5_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT5_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT5_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT5_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT5_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT5_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT5_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT5_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT5_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT6_": { + "BATT6_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT6_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT6_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT6_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT6_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT6_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT6_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT6_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT6_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT6_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT6_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT6_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT6_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT6_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT6_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT6_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT6_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT6_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT6_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT6_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT6_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT6_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT6_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT6_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT6_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT7_": { + "BATT7_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT7_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT7_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT7_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT7_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT7_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT7_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT7_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT7_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT7_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT7_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT7_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT7_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT7_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT7_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT7_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT7_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT7_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT7_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT7_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT7_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT7_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT7_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT7_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT7_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT8_": { + "BATT8_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT8_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT8_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT8_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT8_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT8_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT8_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT8_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT8_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT8_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT8_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT8_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT8_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT8_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT8_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT8_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT8_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT8_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT8_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT8_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT8_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT8_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT8_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT8_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT8_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT9_": { + "BATT9_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT9_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT9_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT9_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT9_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT9_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT9_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT9_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT9_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT9_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT9_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT9_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT9_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT9_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT9_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT9_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT9_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT9_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT9_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT9_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT9_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT9_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT9_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT9_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT9_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTA_": { + "BATTA_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTA_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTA_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTA_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTA_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTA_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTA_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTA_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTA_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTA_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTA_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTA_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTA_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTA_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTA_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTA_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTA_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTA_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTA_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTA_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTA_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTA_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTA_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTA_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTA_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTB_": { + "BATTB_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTB_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTB_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTB_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTB_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTB_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTB_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTB_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTB_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTB_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTB_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTB_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTB_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTB_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTB_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTB_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTB_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTB_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTB_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTB_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTB_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTB_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTB_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTB_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTB_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTC_": { + "BATTC_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTC_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTC_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTC_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTC_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTC_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTC_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTC_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTC_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTC_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTC_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTC_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTC_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTC_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTC_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTC_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTC_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTC_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTC_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTC_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTC_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTC_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTC_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTC_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTC_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTD_": { + "BATTD_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTD_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTD_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTD_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTD_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTD_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTD_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTD_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTD_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTD_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTD_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTD_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTD_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTD_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTD_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTD_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTD_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTD_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTD_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTD_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTD_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTD_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTD_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTD_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTD_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTE_": { + "BATTE_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTE_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTE_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTE_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTE_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTE_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTE_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTE_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTE_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTE_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTE_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTE_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTE_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTE_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTE_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTE_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTE_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTE_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTE_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTE_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTE_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTE_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTE_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTE_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTE_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTF_": { + "BATTF_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTF_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTF_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTF_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTF_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTF_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTF_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTF_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTF_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTF_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTF_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTF_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTF_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTF_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTF_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTF_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTF_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTF_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTF_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTF_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTF_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTF_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTF_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTF_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTF_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTG_": { + "BATTG_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTG_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTG_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTG_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTG_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTG_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTG_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTG_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTG_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTG_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTG_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTG_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTG_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATTG_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTG_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTG_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTG_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTG_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTG_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTG_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTG_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTG_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTG_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTG_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTG_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT_": { + "BATT_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Terminate", + "6": "Auto DO_LAND_START or RTL" + } + }, + "BATT_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BCN": { + "BCN_ALT": { + "Description": "Beacon origin's altitude above sealevel in meters", + "DisplayName": "Beacon origin's altitude above sealevel in meters", + "Increment": "1", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "BCN_LATITUDE": { + "Description": "Beacon origin's latitude", + "DisplayName": "Beacon origin's latitude", + "Increment": "0.000001", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_LONGITUDE": { + "Description": "Beacon origin's longitude", + "DisplayName": "Beacon origin's longitude", + "Increment": "0.000001", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_ORIENT_YAW": { + "Description": "Beacon systems rotation from north in degrees", + "DisplayName": "Beacon systems rotation from north in degrees", + "Increment": "1", + "Range": { + "high": "+180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_TYPE": { + "Description": "What type of beacon based position estimation device is connected", + "DisplayName": "Beacon based position estimation device type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Pozyx", + "10": "SITL", + "2": "Marvelmind", + "3": "Nooploop" + } + } + }, + "BRD_": { + "BRD_ALT_CONFIG": { + "Description": "Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.", + "DisplayName": "Alternative HW config", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_BOOT_DELAY": { + "Description": "This adds a delay in milliseconds to boot to ensure peripherals initialise fully", + "DisplayName": "Boot delay", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "BRD_HEAT_I": { + "Description": "Board Heater integrator gain", + "DisplayName": "Board Heater I gain", + "Increment": "0.1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_IMAX": { + "Description": "Board Heater integrator maximum", + "DisplayName": "Board Heater IMAX", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_LOWMGN": { + "Description": "Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check", + "DisplayName": "Board heater temp lower margin", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_HEAT_P": { + "Description": "Board Heater P gain", + "DisplayName": "Board Heater P gain", + "Increment": "1", + "Range": { + "high": "500", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_HEAT_TARG": { + "Description": "Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.", + "DisplayName": "Board heater temperature target", + "Range": { + "high": "80", + "low": "-1" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_IO_DSHOT": { + "Description": "This loads the DShot firmware on the IO co-processor", + "DisplayName": "Load DShot FW on IO", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "StandardFW", + "1": "DshotFW" + } + }, + "BRD_IO_ENABLE": { + "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup", + "DisplayName": "Enable IO co-processor", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "EnableNoFWUpdate" + } + }, + "BRD_OPTIONS": { + "Bitmask": { + "0": "Enable hardware watchdog", + "1": "Disable MAVftp", + "2": "Enable set of internal parameters", + "3": "Enable Debug Pins", + "4": "Unlock flash on reboot", + "5": "Write protect firmware flash on reboot", + "6": "Write protect bootloader flash on reboot", + "7": "Skip board validation", + "8": "Disable board arming gpio output change on arm/disarm" + }, + "Description": "Board specific option flags", + "DisplayName": "Board options", + "User": "Advanced" + }, + "BRD_PWM_VOLT_SEL": { + "Description": "This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.", + "DisplayName": "Set PWM Out Voltage", + "User": "Advanced", + "Values": { + "0": "3.3V", + "1": "5V" + } + }, + "BRD_SAFETYOPTION": { + "Bitmask": { + "0": "ActiveForSafetyDisable", + "1": "ActiveForSafetyEnable", + "2": "ActiveWhenArmed", + "3": "Force safety on when the aircraft disarms" + }, + "Description": "This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed", + "DisplayName": "Options for safety button behavior", + "User": "Standard" + }, + "BRD_SAFETY_DEFLT": { + "Description": "This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.", + "DisplayName": "Sets default state of the safety switch", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_SAFETY_MASK": { + "Bitmask": { + "0": "Output1", + "1": "Output2", + "10": "Output11", + "11": "Output12", + "12": "Output13", + "13": "Output14", + "2": "Output3", + "3": "Output4", + "4": "Output5", + "5": "Output6", + "6": "Output7", + "7": "Output8", + "8": "Output9", + "9": "Output10" + }, + "Description": "A bitmask which controls what outputs can move while the safety switch has not been pressed", + "DisplayName": "Outputs which ignore the safety switch state", + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SBUS_OUT": { + "Description": "This sets the SBUS output frame rate in Hz", + "DisplayName": " SBUS output rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "50Hz", + "2": "75Hz", + "3": "100Hz", + "4": "150Hz", + "5": "200Hz", + "6": "250Hz", + "7": "300Hz" + } + }, + "BRD_SD_FENCE": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.", + "DisplayName": " SDCard Fence size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_MISSION": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.", + "DisplayName": " SDCard Mission size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_SLOWDOWN": { + "Description": "This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.", + "DisplayName": "microSD slowdown", + "Increment": "1", + "Range": { + "high": "32", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_SER1_RTSCTS": { + "Description": "Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.", + "DisplayName": "Serial 1 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER2_RTSCTS": { + "Description": "Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 2 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER3_RTSCTS": { + "Description": "Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 3 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER4_RTSCTS": { + "Description": "Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 4 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER5_RTSCTS": { + "Description": "Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 5 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SERIAL_NUM": { + "Description": "User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot", + "DisplayName": "User-defined serial number", + "Range": { + "high": "8388607", + "low": "-8388608" + }, + "User": "Standard" + }, + "BRD_TYPE": { + "Description": "This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)", + "DisplayName": "Board type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "AUTO", + "1": "PX4V1", + "100": "PX4 OLDDRIVERS", + "13": "Intel Aero FC", + "14": "Pixhawk Pro", + "2": "Pixhawk", + "20": "AUAV2.1", + "21": "PCNC1", + "22": "MINDPXV2", + "23": "SP01", + "24": "CUAVv5/FMUV5", + "3": "Cube/Pixhawk2", + "30": "VRX BRAIN51", + "32": "VRX BRAIN52", + "33": "VRX BRAIN52E", + "34": "VRX UBRAIN51", + "35": "VRX UBRAIN52", + "36": "VRX CORE10", + "38": "VRX BRAIN54", + "39": "PX4 FMUV6", + "4": "Pixracer", + "5": "PixhawkMini", + "6": "Pixhawk2Slim" + } + }, + "BRD_VBUS_MIN": { + "Description": "Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Autopilot board voltage requirement", + "Increment": "0.1", + "Range": { + "high": "5.5", + "low": "4.0" + }, + "Units": "V", + "User": "Advanced" + }, + "BRD_VSERVO_MIN": { + "Description": "Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Servo voltage requirement", + "Increment": "0.1", + "Range": { + "high": "12.0", + "low": "3.3" + }, + "Units": "V", + "User": "Advanced" + } + }, + "BRD_RADIO": { + "BRD_RADIO_ABLVL": { + "Description": "This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially", + "DisplayName": "Auto-bind level", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_ABTIME": { + "Description": "When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.", + "DisplayName": "Auto-bind time", + "Range": { + "high": "120", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_BZOFS": { + "Description": "Set transmitter buzzer note adjustment (adjust frequency up)", + "DisplayName": "Transmitter buzzer adjustment", + "Range": { + "high": "40", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DEBUG": { + "Description": "radio debug level", + "DisplayName": "debug level", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DISCRC": { + "Description": "disable receive CRC (for debug)", + "DisplayName": "disable receive CRC", + "User": "Advanced", + "Values": { + "0": "NotDisabled", + "1": "Disabled" + } + }, + "BRD_RADIO_FCCTST": { + "Description": "If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled", + "DisplayName": "Put radio into FCC test mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MinChannel", + "2": "MidChannel", + "3": "MaxChannel", + "4": "MinChannelCW", + "5": "MidChannelCW", + "6": "MaxChannelCW" + } + }, + "BRD_RADIO_PPSCH": { + "Description": "Channel to show received packet-per-second rate, or zero for disabled", + "DisplayName": "Packet rate channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_PROT": { + "Description": "Select air protocol", + "DisplayName": "protocol", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "DSM2", + "2": "DSMX" + } + }, + "BRD_RADIO_SIGCH": { + "Description": "Channel to show receive RSSI signal strength, or zero for disabled", + "DisplayName": "RSSI signal strength", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_STKMD": { + "Description": "This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.", + "DisplayName": "Stick input mode", + "User": "Advanced", + "Values": { + "1": "Mode1", + "2": "Mode2" + } + }, + "BRD_RADIO_TELEM": { + "Description": "If this is non-zero then telemetry packets will be sent over DSM", + "DisplayName": "Enable telemetry", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_RADIO_TESTCH": { + "Description": "This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.", + "DisplayName": "Set radio to factory test channel", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestChan1", + "2": "TestChan2", + "3": "TestChan3", + "4": "TestChan4", + "5": "TestChan5", + "6": "TestChan6", + "7": "TestChan7", + "8": "TestChan8" + } + }, + "BRD_RADIO_TPPSCH": { + "Description": "Channel to show telemetry packets-per-second value, as received at TX", + "DisplayName": "Telemetry PPS channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TSIGCH": { + "Description": "Channel to show telemetry RSSI value as received by TX", + "DisplayName": "RSSI value channel for telemetry data on transmitter", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXMAX": { + "Description": "Set transmitter maximum transmit power (from 1 to 8)", + "DisplayName": "Transmitter transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXPOW": { + "Description": "Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX", + "DisplayName": "Telemetry Transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TYPE": { + "Description": "This enables support for direct attached radio receivers", + "DisplayName": "Set type of direct attached radio", + "Values": { + "0": "None", + "1": "CYRF6936", + "2": "CC2500", + "3": "BK2425" + } + } + }, + "BRD_RTC": { + "BRD_RTC_TYPES": { + "Bitmask": { + "0": "GPS", + "1": "MAVLINK_SYSTEM_TIME", + "2": "HW" + }, + "Description": "Specifies which sources of UTC time will be accepted", + "DisplayName": "Allowed sources of RTC time", + "User": "Advanced" + }, + "BRD_RTC_TZ_MIN": { + "Description": "Adds offset in +- minutes from UTC to calculate local time", + "DisplayName": "Timezone offset from UTC", + "Range": { + "high": "+840", + "low": "-720" + }, + "User": "Advanced" + } + }, + "BTN_": { + "BTN_ENABLE": { + "Description": "This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible", + "DisplayName": "Enable button reporting", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BTN_FUNC1": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 1 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "BTN_FUNC2": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 2 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "BTN_FUNC3": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 3 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "BTN_FUNC4": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 4 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "BTN_OPTIONS1": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 1 Options", + "User": "Standard" + }, + "BTN_OPTIONS2": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 2 Options", + "User": "Standard" + }, + "BTN_OPTIONS3": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 3 Options" + }, + "BTN_OPTIONS4": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 4 Options", + "User": "Standard" + }, + "BTN_PIN1": { + "Description": "Digital pin number for first button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "First button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN2": { + "Description": "Digital pin number for second button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Second button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN3": { + "Description": "Digital pin number for third button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Third button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN4": { + "Description": "Digital pin number for fourth button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Fourth button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_REPORT_SEND": { + "Description": "The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.", + "DisplayName": "Report send time", + "Range": { + "high": "3600", + "low": "0" + }, + "User": "Standard" + } + }, + "CAM": { + "CAM_AUTO_ONLY": { + "Description": "When enabled, trigging by distance is done in AUTO mode only.", + "DisplayName": "Distance-trigging in AUTO mode only", + "User": "Standard", + "Values": { + "0": "Always", + "1": "Only when in AUTO" + } + }, + "CAM_MAX_ROLL": { + "Description": "Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).", + "DisplayName": "Maximum photo roll angle.", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM1": { + "CAM1_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM1_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM1_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM1_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM1_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM1_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM1_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM1_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM1_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM2": { + "CAM2_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM2_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM2_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM2_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM2_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM2_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM2_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM2_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM2_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM_RC_": { + "CAM_RC_BTN_DELAY": { + "Description": "Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam button delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_BT_DELAY": { + "Description": "Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam boot delay before allowing updates", + "User": "Advanced" + }, + "CAM_RC_CONTROL": { + "Bitmask": { + "0": "Stick yaw right", + "1": "Stick roll right", + "2": "3-position switch", + "3": "2-position switch", + "4": "Autorecording enabled" + }, + "Description": "Specifies the allowed actions required to enter the OSD menu and other option like autorecording", + "DisplayName": "RunCam control option", + "User": "Advanced" + }, + "CAM_RC_FEATURES": { + "Bitmask": { + "0": "Power Button", + "1": "WiFi Button", + "2": "Change Mode", + "3": "5-Key OSD", + "4": "Settings Access", + "5": "DisplayPort", + "6": "Start Recording", + "7": "Stop Recording" + }, + "Description": "The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.", + "DisplayName": "RunCam features available", + "User": "Advanced" + }, + "CAM_RC_MDE_DELAY": { + "Description": "Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam mode delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_TYPE": { + "Description": "RunCam device type used to determine OSD menu structure and shutter options.", + "DisplayName": "RunCam device type", + "Values": { + "0": "Disabled", + "1": "RunCam Split Micro/RunCam with UART", + "2": "RunCam Split", + "3": "RunCam Split4 4k", + "4": "RunCam Hybrid/RunCam Thumb Pro", + "5": "Runcam 2 4k" + } + } + }, + "CAN_": { + "CAN_LOGLEVEL": { + "Description": "Loglevel for recording initialisation and debug information from CAN Interface", + "DisplayName": "Loglevel", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Log None", + "1": "Log Error", + "2": "Log Warning and below", + "3": "Log Info and below", + "4": "Log Everything" + } + } + }, + "CAN_D1_": { + "CAN_D1_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D1_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D1_PC_": { + "CAN_D1_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D1_UC_": { + "CAN_D1_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D1_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D1_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D1_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D1_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D1_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D1_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D1_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_": { + "CAN_D2_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D2_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D2_PC_": { + "CAN_D2_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_UC_": { + "CAN_D2_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D2_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D2_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D2_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D2_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D2_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D2_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D2_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_": { + "CAN_D3_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D3_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D3_PC_": { + "CAN_D3_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_UC_": { + "CAN_D3_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D3_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D3_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D3_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D3_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D3_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D3_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D3_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_P1_": { + "CAN_P1_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P1_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P1_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P2_": { + "CAN_P2_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P2_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P2_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P3_": { + "CAN_P3_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P3_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P3_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_SLCAN_": { + "CAN_SLCAN_CPORT": { + "Description": "CAN Interface ID to be routed to SLCAN, 0 means no routing", + "DisplayName": "SLCAN Route", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First interface", + "2": "Second interface" + } + }, + "CAN_SLCAN_SDELAY": { + "Description": "Duration after which slcan starts after setting SERNUM in seconds.", + "DisplayName": "SLCAN Start Delay", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "CAN_SLCAN_SERNUM": { + "Description": "Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details", + "DisplayName": "SLCAN Serial Port", + "User": "Standard", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_SLCAN_TIMOUT": { + "Description": "Duration of inactivity after which SLCAN is switched back to original driver in seconds.", + "DisplayName": "SLCAN Timeout", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + } + }, + "CC": { + "CC_AXIS_MASK": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "Custom Controller bitmask to chose which axis to run", + "DisplayName": "Custom Controller bitmask", + "User": "Advanced" + }, + "CC_TYPE": { + "Description": "Custom control type to be used", + "DisplayName": "Custom control type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Empty", + "2": "PID" + } + } + }, + "CHUTE_": { + "CHUTE_ALT_MIN": { + "Description": "Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.", + "DisplayName": "Parachute min altitude in meters above home", + "Increment": "1", + "Range": { + "high": "32000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CHUTE_CRT_SINK": { + "Description": "Release parachute when critical sink rate is reached", + "DisplayName": "Critical sink speed rate in m/s to trigger emergency parachute", + "Increment": "1", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "CHUTE_DELAY_MS": { + "Description": "Delay in millseconds between motor stop and chute release", + "DisplayName": "Parachute release delay", + "Increment": "1", + "Range": { + "high": "5000", + "low": "0" + }, + "Units": "ms", + "User": "Standard" + }, + "CHUTE_ENABLED": { + "Description": "Parachute release enabled or disabled", + "DisplayName": "Parachute release enabled or disabled", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CHUTE_OPTIONS": { + "Bitmask": { + "0": "hold open forever after release", + "1": "skip disarm before parachute release" + }, + "Description": "Optional behaviour for parachute", + "DisplayName": "Parachute options", + "User": "Standard" + }, + "CHUTE_SERVO_OFF": { + "Description": "Parachute Servo PWM value in microseconds when parachute is not released", + "DisplayName": "Servo OFF PWM value", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CHUTE_SERVO_ON": { + "Description": "Parachute Servo PWM value in microseconds when parachute is released", + "DisplayName": "Parachute Servo ON PWM value", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CHUTE_TYPE": { + "Description": "Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. ", + "DisplayName": "Parachute release mechanism type (relay or servo)", + "Values": { + "0": "Relay", + "10": "Servo" + } + } + }, + "CIRCLE_": { + "CIRCLE_OPTIONS": { + "Bitmask": { + "0": "manual control", + "1": "face direction of travel", + "2": "Start at center rather than on perimeter", + "3": "Make Mount ROI the center of the circle" + }, + "Description": "0:Enable or disable using the pitch/roll stick control circle mode's radius and rate", + "DisplayName": "Circle options", + "User": "Standard" + }, + "CIRCLE_RADIUS": { + "Description": "Defines the radius of the circle the vehicle will fly when in Circle flight mode", + "DisplayName": "Circle Radius", + "Increment": "100", + "Range": { + "high": "200000", + "low": "0" + }, + "Units": "cm", + "User": "Standard" + }, + "CIRCLE_RATE": { + "Description": "Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.", + "DisplayName": "Circle rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg/s", + "User": "Standard" + } + }, + "COMPASS_": { + "COMPASS_AUTODEC": { + "Description": "Enable or disable the automatic calculation of the declination based on gps location", + "DisplayName": "Auto Declination", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_AUTO_ROT": { + "Description": "When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.", + "DisplayName": "Automatically check orientation", + "Values": { + "0": "Disabled", + "1": "CheckOnly", + "2": "CheckAndFix", + "3": "use same tolerance to auto rotate 45 deg rotations" + } + }, + "COMPASS_CAL_FIT": { + "Description": "This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.", + "DisplayName": "Compass calibration fitness", + "Increment": "0.1", + "Range": { + "high": "32", + "low": "4" + }, + "User": "Advanced", + "Values": { + "16": "Default", + "32": "Relaxed", + "4": "Very Strict", + "8": "Strict" + } + }, + "COMPASS_CUS_PIT": { + "Description": "Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_ROLL": { + "Description": "Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_YAW": { + "Description": "Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_DEC": { + "Description": "An angle to compensate between the true north and magnetic north", + "DisplayName": "Compass declination", + "Increment": "0.01", + "Range": { + "high": "3.142", + "low": "-3.142" + }, + "Units": "rad", + "User": "Standard" + }, + "COMPASS_DEV_ID": { + "Description": "Compass device id. Automatically detected, do not set manually", + "DisplayName": "Compass device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID2": { + "Description": "Second compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass2 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID3": { + "Description": "Third compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass3 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID4": { + "Description": "Extra 4th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass4 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID5": { + "Description": "Extra 5th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass5 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID6": { + "Description": "Extra 6th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass6 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID7": { + "Description": "Extra 7th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass7 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID8": { + "Description": "Extra 8th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass8 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DIA2_X": { + "Calibration": "1", + "Description": "DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA2_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA2_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA3_X": { + "Calibration": "1", + "Description": "DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA3_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA3_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA_X": { + "Calibration": "1", + "Description": "DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DISBLMSK": { + "Bitmask": { + "0": "HMC5883", + "1": "LSM303D", + "11": "DroneCAN", + "12": "QMC5883", + "14": "MAG3110", + "15": "IST8308", + "16": "RM3100", + "17": "MSP", + "18": "ExternalAHRS", + "19": "MMC5XX3", + "2": "AK8963", + "20": "QMC5883P", + "21": "BMM350", + "3": "BMM150", + "4": "LSM9DS1", + "5": "LIS3MDL", + "6": "AK09916", + "7": "IST8310", + "8": "ICM20948", + "9": "MMC3416" + }, + "Description": "This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup", + "DisplayName": "Compass disable driver type mask", + "User": "Advanced" + }, + "COMPASS_ENABLE": { + "Description": "Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.", + "DisplayName": "Enable Compass", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_EXTERN2": { + "Description": "Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass2 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERN3": { + "Description": "Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass3 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERNAL": { + "Description": "Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "COMPASS_LEARN": { + "Description": "Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.", + "DisplayName": "Learn compass offsets automatically", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Internal-Learning", + "2": "EKF-Learning", + "3": "InFlight-Learning" + } + }, + "COMPASS_MOT2_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOTCT": { + "Calibration": "1", + "Description": "Set motor interference compensation type to disabled, throttle or current. Do not change manually.", + "DisplayName": "Motor interference compensation type", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use Throttle", + "2": "Use Current" + } + }, + "COMPASS_MOT_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_ODI2_X": { + "Calibration": "1", + "Description": "ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI2_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI2_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI3_X": { + "Calibration": "1", + "Description": "ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI3_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI3_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI_X": { + "Calibration": "1", + "Description": "ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_OFFS_MAX": { + "Description": "This sets the maximum allowed compass offset in calibration and arming checks", + "DisplayName": "Compass maximum offset", + "Increment": "1", + "Range": { + "high": "3000", + "low": "500" + }, + "User": "Advanced" + }, + "COMPASS_OFS2_X": { + "Calibration": "1", + "Description": "Offset to be added to compass2's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass2's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass2's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_X": { + "Calibration": "1", + "Description": "Offset to be added to compass3's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass3's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass3's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_X": { + "Calibration": "1", + "Description": "Offset to be added to the compass x-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Y": { + "Calibration": "1", + "Description": "Offset to be added to the compass y-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Z": { + "Calibration": "1", + "Description": "Offset to be added to the compass z-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OPTIONS": { + "Bitmask": { + "0": "CalRequireGPS", + "1": "Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)" + }, + "Description": "This sets options to change the behaviour of the compass", + "DisplayName": "Compass options", + "User": "Advanced" + }, + "COMPASS_ORIENT": { + "Description": "The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT2": { + "Description": "The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass2 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT3": { + "Description": "The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass3 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_PRIO1_ID": { + "Description": "Compass device id with 1st order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 1st order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO2_ID": { + "Description": "Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 2nd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO3_ID": { + "Description": "Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 3rd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_SCALE": { + "Description": "Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass1 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE2": { + "Description": "Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass2 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE3": { + "Description": "Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass3 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_USE": { + "Description": "Enable or disable the use of the compass (instead of the GPS) for determining heading", + "DisplayName": "Use compass for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE2": { + "Description": "Enable or disable the secondary compass for determining heading.", + "DisplayName": "Compass2 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE3": { + "Description": "Enable or disable the tertiary compass for determining heading.", + "DisplayName": "Compass3 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "COMPASS_PMOT": { + "COMPASS_PMOT1_X": { + "Description": "Compensation for X axis of motor1", + "DisplayName": "Compass per-motor1 X", + "User": "Advanced" + }, + "COMPASS_PMOT1_Y": { + "Description": "Compensation for Y axis of motor1", + "DisplayName": "Compass per-motor1 Y", + "User": "Advanced" + }, + "COMPASS_PMOT1_Z": { + "Description": "Compensation for Z axis of motor1", + "DisplayName": "Compass per-motor1 Z", + "User": "Advanced" + }, + "COMPASS_PMOT2_X": { + "Description": "Compensation for X axis of motor2", + "DisplayName": "Compass per-motor2 X", + "User": "Advanced" + }, + "COMPASS_PMOT2_Y": { + "Description": "Compensation for Y axis of motor2", + "DisplayName": "Compass per-motor2 Y", + "User": "Advanced" + }, + "COMPASS_PMOT2_Z": { + "Description": "Compensation for Z axis of motor2", + "DisplayName": "Compass per-motor2 Z", + "User": "Advanced" + }, + "COMPASS_PMOT3_X": { + "Description": "Compensation for X axis of motor3", + "DisplayName": "Compass per-motor3 X", + "User": "Advanced" + }, + "COMPASS_PMOT3_Y": { + "Description": "Compensation for Y axis of motor3", + "DisplayName": "Compass per-motor3 Y", + "User": "Advanced" + }, + "COMPASS_PMOT3_Z": { + "Description": "Compensation for Z axis of motor3", + "DisplayName": "Compass per-motor3 Z", + "User": "Advanced" + }, + "COMPASS_PMOT4_X": { + "Description": "Compensation for X axis of motor4", + "DisplayName": "Compass per-motor4 X", + "User": "Advanced" + }, + "COMPASS_PMOT4_Y": { + "Description": "Compensation for Y axis of motor4", + "DisplayName": "Compass per-motor4 Y", + "User": "Advanced" + }, + "COMPASS_PMOT4_Z": { + "Description": "Compensation for Z axis of motor4", + "DisplayName": "Compass per-motor4 Z", + "User": "Advanced" + }, + "COMPASS_PMOT_EN": { + "Description": "This enables per-motor compass corrections", + "DisplayName": "per-motor compass correction enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_PMOT_EXP": { + "Description": "This is the exponential correction for the power output of the motor for per-motor compass correction", + "DisplayName": "per-motor exponential correction", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + } + }, + "CUST_ROT": { + "CUST_ROT_ENABLE": { + "Description": "This enables custom rotations", + "DisplayName": "Enable Custom rotations", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + } + }, + "CUST_ROT1_": { + "CUST_ROT1_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "CUST_ROT2_": { + "CUST_ROT2_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "Copter": { + "ACRO_BAL_PITCH": { + "Description": "rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.", + "DisplayName": "Acro Balance Pitch", + "Increment": "0.1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Advanced" + }, + "ACRO_BAL_ROLL": { + "Description": "rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.", + "DisplayName": "Acro Balance Roll", + "Increment": "0.1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Advanced" + }, + "ACRO_OPTIONS": { + "Bitmask": { + "0": "Air-mode", + "1": "Rate Loop Only" + }, + "Description": "A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.", + "DisplayName": "Acro mode options", + "User": "Advanced" + }, + "ACRO_RP_EXPO": { + "Description": "Acro roll/pitch Expo to allow faster rotation when stick at edges", + "DisplayName": "Acro Roll/Pitch Expo", + "Range": { + "high": "0.95", + "low": "-0.5" + }, + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "ACRO_RP_RATE": { + "Description": "Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation", + "DisplayName": "Acro Roll and Pitch Rate", + "Range": { + "high": "1080", + "low": "1" + }, + "Units": "deg/s", + "User": "Standard" + }, + "ACRO_RP_RATE_TC": { + "Description": "Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response", + "DisplayName": "Acro roll/pitch rate control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "ACRO_THR_MID": { + "Description": "Acro Throttle Mid", + "DisplayName": "Acro Thr Mid", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "ACRO_TRAINER": { + "Description": "Type of trainer used in acro mode", + "DisplayName": "Acro Trainer", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Leveling", + "2": "Leveling and Limited" + } + }, + "ACRO_Y_EXPO": { + "Description": "Acro yaw expo to allow faster rotation when stick at edges", + "DisplayName": "Acro Yaw Expo", + "Range": { + "high": "0.95", + "low": "-1.0" + }, + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "ACRO_Y_RATE": { + "Description": "Acro mode maximum yaw rate. Higher value means faster rate of rotation", + "DisplayName": "Acro Yaw Rate", + "Range": { + "high": "360", + "low": "1" + }, + "Units": "deg/s", + "User": "Standard" + }, + "ACRO_Y_RATE_TC": { + "Description": "Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response", + "DisplayName": "Acro yaw rate control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "ANGLE_MAX": { + "Description": "Maximum lean angle in all flight modes", + "DisplayName": "Angle Max", + "Increment": "10", + "Range": { + "high": "8000", + "low": "1000" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "AUTO_OPTIONS": { + "Bitmask": { + "0": "Allow Arming", + "1": "Allow Takeoff Without Raising Throttle", + "2": "Ignore pilot yaw", + "7": "Allow weathervaning" + }, + "Description": "A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.", + "DisplayName": "Auto mode options", + "User": "Advanced" + }, + "DEV_OPTIONS": { + "Bitmask": { + "0": "ADSBMavlinkProcessing", + "1": "DevOptionVFR_HUDRelativeAlt" + }, + "Description": "Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning", + "DisplayName": "Development options", + "User": "Advanced" + }, + "DISARM_DELAY": { + "Description": "Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.", + "DisplayName": "Disarm delay", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "ESC_CALIBRATION": { + "Description": "Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.", + "DisplayName": "ESC Calibration", + "User": "Advanced", + "Values": { + "0": "Normal Start-up", + "1": "Start-up in ESC Calibration mode if throttle high", + "2": "Start-up in ESC Calibration mode regardless of throttle", + "3": "Start-up and automatically calibrate ESCs", + "9": "Disabled" + } + }, + "FLIGHT_OPTIONS": { + "Bitmask": { + "0": "Disable thrust loss check", + "1": "Disable yaw imbalance warning", + "2": "Release gripper on thrust loss", + "3": "Require position for arming" + }, + "Description": "Flight mode specific options", + "DisplayName": "Flight mode options", + "User": "Advanced" + }, + "FLTMODE1": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230", + "DisplayName": "Flight Mode 1", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE2": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360", + "DisplayName": "Flight Mode 2", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE3": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490", + "DisplayName": "Flight Mode 3", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE4": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620", + "DisplayName": "Flight Mode 4", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE5": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749", + "DisplayName": "Flight Mode 5", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE6": { + "Description": "Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750", + "DisplayName": "Flight Mode 6", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "27": "Auto RTL", + "28": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "FLTMODE_CH": { + "Description": "RC Channel to use for flight mode control", + "DisplayName": "Flightmode channel", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Channel 10", + "11": "Channel 11", + "12": "Channel 12", + "13": "Channel 13", + "14": "Channel 14", + "15": "Channel 15", + "5": "Channel5", + "6": "Channel6", + "7": "Channel7", + "8": "Channel8", + "9": "Channel9" + } + }, + "FORMAT_VERSION": { + "Description": "This value is incremented when changes are made to the eeprom format", + "DisplayName": "Eeprom format version number", + "User": "Advanced" + }, + "FRAME_CLASS": { + "Description": "Controls major frame class for multicopter component", + "DisplayName": "Frame Class", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Undefined", + "1": "Quad", + "10": "BiCopter", + "11": "Heli_Dual", + "12": "DodecaHexa", + "13": "HeliQuad", + "14": "Deca", + "15": "Scripting Matrix", + "16": "6DoF Scripting", + "17": "Dynamic Scripting Matrix", + "2": "Hexa", + "3": "Octa", + "4": "OctaQuad", + "5": "Y6", + "6": "Heli", + "7": "Tri", + "8": "SingleCopter", + "9": "CoaxCopter" + } + }, + "FRAME_TYPE": { + "Description": "Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.", + "DisplayName": "Frame Type (+, X, V, etc)", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Plus", + "1": "X", + "10": "Y6B", + "11": "Y6F", + "12": "BetaFlightX", + "13": "DJIX", + "14": "ClockwiseX", + "15": "I", + "18": "BetaFlightXReversed", + "19": "Y4", + "2": "V", + "3": "H", + "4": "V-Tail", + "5": "A-Tail" + } + }, + "FS_CRASH_CHECK": { + "Description": "This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.", + "DisplayName": "Crash check enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FS_DR_ENABLE": { + "Description": "Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates", + "DisplayName": "DeadReckon Failsafe Action", + "User": "Standard", + "Values": { + "0": "Disabled/NoAction", + "1": "Land", + "2": "RTL", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "6": "Auto DO_LAND_START or RTL" + } + }, + "FS_DR_TIMEOUT": { + "Description": "DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate", + "DisplayName": "DeadReckon Failsafe Timeout", + "Range": { + "high": "120", + "low": "0" + }, + "User": "Standard" + }, + "FS_EKF_ACTION": { + "Description": "Controls the action that will be taken when an EKF failsafe is invoked", + "DisplayName": "EKF Failsafe Action", + "User": "Advanced", + "Values": { + "1": "Land", + "2": "AltHold", + "3": "Land even in Stabilize" + } + }, + "FS_EKF_FILT": { + "Description": "EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.", + "DisplayName": "EKF Failsafe filter cutoff", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FS_EKF_THRESH": { + "Description": "Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.", + "DisplayName": "EKF failsafe variance threshold", + "User": "Advanced", + "Values": { + "0.6": "Strict", + "0.8": "Default", + "1.0": "Relaxed" + } + }, + "FS_GCS_ENABLE": { + "Description": "Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.", + "DisplayName": "Ground Station Failsafe Enable", + "User": "Standard", + "Values": { + "0": "Disabled/NoAction", + "1": "RTL", + "2": "RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS)", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Land", + "5": "Land", + "6": "Auto DO_LAND_START or RTL", + "7": "Brake or Land" + } + }, + "FS_GCS_TIMEOUT": { + "Description": "Timeout before triggering the GCS failsafe", + "DisplayName": "GCS failsafe timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "2" + }, + "Units": "s", + "User": "Standard" + }, + "FS_OPTIONS": { + "Bitmask": { + "0": "Continue if in Auto on RC failsafe", + "1": "Continue if in Auto on GCS failsafe", + "2": "Continue if in Guided on RC failsafe", + "3": "Continue if landing on any failsafe", + "4": "Continue if in pilot controlled modes on GCS failsafe", + "5": "Release Gripper" + }, + "Description": "Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.", + "DisplayName": "Failsafe options bitmask", + "User": "Advanced" + }, + "FS_THR_ENABLE": { + "Description": "The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel", + "DisplayName": "Throttle Failsafe Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled always RTL", + "2": "Enabled Continue with Mission in Auto Mode (Removed in 4.0+)", + "3": "Enabled always Land", + "4": "Enabled always SmartRTL or RTL", + "5": "Enabled always SmartRTL or Land", + "6": "Enabled Auto DO_LAND_START or RTL", + "7": "Enabled always Brake or Land" + } + }, + "FS_THR_VALUE": { + "Description": "The PWM level in microseconds on channel 3 below which throttle failsafe triggers", + "DisplayName": "Throttle Failsafe Value", + "Increment": "1", + "Range": { + "high": "1100", + "low": "910" + }, + "Units": "PWM", + "User": "Standard" + }, + "FS_VIBE_ENABLE": { + "Description": "This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations", + "DisplayName": "Vibration Failsafe enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "GCS_PID_MASK": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw", + "3": "AccelZ" + }, + "Description": "bitmask of PIDs to send MAVLink PID_TUNING messages for", + "DisplayName": "GCS PID tuning mask", + "User": "Advanced" + }, + "GND_EFFECT_COMP": { + "Description": "Ground Effect Compensation Enable/Disable", + "DisplayName": "Ground Effect Compensation Enable/Disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "GPS_HDOP_GOOD": { + "Description": "GPS Hdop value at or below this value represent a good position. Used for pre-arm checks", + "DisplayName": "GPS Hdop Good", + "Range": { + "high": "900", + "low": "100" + }, + "User": "Advanced" + }, + "GUID_OPTIONS": { + "Bitmask": { + "0": "Allow Arming from Transmitter", + "2": "Ignore pilot yaw", + "3": "SetAttitudeTarget interprets Thrust As Thrust", + "4": "Do not stabilize PositionXY", + "5": "Do not stabilize VelocityXY", + "6": "Waypoint navigation used for position targets", + "7": "Allow weathervaning" + }, + "Description": "Options that can be applied to change guided mode behaviour", + "DisplayName": "Guided mode options", + "User": "Advanced" + }, + "GUID_TIMEOUT": { + "Description": "Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control", + "DisplayName": "Guided mode timeout", + "Range": { + "high": "5", + "low": "0.1" + }, + "Units": "s", + "User": "Advanced" + }, + "INITIAL_MODE": { + "Description": "This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.", + "DisplayName": "Initial flight mode", + "User": "Advanced", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "22": "FlowHold", + "23": "Follow", + "24": "ZigZag", + "25": "SystemID", + "26": "Heli_Autorotate", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "LAND_ALT_LOW": { + "Description": "Altitude during Landing at which vehicle slows to LAND_SPEED", + "DisplayName": "Land alt low", + "Increment": "10", + "Range": { + "high": "10000", + "low": "100" + }, + "Units": "cm", + "User": "Advanced" + }, + "LAND_REPOSITION": { + "Description": "Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.", + "DisplayName": "Land repositioning", + "User": "Advanced", + "Values": { + "0": "No repositioning", + "1": "Repositioning" + } + }, + "LAND_SPEED": { + "Description": "The descent speed for the final stage of landing in cm/s", + "DisplayName": "Land speed", + "Increment": "10", + "Range": { + "high": "200", + "low": "30" + }, + "Units": "cm/s", + "User": "Standard" + }, + "LAND_SPEED_HIGH": { + "Description": "The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used", + "DisplayName": "Land speed high", + "Increment": "10", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "cm/s", + "User": "Standard" + }, + "LOG_BITMASK": { + "Bitmask": { + "0": "Fast Attitude", + "1": "Medium Attitude", + "10": "RC output", + "11": "Optical Flow", + "12": "PID", + "13": "Compass", + "15": "Camera", + "17": "Motors", + "18": "Fast IMU", + "19": "Raw IMU", + "2": "GPS", + "20": "Video Stabilization", + "21": "Fast harmonic notch logging", + "3": "System Performance", + "4": "Control Tuning", + "5": "Navigation Tuning", + "6": "RC input", + "7": "IMU", + "8": "Mission Commands", + "9": "Battery Monitor" + }, + "Description": "Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535.", + "DisplayName": "Log bitmask", + "User": "Standard" + }, + "PHLD_BRAKE_ANGLE": { + "Description": "PosHold flight mode's max lean angle during braking in centi-degrees", + "DisplayName": "PosHold braking angle max", + "Increment": "10", + "Range": { + "high": "4500", + "low": "2000" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "PHLD_BRAKE_RATE": { + "Description": "PosHold flight mode's rotation rate during braking in deg/sec", + "DisplayName": "PosHold braking rate", + "Range": { + "high": "12", + "low": "4" + }, + "Units": "deg/s", + "User": "Advanced" + }, + "PILOT_ACCEL_Z": { + "Description": "The vertical acceleration used when pilot is controlling the altitude", + "DisplayName": "Pilot vertical acceleration", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "PILOT_SPEED_DN": { + "Description": "The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used.", + "DisplayName": "Pilot maximum vertical speed descending", + "Increment": "10", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "cm/s", + "User": "Standard" + }, + "PILOT_SPEED_UP": { + "Description": "The maximum vertical ascending velocity the pilot may request in cm/s", + "DisplayName": "Pilot maximum vertical speed ascending", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s", + "User": "Standard" + }, + "PILOT_THR_BHV": { + "Bitmask": { + "0": "Feedback from mid stick", + "1": "High throttle cancels landing", + "2": "Disarm on land detection" + }, + "Description": "Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to \"1\" so motor feedback when landed starts from mid-stick instead of bottom of stick.", + "DisplayName": "Throttle stick behavior", + "User": "Standard" + }, + "PILOT_THR_FILT": { + "Description": "Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable", + "DisplayName": "Throttle filter cutoff", + "Increment": ".5", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PILOT_TKOFF_ALT": { + "Description": "Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.", + "DisplayName": "Pilot takeoff altitude", + "Increment": "10", + "Range": { + "high": "1000.0", + "low": "0.0" + }, + "Units": "cm", + "User": "Standard" + }, + "PILOT_Y_EXPO": { + "Description": "Pilot controlled yaw expo to allow faster rotation when stick at edges", + "DisplayName": "Pilot controlled yaw expo", + "Range": { + "high": "1.0", + "low": "-0.5" + }, + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "PILOT_Y_RATE": { + "Description": "Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro", + "DisplayName": "Pilot controlled yaw rate", + "Range": { + "high": "360", + "low": "1" + }, + "Units": "deg/s", + "User": "Standard" + }, + "PILOT_Y_RATE_TC": { + "Description": "Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response", + "DisplayName": "Pilot yaw rate control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "PLDP_DELAY": { + "Description": "Delay after release, in seconds, before aircraft starts to climb back to starting altitude.", + "DisplayName": "Payload Place climb delay", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "PLDP_RNG_MAX": { + "Description": "Maximum range finder altitude in m to trigger payload touchdown, set to zero to disable.", + "DisplayName": "Payload Place maximum range finder altitude", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "PLDP_SPEED_DN": { + "Description": "The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used.", + "DisplayName": "Payload Place decent speed", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "PLDP_THRESH": { + "Description": "Ratio of vertical thrust during decent below which payload touchdown will trigger.", + "DisplayName": "Payload Place thrust ratio threshold", + "Range": { + "high": "0.9", + "low": "0.5" + }, + "User": "Standard" + }, + "RC_SPEED": { + "Description": "This is the speed in Hertz that your ESCs will receive updates", + "DisplayName": "ESC Update Speed", + "Increment": "1", + "Range": { + "high": "490", + "low": "50" + }, + "Units": "Hz", + "User": "Advanced" + }, + "RNGFND_FILT": { + "Description": "Rangefinder filter to smooth distance. Set to zero to disable filtering", + "DisplayName": "Rangefinder filter", + "Increment": "0.05", + "Range": { + "high": "5", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Standard" + }, + "RTL_ALT": { + "Description": "The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.", + "DisplayName": "RTL Altitude", + "Increment": "1", + "Range": { + "high": "300000", + "low": "30" + }, + "Units": "cm", + "User": "Standard" + }, + "RTL_ALT_FINAL": { + "Description": "This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.", + "DisplayName": "RTL Final Altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "cm", + "User": "Standard" + }, + "RTL_ALT_TYPE": { + "Description": "RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database", + "DisplayName": "RTL mode altitude type", + "User": "Standard", + "Values": { + "0": "Relative to Home", + "1": "Terrain" + } + }, + "RTL_CLIMB_MIN": { + "Description": "The vehicle will climb this many cm during the initial climb portion of the RTL", + "DisplayName": "RTL minimum climb", + "Increment": "10", + "Range": { + "high": "3000", + "low": "0" + }, + "Units": "cm", + "User": "Standard" + }, + "RTL_CONE_SLOPE": { + "Description": "Defines a cone above home which determines maximum climb", + "DisplayName": "RTL cone slope", + "Increment": ".1", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Shallow", + "3": "Steep" + } + }, + "RTL_LOIT_TIME": { + "Description": "Time (in milliseconds) to loiter above home before beginning final descent", + "DisplayName": "RTL loiter time", + "Increment": "1000", + "Range": { + "high": "60000", + "low": "0" + }, + "Units": "ms", + "User": "Standard" + }, + "RTL_OPTIONS": { + "Bitmask": { + "2": "Ignore pilot yaw" + }, + "Description": "Options that can be applied to change RTL mode behaviour", + "DisplayName": "RTL mode options", + "User": "Advanced" + }, + "RTL_SPEED": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.", + "DisplayName": "RTL speed", + "Increment": "50", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "cm/s", + "User": "Standard" + }, + "SIMPLE": { + "Bitmask": { + "0": "SwitchPos1", + "1": "SwitchPos2", + "2": "SwitchPos3", + "3": "SwitchPos4", + "4": "SwitchPos5", + "5": "SwitchPos6" + }, + "Description": "Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.", + "DisplayName": "Simple mode bitmask", + "User": "Advanced" + }, + "SUPER_SIMPLE": { + "Bitmask": { + "0": "SwitchPos1", + "1": "SwitchPos2", + "2": "SwitchPos3", + "3": "SwitchPos4", + "4": "SwitchPos5", + "5": "SwitchPos6" + }, + "Description": "Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode. The bitmask is for flight mode switch positions", + "DisplayName": "Super Simple Mode", + "User": "Standard" + }, + "SURFTRAK_MODE": { + "Description": "set which surface to track in surface tracking", + "DisplayName": "Surface Tracking Mode", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Do not track", + "1": "Ground", + "2": "Ceiling" + } + }, + "SURFTRAK_TC": { + "Description": "Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled", + "DisplayName": "Surface Tracking Filter Time Constant", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "SYSID_ENFORCE": { + "Description": "This controls whether packets from other than the expected GCS system ID will be accepted", + "DisplayName": "GCS sysid enforcement", + "User": "Advanced", + "Values": { + "0": "NotEnforced", + "1": "Enforced" + } + }, + "SYSID_MYGCS": { + "Description": "Allows restricting radio overrides to only come from my ground station", + "DisplayName": "My ground station number", + "Increment": "1", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "SYSID_THISMAV": { + "Description": "Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network", + "DisplayName": "MAVLink system ID of this vehicle", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "TELEM_DELAY": { + "Description": "The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up", + "DisplayName": "Telemetry startup delay", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "THROW_ALT_MAX": { + "Description": "Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check", + "DisplayName": "Throw mode maximum altitude", + "Units": "m", + "User": "Advanced" + }, + "THROW_ALT_MIN": { + "Description": "Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check", + "DisplayName": "Throw mode minimum altitude", + "Units": "m", + "User": "Advanced" + }, + "THROW_MOT_START": { + "Description": "Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.", + "DisplayName": "Start motors before throwing is detected", + "User": "Standard", + "Values": { + "0": "Stopped", + "1": "Running" + } + }, + "THROW_NEXTMODE": { + "Description": "Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)", + "DisplayName": "Throw mode's follow up mode", + "User": "Standard", + "Values": { + "17": "Brake", + "18": "Throw", + "3": "Auto", + "4": "Guided", + "5": "LOITER", + "6": "RTL", + "9": "Land" + } + }, + "THROW_TYPE": { + "Description": "Used by Throw mode. Specifies whether Copter is thrown upward or dropped.", + "DisplayName": "Type of Type", + "User": "Standard", + "Values": { + "0": "Upward Throw", + "1": "Drop" + } + }, + "THR_DZ": { + "Description": "The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes", + "DisplayName": "Throttle deadzone", + "Increment": "1", + "Range": { + "high": "300", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "TKOFF_RPM_MAX": { + "Description": "Takeoff is not permitted until motors report no more than this RPM. Set to zero to disable check", + "DisplayName": "Takeoff Check RPM maximum", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Standard" + }, + "TKOFF_RPM_MIN": { + "Description": "Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check", + "DisplayName": "Takeoff Check RPM minimum", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Standard" + }, + "TKOFF_SLEW_TIME": { + "Description": "Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff.", + "DisplayName": "Slew time of throttle during take-off", + "Range": { + "high": "5.0", + "low": "0.25" + }, + "Units": "s", + "User": "Standard" + }, + "TKOFF_THR_MAX": { + "Description": "Takeoff maximum throttle allowed before controllers assume the aircraft is airborne during the takeoff process.", + "DisplayName": "Takeoff maximum throttle during take-off ramp up", + "Range": { + "high": "0.9", + "low": "0.0" + }, + "User": "Advanced" + }, + "TUNE": { + "Description": "Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob", + "DisplayName": "Channel 6 Tuning", + "User": "Standard", + "Values": { + "0": "None", + "1": "Stab Roll/Pitch kP", + "10": "WP Speed", + "12": "Loiter Pos kP", + "13": "Heli Ext Gyro", + "14": "AltHold kP", + "21": "Rate Roll/Pitch kD", + "22": "Velocity XY kP", + "25": "Acro Roll/Pitch deg/s", + "26": "Rate Yaw kD", + "28": "Velocity XY kI", + "3": "Stab Yaw kP", + "34": "Throttle Accel kP", + "35": "Throttle Accel kI", + "36": "Throttle Accel kD", + "38": "Declination", + "39": "Circle Rate", + "4": "Rate Roll/Pitch kP", + "40": "Acro Yaw deg/s", + "45": "RC Feel", + "46": "Rate Pitch kP", + "47": "Rate Pitch kI", + "48": "Rate Pitch kD", + "49": "Rate Roll kP", + "5": "Rate Roll/Pitch kI", + "50": "Rate Roll kI", + "51": "Rate Roll kD", + "52": "Rate Pitch FF", + "53": "Rate Roll FF", + "54": "Rate Yaw FF", + "55": "Motor Yaw Headroom", + "56": "Rate Yaw Filter", + "58": "SysID Magnitude", + "59": "PSC Angle Max", + "6": "Rate Yaw kP", + "7": "Throttle Rate kP" + } + }, + "TUNE_MAX": { + "Description": "Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to", + "DisplayName": "Tuning maximum", + "User": "Standard" + }, + "TUNE_MIN": { + "Description": "Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to", + "DisplayName": "Tuning minimum", + "User": "Standard" + }, + "WP_NAVALT_MIN": { + "Description": "This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.", + "DisplayName": "Minimum navigation altitude", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Standard" + }, + "WP_YAW_BEHAVIOR": { + "Description": "Determines how the autopilot controls the yaw during missions and RTL", + "DisplayName": "Yaw behaviour during missions", + "User": "Standard", + "Values": { + "0": "Never change yaw", + "1": "Face next waypoint", + "2": "Face next waypoint except RTL", + "3": "Face along GPS course" + } + } + }, + "DDS": { + "DDS_DOMAIN_ID": { + "Description": "Set the ROS_DOMAIN_ID", + "DisplayName": "DDS DOMAIN ID", + "Range": { + "high": "232", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_ENABLE": { + "Description": "Enable DDS subsystem", + "DisplayName": "DDS enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DDS_MAX_RETRY": { + "Description": "The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.", + "DisplayName": "DDS ping max attempts", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_TIMEOUT_MS": { + "Description": "The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.", + "DisplayName": "DDS ping timeout", + "Increment": "1", + "Range": { + "high": "10000", + "low": "1" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Standard" + }, + "DDS_UDP_PORT": { + "Description": "UDP port number for DDS", + "DisplayName": "DDS UDP port", + "Range": { + "high": "65535", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + } + }, + "DDS_IP": { + "DDS_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "DID_": { + "DID_BARO_ACC": { + "Description": "Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default", + "DisplayName": "Barometer vertical accuraacy", + "Units": "m", + "User": "Advanced" + }, + "DID_CANDRIVER": { + "Description": "DroneCAN driver index, 0 to disable DroneCAN", + "DisplayName": "DroneCAN driver number", + "Values": { + "0": "Disabled", + "1": "Driver1", + "2": "Driver2" + } + }, + "DID_ENABLE": { + "Description": "Enable ODID subsystem", + "DisplayName": "Enable ODID subsystem", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DID_MAVPORT": { + "Description": "Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.", + "DisplayName": "MAVLink serial port", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "DID_OPTIONS": { + "Bitmask": { + "0": "EnforceArming", + "1": "AllowNonGPSPosition", + "2": "LockUASIDOnFirstBasicIDRx" + }, + "Description": "Options for OpenDroneID subsystem", + "DisplayName": "OpenDroneID options" + } + }, + "EAHRS": { + "EAHRS_LOG_RATE": { + "Description": "Logging rate for EARHS devices", + "DisplayName": "AHRS logging rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_OPTIONS": { + "Bitmask": { + "0": "Vector Nav use uncompensated values for accel gyro and mag." + }, + "Description": "External AHRS options bitmask", + "DisplayName": "External AHRS options", + "User": "Standard" + }, + "EAHRS_RATE": { + "Description": "Requested rate for AHRS device", + "DisplayName": "AHRS data rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_SENSORS": { + "Bitmask": { + "0": "GPS", + "1": "IMU", + "2": "Baro", + "3": "Compass" + }, + "Description": "External AHRS sensors bitmask", + "DisplayName": "External AHRS sensors", + "User": "Advanced" + }, + "EAHRS_TYPE": { + "Description": "Type of AHRS device", + "DisplayName": "AHRS type", + "User": "Standard", + "Values": { + "0": "None", + "1": "VectorNav", + "2": "MicroStrain5", + "5": "InertialLabs", + "7": "MicroStrain7" + } + } + }, + "EFI": { + "EFI_COEF1": { + "Description": "Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle", + "DisplayName": "EFI Calibration Coefficient 1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_COEF2": { + "Description": "Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1", + "DisplayName": "EFI Calibration Coefficient 2", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_FUEL_DENS": { + "Description": "Used to calculate fuel consumption", + "DisplayName": "ECU Fuel Density", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "kg/m/m/m", + "User": "Advanced" + }, + "EFI_TYPE": { + "Description": "What method of communication is used for EFI #1", + "DisplayName": "EFI communication type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Serial-MS", + "2": "NWPMU", + "3": "Serial-Lutan", + "5": "DroneCAN", + "6": "Currawong-ECU", + "7": "Scripting", + "8": "Hirth", + "9": "MAVLink" + } + } + }, + "EFI_THRLIN": { + "EFI_THRLIN_COEF1": { + "Description": "First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)", + "DisplayName": "Throttle linearisation - First Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF2": { + "Description": "Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)", + "DisplayName": "Throttle linearisation - Second Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF3": { + "Description": "Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)", + "DisplayName": "Throttle linearisation - Third Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_EN": { + "Description": "Enable EFI throttle linearisation", + "DisplayName": "Enable throttle linearisation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_THRLIN_OFS": { + "Description": "Offset for throttle linearization ", + "DisplayName": "throttle linearization offset", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "EK2_": { + "EK2_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.005", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK2_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_ALT_SOURCE": { + "Description": "Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).", + "DisplayName": "Primary altitude sensor source", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Use Baro", + "1": "Use Range Finder", + "2": "Use GPS", + "3": "Use Range Beacon" + } + }, + "EK2_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_ENABLE": { + "Description": "This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.", + "DisplayName": "Enable EKF2", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK2_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK2_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK2_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK2_GPS_TYPE": { + "Description": "This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.", + "DisplayName": "GPS mode control", + "User": "Advanced", + "Values": { + "0": "GPS 3D Vel and 2D Pos", + "1": "GPS 2D vel and 2D pos", + "2": "GPS 2D pos", + "3": "No GPS" + } + }, + "EK2_GSCL_P_NSE": { + "Description": "This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.", + "DisplayName": "Rate gyro scale factor stability (1/s)", + "Range": { + "high": "0.001", + "low": "0.000001" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EK2_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK2_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.", + "DisplayName": "Magnetometer default fusion mode", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always" + } + }, + "EK2_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK2_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK2_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_OPTIONS": { + "Bitmask": { + "0": "DisableExternalNavigation" + }, + "Description": "optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK2_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK2_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK2_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK2_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_": { + "EK3_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.02", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK3_ACC_BIAS_LIM": { + "Description": "The accelerometer bias state will be limited to +- this value", + "DisplayName": "Accelerometer bias limit", + "Increment": "0.1", + "Range": { + "high": "2.5", + "low": "0.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_AFFINITY": { + "Bitmask": { + "0": "EnableGPSAffinity", + "1": "EnableBaroAffinity", + "2": "EnableCompassAffinity", + "3": "EnableAirspeedAffinity" + }, + "Description": "These options control the affinity between sensor instances and EKF cores", + "DisplayName": "EKF3 Sensor Affinity Options", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "100.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BETA_MASK": { + "Bitmask": { + "0": "Always", + "1": "WhenNoYawSensor" + }, + "Description": "1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.", + "DisplayName": "Bitmask controlling sidelip angle fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_X": { + "Description": "Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for X axis drag", + "Range": { + "high": "1000.0", + "low": "0.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_Y": { + "Description": "Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for Y axis drag", + "Range": { + "high": "1000.0", + "low": "50.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_MCOEF": { + "Description": "This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.", + "DisplayName": "Momentum coefficient for propeller drag", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "Units": "1/s", + "User": "Advanced" + }, + "EK3_DRAG_M_NSE": { + "Description": "This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters", + "DisplayName": "Observation noise for drag acceleration", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.1" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_ENABLE": { + "Description": "This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.", + "DisplayName": "Enable EKF3", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK3_ERR_THRESH": { + "Description": "lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences", + "DisplayName": "EKF3 Lane Relative Error Sensitivity Threshold", + "Increment": "0.05", + "Range": { + "high": "1", + "low": "0.05" + }, + "User": "Advanced" + }, + "EK3_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK3_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK3_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GND_EFF_DZ": { + "Description": "This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.", + "DisplayName": "Baro height ground effect dead zone", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK3_GPS_VACC_MAX": { + "Description": "Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.", + "DisplayName": "GPS vertical accuracy threshold", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK3_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_LOG_LEVEL": { + "Description": "Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.", + "DisplayName": "Logging Level", + "Increment": "1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.", + "DisplayName": "Magnetometer default fusion mode", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always", + "5": "Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)", + "6": "External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)" + } + }, + "EK3_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK3_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK3_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_OGNM_TEST_SF": { + "Description": "This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.", + "DisplayName": "On ground not moving test scale factor", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "EK3_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_OPTIONS": { + "Bitmask": { + "0": "JammingExpected" + }, + "Description": "This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK3_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_PRIMARY": { + "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.", + "DisplayName": "Primary core number", + "Increment": "1", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK3_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_VIS_VERR_MAX": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry maximum velocity error", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VIS_VERR_MIN": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry minimum velocity error", + "Increment": "0.05", + "Range": { + "high": "0.5", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WENC_VERR": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.", + "DisplayName": "Wheel odometry velocity error", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_SRC": { + "EK3_SRC1_POSXY": { + "Description": "Position Horizontal Source (Primary)", + "DisplayName": "Position Horizontal Source (Primary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_POSZ": { + "Description": "Position Vertical Source", + "DisplayName": "Position Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_VELXY": { + "Description": "Velocity Horizontal Source", + "DisplayName": "Velocity Horizontal Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC1_VELZ": { + "Description": "Velocity Vertical Source", + "DisplayName": "Velocity Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_YAW": { + "Description": "Yaw Source", + "DisplayName": "Yaw Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC2_POSXY": { + "Description": "Position Horizontal Source (Secondary)", + "DisplayName": "Position Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_POSZ": { + "Description": "Position Vertical Source (Secondary)", + "DisplayName": "Position Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_VELXY": { + "Description": "Velocity Horizontal Source (Secondary)", + "DisplayName": "Velocity Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC2_VELZ": { + "Description": "Velocity Vertical Source (Secondary)", + "DisplayName": "Velocity Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_YAW": { + "Description": "Yaw Source (Secondary)", + "DisplayName": "Yaw Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC3_POSXY": { + "Description": "Position Horizontal Source (Tertiary)", + "DisplayName": "Position Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_POSZ": { + "Description": "Position Vertical Source (Tertiary)", + "DisplayName": "Position Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_VELXY": { + "Description": "Velocity Horizontal Source (Tertiary)", + "DisplayName": "Velocity Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC3_VELZ": { + "Description": "Velocity Vertical Source (Tertiary)", + "DisplayName": "Velocity Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_YAW": { + "Description": "Yaw Source (Tertiary)", + "DisplayName": "Yaw Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC_OPTIONS": { + "Bitmask": { + "0": "FuseAllVelocities", + "1": "AlignExtNavPosWhenUsingOptFlow" + }, + "Description": "EKF Source Options", + "DisplayName": "EKF Source Options", + "User": "Advanced" + } + }, + "ESC_TLM": { + "ESC_TLM_MAV_OFS": { + "Description": "Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets", + "DisplayName": "ESC Telemetry mavlink offset", + "Increment": "1", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + } + }, + "FENCE_": { + "FENCE_ACTION": { + "Description": "What action should be taken when fence is breached", + "DisplayName": "Fence Action", + "User": "Standard", + "Values": { + "0": "Report Only", + "1": "RTL or Land", + "2": "Always Land", + "3": "SmartRTL or RTL or Land", + "4": "Brake or Land", + "5": "SmartRTL or Land" + } + }, + "FENCE_ALT_MAX": { + "Description": "Maximum altitude allowed before geofence triggers", + "DisplayName": "Fence Maximum Altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_ALT_MIN": { + "Description": "Minimum altitude allowed before geofence triggers", + "DisplayName": "Fence Minimum Altitude", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_AUTOENABLE": { + "Description": "Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.", + "DisplayName": "Fence Auto-Enable", + "Increment": "1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Standard", + "Values": { + "0": "AutoEnableOff", + "1": "AutoEnableOnTakeoff", + "2": "AutoEnableDisableFloorOnLanding", + "3": "AutoEnableOnlyWhenArmed" + } + }, + "FENCE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.", + "DisplayName": "Fence enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FENCE_MARGIN": { + "Description": "Distance that autopilot's should maintain from the fence to avoid a breach", + "DisplayName": "Fence Margin", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_OPTIONS": { + "Bitmask": { + "0": "Disable mode change following fence action until fence breach is cleared", + "1": "Allow union of inclusion areas" + }, + "Description": "When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.", + "DisplayName": "Fence options", + "User": "Standard" + }, + "FENCE_RADIUS": { + "Description": "Circle fence radius which when breached will cause an RTL", + "DisplayName": "Circular Fence Radius", + "Range": { + "high": "10000", + "low": "30" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_TOTAL": { + "Description": "Number of polygon points saved in eeprom (do not update manually)", + "DisplayName": "Fence polygon point total", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "FENCE_TYPE": { + "Bitmask": { + "0": "Max altitude", + "1": "Circle Centered on Home", + "2": "Inclusion/Exclusion Circles+Polygons", + "3": "Min altitude" + }, + "Description": "Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.", + "DisplayName": "Fence Type", + "User": "Standard" + } + }, + "FFT_": { + "FFT_ATT_REF": { + "Description": "FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.", + "DisplayName": "FFT attenuation for bandwidth calculation", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_BW_HOVER": { + "Description": "FFT learned bandwidth at hover for the attenuation frequencies.", + "DisplayName": "FFT learned bandwidth at hover", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_ENABLE": { + "Description": "Enable Gyro FFT analyser", + "DisplayName": "Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FFT_FREQ_HOVER": { + "Description": "The learned hover noise frequency", + "DisplayName": "FFT learned hover frequency", + "Range": { + "high": "250", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_HMNC_FIT": { + "Description": "FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.", + "DisplayName": "FFT harmonic fit frequency threshold", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_HMNC_PEAK": { + "Description": "The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).", + "DisplayName": "FFT harmonic peak target", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "Center Frequency", + "2": "Lower-Shoulder Frequency", + "3": "Upper-Shoulder Frequency", + "4": "Roll-Axis", + "5": "Pitch-Axis" + } + }, + "FFT_MAXHZ": { + "Description": "Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.", + "DisplayName": "Maximum Frequency", + "Range": { + "high": "495", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_MINHZ": { + "Description": "Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.", + "DisplayName": "Minimum Frequency", + "Range": { + "high": "400", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_NUM_FRAMES": { + "Description": "Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.", + "DisplayName": "FFT output frames to retain and average", + "Range": { + "high": "8", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_OPTIONS": { + "Bitmask": { + "0": "Enable post-filter FFT", + "1": "Check motor noise" + }, + "Description": "FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference", + "DisplayName": "FFT options", + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SAMPLE_MODE": { + "Description": "Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.", + "DisplayName": "Sample Mode", + "Range": { + "high": "4", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SNR_REF": { + "Description": "FFT SNR reference threshold in dB at which a signal is determined to be present.", + "DisplayName": "FFT SNR reference threshold", + "Range": { + "high": "100.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "FFT_THR_REF": { + "Description": "FFT learned thrust reference for the hover frequency and FFT minimum frequency.", + "DisplayName": "FFT learned thrust reference", + "Range": { + "high": "0.9", + "low": "0.01" + }, + "User": "Advanced" + }, + "FFT_WINDOW_OLAP": { + "Description": "Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.", + "DisplayName": "FFT window overlap", + "Range": { + "high": "0.9", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_WINDOW_SIZE": { + "Description": "Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.", + "DisplayName": "FFT window size", + "Range": { + "high": "1024", + "low": "32" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "FHLD": { + "FHLD_BRAKE_RATE": { + "Description": "Controls deceleration rate on stick release", + "DisplayName": "FlowHold Braking rate", + "Range": { + "high": "30", + "low": "1" + }, + "Units": "deg/s", + "User": "Standard" + }, + "FHLD_FILT_HZ": { + "Description": "Filter frequency for flow data", + "DisplayName": "FlowHold Filter Frequency", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "FHLD_FLOW_MAX": { + "Description": "Controls maximum apparent flow rate in flowhold", + "DisplayName": "FlowHold Flow Rate Max", + "Range": { + "high": "2.5", + "low": "0.1" + }, + "User": "Standard" + }, + "FHLD_QUAL_MIN": { + "Description": "Minimum flow quality to use flow position hold", + "DisplayName": "FlowHold Flow quality minimum", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "FHLD_XY_FILT_HZ": { + "Description": "FlowHold (horizontal) filter on input to control", + "DisplayName": "FlowHold filter on input to control", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FHLD_XY_I": { + "Description": "FlowHold (horizontal) I gain", + "DisplayName": "FlowHold I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.02" + }, + "User": "Advanced" + }, + "FHLD_XY_IMAX": { + "Description": "FlowHold (horizontal) integrator maximum", + "DisplayName": "FlowHold Integrator Max", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "FHLD_XY_P": { + "Description": "FlowHold (horizontal) P gain.", + "DisplayName": "FlowHold P gain", + "Increment": "0.1", + "Range": { + "high": "6.0", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "FILT1_": { + "FILT1_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT1_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT1_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT1_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT2_": { + "FILT2_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT2_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT2_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT2_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT3_": { + "FILT3_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT3_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT3_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT3_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT4_": { + "FILT4_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT4_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT4_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT4_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT5_": { + "FILT5_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT5_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT5_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT5_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT6_": { + "FILT6_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT6_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT6_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT6_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT7_": { + "FILT7_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT7_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT7_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT7_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT8_": { + "FILT8_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT8_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT8_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT8_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FLOW": { + "FLOW_ADDR": { + "Description": "This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.", + "DisplayName": "Address on the bus", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Advanced" + }, + "FLOW_FXSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "X axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_FYSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "Y axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_HGT_OVR": { + "Description": "This is used in rover vehicles, where the sensor is a fixed height above the ground", + "DisplayName": "Height override of sensor above ground", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_ORIENT_YAW": { + "Description": "Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.", + "DisplayName": "Flow sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "+18000", + "low": "-17999" + }, + "Units": "cdeg", + "User": "Standard" + }, + "FLOW_POS_X": { + "Description": "X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Y": { + "Description": "Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Z": { + "Description": "Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_TYPE": { + "Description": "Optical flow sensor type", + "DisplayName": "Optical flow sensor type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "PX4Flow", + "2": "Pixart", + "3": "Bebop", + "4": "CXOF", + "5": "MAVLink", + "6": "DroneCAN", + "7": "MSP", + "8": "UPFLOW" + } + } + }, + "FOLL": { + "FOLL_ALT_TYPE": { + "Description": "Follow altitude type", + "DisplayName": "Follow altitude type", + "User": "Standard", + "Values": { + "0": "absolute", + "1": "relative" + } + }, + "FOLL_DIST_MAX": { + "Description": "Follow distance maximum. targets further than this will be ignored", + "DisplayName": "Follow distance maximum", + "Range": { + "high": "1000", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_ENABLE": { + "Description": "Enabled/disable following a target", + "DisplayName": "Follow enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FOLL_OFS_TYPE": { + "Description": "Follow offset type", + "DisplayName": "Follow offset type", + "User": "Standard", + "Values": { + "0": "North-East-Down", + "1": "Relative to lead vehicle heading" + } + }, + "FOLL_OFS_X": { + "Description": "Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters north/forward", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Y": { + "Description": "Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters east/right", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Z": { + "Description": "Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle", + "DisplayName": "Follow offsets in meters down", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OPTIONS": { + "Description": "Follow options bitmask", + "DisplayName": "Follow options", + "User": "Standard", + "Values": { + "0": "None", + "1": "Mount Follows lead vehicle on mode enter" + } + }, + "FOLL_POS_P": { + "Description": "Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller", + "DisplayName": "Follow position error P gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.01" + }, + "User": "Standard" + }, + "FOLL_SYSID": { + "Description": "Follow target's mavlink system id", + "DisplayName": "Follow target's mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "FOLL_YAW_BEHAVE": { + "Description": "Follow yaw behaviour", + "DisplayName": "Follow yaw behaviour", + "User": "Standard", + "Values": { + "0": "None", + "1": "Face Lead Vehicle", + "2": "Same as Lead vehicle", + "3": "Direction of Flight" + } + } + }, + "FRSKY_": { + "FRSKY_DNLINK1_ID": { + "Description": "Change the first extra downlink sensor id (SPort only)", + "DisplayName": "First downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK2_ID": { + "Description": "Change the second extra downlink sensor id (SPort only)", + "DisplayName": "Second downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK_ID": { + "Description": "Change the default downlink sensor id (SPort only)", + "DisplayName": "Default downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "27": "27", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_OPTIONS": { + "Bitmask": { + "0": "EnableAirspeedAndGroundspeed" + }, + "Description": "A bitmask to set some FRSky Telemetry specific options", + "DisplayName": "FRSky Telemetry Options", + "User": "Standard" + }, + "FRSKY_UPLINK_ID": { + "Description": "Change the uplink sensor id (SPort only)", + "DisplayName": "Uplink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "GEN_": { + "GEN_OPTIONS": { + "Bitmask": { + "0": "Suppress Maintenance-Required Warnings" + }, + "Description": "Bitmask of options for generators", + "DisplayName": "Generator Options", + "User": "Standard" + }, + "GEN_TYPE": { + "Description": "Generator type", + "DisplayName": "Generator type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "IE 650w 800w Fuel Cell", + "2": "IE 2.4kW Fuel Cell", + "3": "Richenpower" + } + } + }, + "GPS": { + "GPS_AUTO_CONFIG": { + "Description": "Controls if the autopilot should automatically configure the GPS based on the parameters and default settings", + "DisplayName": "Automatic GPS configuration", + "User": "Advanced", + "Values": { + "0": "Disables automatic configuration", + "1": "Enable automatic configuration for Serial GPSes only", + "2": "Enable automatic configuration for DroneCAN as well" + } + }, + "GPS_AUTO_SWITCH": { + "Description": "Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary", + "DisplayName": "Automatic Switchover Setting", + "User": "Advanced", + "Values": { + "0": "Use primary", + "1": "UseBest", + "2": "Blend", + "4": "Use primary if 3D fix or better" + } + }, + "GPS_BLEND_MASK": { + "Bitmask": { + "0": "Horiz Pos", + "1": "Vert Pos", + "2": "Speed" + }, + "Description": "Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)", + "DisplayName": "Multi GPS Blending Mask", + "User": "Advanced" + }, + "GPS_CAN_NODEID1": { + "Description": "GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.", + "DisplayName": "GPS Node ID 1", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_CAN_NODEID2": { + "Description": "GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.", + "DisplayName": "GPS Node ID 2", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS_COM_PORT2": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "GPS_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DELAY_MS2": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.", + "DisplayName": "GPS 2 delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DRV_OPTIONS": { + "Bitmask": { + "0": "Use UART2 for moving baseline on ublox", + "1": "Use base station for GPS yaw on SBF", + "2": "Use baudrate 115200", + "3": "Use dedicated CAN port b/w GPSes for moving baseline", + "4": "Use ellipsoid height instead of AMSL", + "5": "Override GPS satellite health of L5 band from L1 health", + "6": "Enable RTCM full parse even for a single channel", + "7": "Disable automatic full RTCM parsing when RTCM seen on more than one channel" + }, + "Description": "Additional backend specific options", + "DisplayName": "driver options", + "User": "Advanced" + }, + "GPS_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS_GNSS_MODE2": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE", + "DisplayName": "GNSS system configuration.", + "User": "Advanced" + }, + "GPS_INJECT_TO": { + "Description": "The GGS can send raw serial packets to inject data to multiple GPSes.", + "DisplayName": "Destination for GPS_INJECT_DATA MAVLink packets", + "User": "Advanced", + "Values": { + "0": "send to first GPS", + "1": "send to 2nd GPS", + "127": "send to all" + } + }, + "GPS_MIN_ELEV": { + "Description": "This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.", + "DisplayName": "Minimum elevation", + "Range": { + "high": "90", + "low": "-100" + }, + "Units": "deg", + "User": "Advanced" + }, + "GPS_NAVFILTER": { + "Description": "Navigation filter engine setting", + "DisplayName": "Navigation filter setting", + "User": "Advanced", + "Values": { + "0": "Portable", + "2": "Stationary", + "3": "Pedestrian", + "4": "Automotive", + "5": "Sea", + "6": "Airborne1G", + "7": "Airborne2G", + "8": "Airborne4G" + } + }, + "GPS_POS1_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_X": { + "Description": "X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Y": { + "Description": "Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Z": { + "Description": "Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_PRIMARY": { + "Description": "This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.", + "DisplayName": "Primary GPS", + "Increment": "1", + "User": "Advanced", + "Values": { + "0": "FirstGPS", + "1": "SecondGPS" + } + }, + "GPS_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RATE_MS2": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS", + "DisplayName": "GPS 2 update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RAW_DATA": { + "Description": "Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming", + "DisplayName": "Raw data logging", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Ignore", + "1": "Always log", + "2": "Stop logging when disarmed (SBF only)", + "5": "Only log every five samples (uBlox only)" + } + }, + "GPS_SAVE_CFG": { + "Description": "Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.", + "DisplayName": "Save GPS configuration", + "User": "Advanced", + "Values": { + "0": "Do not save config", + "1": "Save config", + "2": "Save only when needed" + } + }, + "GPS_SBAS_MODE": { + "Description": "This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.", + "DisplayName": "SBAS Mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "NoChange" + } + }, + "GPS_SBP_LOGMASK": { + "Description": "Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged", + "DisplayName": "Swift Binary Protocol Logging Mask", + "User": "Advanced", + "Values": { + "-1": "All (0xFFFF)", + "-256": "External only (0xFF00)", + "0": "None (0x0000)" + } + }, + "GPS_TYPE": { + "Description": "GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE", + "DisplayName": "1st GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + }, + "GPS_TYPE2": { + "Description": "GPS type of 2nd GPS", + "DisplayName": "2nd GPS type.Renamed in 4.6 to GPS2_TYPE", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_": { + "GPS1_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS1_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS1_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS1_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS1_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS1_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS1_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_MB_": { + "GPS1_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS2_": { + "GPS2_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS2_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS2_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS2_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS2_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS2_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS2_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS2_MB_": { + "GPS2_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB1_": { + "GPS_MB1_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB2_": { + "GPS_MB2_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GRIP_": { + "GRIP_AUTOCLOSE": { + "Description": "Time in seconds that gripper close the gripper after opening; 0 to disable", + "DisplayName": "Gripper Autoclose time", + "Range": { + "high": "255", + "low": "0.25" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_CAN_ID": { + "Description": "Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface", + "DisplayName": "EPM UAVCAN Hardpoint ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "GRIP_ENABLE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Enable/Disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "GRIP_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_NEUTRAL": { + "Description": "PWM value in microseconds sent to grabber when not grabbing or releasing", + "DisplayName": "Neutral PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_REGRAB": { + "Description": "Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable", + "DisplayName": "EPM Gripper Regrab interval", + "Range": { + "high": "255", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_TYPE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "EPM" + } + } + }, + "H_": { + "H_COL2YAW": { + "Description": "Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.", + "DisplayName": "Collective-Yaw Mixing", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "-2" + }, + "User": "Standard" + }, + "H_COL2_MAX": { + "Description": "Highest possible servo position in PWM microseconds for swashplate 2", + "DisplayName": "Swash 2 Maximum Collective Pitch", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_COL2_MIN": { + "Description": "Lowest possible servo position in PWM microseconds for swashplate 2", + "DisplayName": "Swash 2 Minimum Collective Pitch", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_COL_ANG_MAX": { + "Description": "Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).", + "DisplayName": "Collective Blade Pitch Angle Maximum", + "Increment": "0.1", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "deg", + "User": "Standard" + }, + "H_COL_ANG_MIN": { + "Description": "Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).", + "DisplayName": "Collective Blade Pitch Angle Minimum", + "Increment": "0.1", + "Range": { + "high": "0", + "low": "-20" + }, + "Units": "deg", + "User": "Standard" + }, + "H_COL_HOVER": { + "Description": "Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX", + "DisplayName": "Collective Hover Value", + "Range": { + "high": "0.8", + "low": "0.3" + }, + "User": "Advanced" + }, + "H_COL_LAND_MIN": { + "Description": "Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).", + "DisplayName": "Collective Blade Pitch Minimum when Landed", + "Increment": "0.1", + "Range": { + "high": "0", + "low": "-5" + }, + "Units": "deg", + "User": "Standard" + }, + "H_COL_MAX": { + "Description": "Highest possible servo position in PWM microseconds for the swashplate", + "DisplayName": "Maximum Collective Pitch", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_COL_MIN": { + "Description": "Lowest possible servo position in PWM microseconds for the swashplate", + "DisplayName": "Minimum Collective Pitch", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_COL_ZERO_THRST": { + "Description": "Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.", + "DisplayName": "Collective Blade Pitch at Zero Thrust", + "Increment": "0.1", + "Range": { + "high": "0", + "low": "-5" + }, + "Units": "deg", + "User": "Standard" + }, + "H_CYC_MAX": { + "Description": "Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.", + "DisplayName": "Maximum Cyclic Pitch Angle", + "Increment": "100", + "Range": { + "high": "4500", + "low": "0" + }, + "User": "Standard" + }, + "H_DCP_SCALER": { + "Description": "Scaling factor applied to the differential-collective-pitch", + "DisplayName": "Differential-Collective-Pitch Scaler", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "H_DCP_TRIM": { + "Description": "Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.", + "DisplayName": "Differential Collective Pitch Trim", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "-0.2" + }, + "User": "Standard" + }, + "H_DCP_YAW": { + "Description": "Feed-forward compensation to automatically add yaw input when differential collective pitch is applied. Disabled for intermeshing mode.", + "DisplayName": "Differential-Collective-Pitch Yaw Mixing", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "-10" + }, + "User": "Standard" + }, + "H_DDFP_BAT_IDX": { + "Description": "Which battery monitor should be used for doing compensation", + "DisplayName": "DDFP Tail Rotor Battery compensation index", + "User": "Standard", + "Values": { + "0": "First battery", + "1": "Second battery" + } + }, + "H_DDFP_BAT_V_MAX": { + "Description": "Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation maximum voltage", + "Range": { + "high": "53", + "low": "6" + }, + "Units": "V", + "User": "Standard" + }, + "H_DDFP_BAT_V_MIN": { + "Description": "Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation minimum voltage", + "Range": { + "high": "42", + "low": "6" + }, + "Units": "V", + "User": "Standard" + }, + "H_DDFP_SPIN_MAX": { + "Description": "Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range", + "DisplayName": "DDFP Tail Rotor Motor Spin maximum", + "User": "Standard", + "Values": { + "0.9": "Low", + "0.95": "Default", + "1.0": "High" + } + }, + "H_DDFP_SPIN_MIN": { + "Description": "Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range.", + "DisplayName": "DDFP Tail Rotor Motor Spin minimum", + "User": "Standard", + "Values": { + "0.0": "Low", + "0.15": "Default", + "0.3": "High" + } + }, + "H_DDFP_THST_EXPO": { + "Description": "Tail rotor DDFP motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)", + "DisplayName": "DDFP Tail Rotor Thrust Curve Expo", + "Range": { + "high": "1", + "low": "-1" + }, + "User": "Standard" + }, + "H_DUAL_MODE": { + "Description": "Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial.", + "DisplayName": "Dual Mode", + "User": "Standard", + "Values": { + "0": "Longitudinal", + "1": "Transverse", + "2": "Intermeshing/Coaxial" + } + }, + "H_FLYBAR_MODE": { + "Description": "Flybar present or not. Affects attitude controller used during ACRO flight mode", + "DisplayName": "Flybar Mode Selector", + "User": "Standard", + "Values": { + "0": "NoFlybar", + "1": "Flybar" + } + }, + "H_GYR_GAIN": { + "Description": "PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro", + "DisplayName": "External Gyro Gain", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_GYR_GAIN_ACRO": { + "Description": "PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN", + "DisplayName": "ACRO External Gyro Gain", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "H_HOVER_LEARN": { + "Description": "Enable/Disable automatic learning of hover collective", + "DisplayName": "Hover Value Learning", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Learn", + "2": "Learn and Save" + } + }, + "H_OPTIONS": { + "Bitmask": { + "0": "Use Leaky I" + }, + "Description": "Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX. ", + "DisplayName": "Heli_Options", + "User": "Standard" + }, + "H_SV_MAN": { + "Description": "Manual servo override for swash set-up. Must be 0 (Disabled) for flight!", + "DisplayName": "Manual Servo Mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Passthrough", + "2": "Max collective", + "3": "Zero thrust collective", + "4": "Min collective" + } + }, + "H_SV_TEST": { + "Description": "Number of cycles to run servo test on boot-up", + "DisplayName": "Boot-up Servo Test Cycles", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "H_SW2_COL_DIR": { + "Description": "Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed", + "DisplayName": "Swash 2 Collective Direction", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "H_SW2_H3_ENABLE": { + "Description": "Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.", + "DisplayName": "Swash 2 H3 Generic Enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "H_SW2_H3_PHANG": { + "Description": "Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem", + "DisplayName": "Swash 2 H3 Generic Phase Angle Comp", + "Increment": "1", + "Range": { + "high": "30", + "low": "-30" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW2_H3_SV1_POS": { + "Description": "Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg", + "DisplayName": "Swash 2 H3 Generic Servo 1 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW2_H3_SV2_POS": { + "Description": "Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg", + "DisplayName": "Swash 2 H3 Generic Servo 2 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW2_H3_SV3_POS": { + "Description": "Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg", + "DisplayName": "Swash 2 H3 Generic Servo 3 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW2_LIN_SVO": { + "Description": "This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.", + "DisplayName": "Linearize Swash 2 Servos", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "H_SW2_TYPE": { + "Description": "H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR ", + "DisplayName": "Swash 2 Type", + "User": "Standard", + "Values": { + "0": "H3 Generic", + "1": "H1 non-CPPM", + "2": "H3_140", + "3": "H3_120", + "4": "H4_90", + "5": "H4_45" + } + }, + "H_SW_COL_DIR": { + "Description": "Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed", + "DisplayName": "Swash 1 Collective Direction", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "H_SW_H3_ENABLE": { + "Description": "Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.", + "DisplayName": "Swash 1 H3 Generic Enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "H_SW_H3_PHANG": { + "Description": "Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem", + "DisplayName": "Swash 1 H3 Generic Phase Angle Comp", + "Increment": "1", + "Range": { + "high": "30", + "low": "-30" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW_H3_SV1_POS": { + "Description": "Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg", + "DisplayName": "Swash 1 H3 Generic Servo 1 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW_H3_SV2_POS": { + "Description": "Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg", + "DisplayName": "Swash 1 H3 Generic Servo 2 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW_H3_SV3_POS": { + "Description": "Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg", + "DisplayName": "Swash 1 H3 Generic Servo 3 Position", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "H_SW_LIN_SVO": { + "Description": "This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.", + "DisplayName": "Linearize Swash 1 Servos", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "H_SW_TYPE": { + "Description": "H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR ", + "DisplayName": "Swash 1 Type", + "User": "Standard", + "Values": { + "0": "H3 Generic", + "1": "H1 non-CPPM", + "2": "H3_140", + "3": "H3_120", + "4": "H4_90", + "5": "H4_45" + } + }, + "H_TAIL_SPEED": { + "Description": "Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup.", + "DisplayName": "DDVP Tail ESC speed", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_TAIL_TYPE": { + "Description": "Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4. Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo. Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4. Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed.", + "DisplayName": "Tail Type", + "User": "Standard", + "Values": { + "0": "Servo only", + "1": "Servo with ExtGyro", + "2": "DirectDrive VarPitch", + "3": "DirectDrive FixedPitch CW", + "4": "DirectDrive FixedPitch CCW" + } + }, + "H_YAW_REV_EXPO": { + "Description": "For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser. ", + "DisplayName": "Yaw reverser expo", + "Increment": "1.0", + "Range": { + "high": "1000", + "low": "-1" + }, + "User": "Standard" + }, + "H_YAW_SCALER": { + "Description": "Scaler for mixing yaw into roll or pitch.", + "DisplayName": "Scaler for yaw mixing", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "-10" + }, + "User": "Standard" + }, + "H_YAW_TRIM": { + "Description": "Fixed offset applied to yaw output to minimize yaw I-term contribution needed to counter rotor drag. Currently only works of DDFP tails (H_TAIL_TYPE = 3 or H_TAIL_TYPE = 4). If using the H_COL2YAW compensation this trim is used to compensate for the main rotor profile drag. If H_COL2YAW is not used, this value can be set to reduce the yaw I contribution to zero when in a steady hover.", + "DisplayName": "Tail Rotor Trim", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + } + }, + "H_RSC_": { + "H_RSC_CLDWN_TIME": { + "Description": "Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings.", + "DisplayName": "Cooldown Time", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "H_RSC_CRITICAL": { + "Description": "Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.", + "DisplayName": "Critical Rotor Speed", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_GOV_COMP": { + "Description": "Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle \"hunting\". Do not make large adjustments at one time", + "DisplayName": "Governor Torque Compensator", + "Increment": "0.1", + "Range": { + "high": "70", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_GOV_DROOP": { + "Description": "AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system", + "DisplayName": "Governor Droop Compensator", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_GOV_FF": { + "Description": "Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward.", + "DisplayName": "Governor Feedforward", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_GOV_RANGE": { + "Description": "RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100", + "DisplayName": "Governor Operational Range", + "Increment": "10", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "RPM", + "User": "Standard" + }, + "H_RSC_GOV_RPM": { + "Description": "Main rotor RPM that governor maintains when engaged", + "DisplayName": "Rotor RPM Setting", + "Increment": "10", + "Range": { + "high": "3500", + "low": "800" + }, + "Units": "RPM", + "User": "Standard" + }, + "H_RSC_GOV_TORQUE": { + "Description": "Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle", + "DisplayName": "Governor Torque Limiter", + "Increment": "1", + "Range": { + "high": "60", + "low": "10" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_IDLE": { + "Description": "Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose", + "DisplayName": "Throttle Output at Idle", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_MODE": { + "Description": "Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle", + "DisplayName": "Rotor Speed Control Mode", + "User": "Standard", + "Values": { + "1": "RC Passthrough", + "2": "External Gov SetPoint", + "3": "Throttle Curve", + "4": "AutoThrottle" + } + }, + "H_RSC_RAMP_TIME": { + "Description": "Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).", + "DisplayName": "Throttle Ramp Time", + "Range": { + "high": "60", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "H_RSC_RUNUP_TIME": { + "Description": "Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control", + "DisplayName": "Rotor Runup Time", + "Range": { + "high": "60", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "H_RSC_SETPOINT": { + "Description": "Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).", + "DisplayName": "External Motor Governor Setpoint", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_SLEWRATE": { + "Description": "This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.", + "DisplayName": "Throttle Slew Rate", + "Increment": "10", + "Range": { + "high": "500", + "low": "0" + }, + "User": "Standard" + }, + "H_RSC_THRCRV_0": { + "Description": "Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.", + "DisplayName": "Throttle Curve at 0% Coll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_THRCRV_100": { + "Description": "Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.", + "DisplayName": "Throttle Curve at 100% Coll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_THRCRV_25": { + "Description": "Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.", + "DisplayName": "Throttle Curve at 25% Coll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_THRCRV_50": { + "Description": "Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.", + "DisplayName": "Throttle Curve at 50% Coll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_THRCRV_75": { + "Description": "Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.", + "DisplayName": "Throttle Curve at 75% Coll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + } + }, + "H_RSC_AROT_": { + "H_RSC_AROT_ENBL": { + "Description": "Allows you to enable (1) or disable (0) the autorotation functionality within the Rotor Speed Controller.", + "DisplayName": "Enable autorotation handling in RSC", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "H_RSC_AROT_IDLE": { + "Description": "Idle throttle used for during autotoration. For external governors, this would be set to a value that is within the autorotation window of the governer/ESC to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable.", + "DisplayName": "Idle throttle percentage during autorotation", + "Increment": "1", + "Range": { + "high": "40", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "H_RSC_AROT_RAMP": { + "Description": "When exiting an autorotation in a bailout manoeuvre, this is the time in seconds for the throttle output (HeliRSC servo) to ramp from idle (H_RSC_AROT_IDLE) to flight throttle setting when motor interlock is re-enabled. When using an ESC with an autorotation bailout function, this parameter should be set to 0.1 (minimum value).", + "DisplayName": "Time for in-flight power re-engagement when exiting autorotations", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0.1" + }, + "Units": "s", + "User": "Standard" + }, + "H_RSC_AROT_RUNUP": { + "Description": "When exiting an autorotation in a bailout manoeuvre, this is the expected time in seconds for the main rotor to reach full speed after motor interlock is enabled. Must be at least one second longer than the H_RSC_AROT_RAMP time that is set. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power. Failure to heed this warning could result in early entry into autonomously controlled collective modes (e.g. alt hold, loiter, etc), whereby the collective could be raised before the engine has reached full power, with a subsequently dangerous slowing of head speed.", + "DisplayName": "Time allowed for in-flight power re-engagement", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "s", + "User": "Standard" + } + }, + "IM_": { + "IM_ACRO_COL_EXP": { + "Description": "Used to soften collective pitch inputs near center point in Acro mode.", + "DisplayName": "Acro Mode Collective Expo", + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "IM_STB_COL_1": { + "Description": "Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.", + "DisplayName": "Stabilize Collective Low", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "IM_STB_COL_2": { + "Description": "Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.", + "DisplayName": "Stabilize Collective Mid-Low", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "IM_STB_COL_3": { + "Description": "Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.", + "DisplayName": "Stabilize Collective Mid-High", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "IM_STB_COL_4": { + "Description": "Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.", + "DisplayName": "Stabilize Collective High", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + } + }, + "INS": { + "INS_ACC1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 1st accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 2nd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2_ID": { + "Description": "Accelerometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACC3OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 3rd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC3_ID": { + "Description": "Accelerometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACCEL_FILTER": { + "Description": "Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Accel filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC_BODYFIX": { + "Description": "The body-fixed accelerometer to be used for trim calculation", + "DisplayName": "Body-fixed accelerometer", + "User": "Advanced", + "Values": { + "1": "IMU 1", + "2": "IMU 2", + "3": "IMU 3" + } + }, + "INS_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ENABLE_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU", + "6": "SeventhIMU" + }, + "Description": "Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs", + "DisplayName": "IMU enable mask", + "User": "Advanced" + }, + "INS_FAST_SAMPLE": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU" + }, + "Description": "Mask of IMUs to enable fast sampling on, if available", + "DisplayName": "Fast sampling mask", + "User": "Advanced" + }, + "INS_GYR1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 1st gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2OFFS_X": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Y": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Z": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 2nd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2_ID": { + "Description": "Gyro2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYR3OFFS_X": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Y": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Z": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 3rd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR3_ID": { + "Description": "Gyro3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYRO_FILTER": { + "Description": "Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Gyro filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_GYRO_RATE": { + "Description": "Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.", + "DisplayName": "Gyro rate for IMUs with Fast Sampling enabled", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "1kHz", + "1": "2kHz", + "2": "4kHz", + "3": "8kHz" + } + }, + "INS_GYR_CAL": { + "Description": "Conrols when automatic gyro calibration is performed", + "DisplayName": "Gyro Calibration scheme", + "User": "Advanced", + "Values": { + "0": "Never", + "1": "Start-up only" + } + }, + "INS_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_POS1_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_X": { + "Description": "X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Y": { + "Description": "Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Z": { + "Description": "Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_X": { + "Description": "X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Range": { + "high": "10", + "low": "-10" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Y": { + "Description": "Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Z": { + "Description": "Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_RAW_LOG_OPT": { + "Bitmask": { + "0": "Log primary gyro only", + "1": "Log all gyros", + "2": "Post filter", + "3": "Pre and post filter" + }, + "Description": "Raw logging options bitmask", + "DisplayName": "Raw logging options", + "User": "Advanced" + }, + "INS_STILL_THRESH": { + "Description": "Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5", + "DisplayName": "Stillness threshold for detecting if we are moving", + "Range": { + "high": "50", + "low": "0.05" + }, + "User": "Advanced" + }, + "INS_TCAL_OPTIONS": { + "Bitmask": { + "0": "PersistTemps", + "1": "PersistAccels" + }, + "Description": "This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.", + "DisplayName": "Options for temperature calibration", + "User": "Advanced" + }, + "INS_TRIM_OPTION": { + "Description": "Specifies how the accel cal routine determines the trims", + "DisplayName": "Accel cal trim option", + "User": "Advanced", + "Values": { + "0": "Don't adjust the trims", + "1": "Assume first orientation was level", + "2": "Assume ACC_BODYFIX is perfectly aligned to the vehicle" + } + }, + "INS_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE2": { + "Description": "Use second IMU for attitude, velocity and position estimates", + "DisplayName": "Use second IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE3": { + "Description": "Use third IMU for attitude, velocity and position estimates", + "DisplayName": "Use third IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_": { + "INS4_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS4_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS4_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_TCAL_": { + "INS4_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS4_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS4_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS5_": { + "INS5_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS5_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS5_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS5_TCAL_": { + "INS5_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS5_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS5_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_HNTC2_": { + "INS_HNTC2_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTC2_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTC2_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTC2_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTC2_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_HNTCH_": { + "INS_HNTCH_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTCH_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTCH_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTCH_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTCH_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_LOG_": { + "INS_LOG_BAT_CNT": { + "Description": "Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.", + "DisplayName": "sample count per batch", + "Increment": "32", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_LGCT": { + "Description": "Number of samples to push to count every INS_LOG_BAT_LGIN", + "DisplayName": "logging count", + "Increment": "1" + }, + "INS_LOG_BAT_LGIN": { + "Description": "Interval between pushing samples to the AP_Logger log", + "DisplayName": "logging interval", + "Increment": "10", + "Units": "ms" + }, + "INS_LOG_BAT_MASK": { + "Bitmask": { + "0": "IMU1", + "1": "IMU2", + "2": "IMU3" + }, + "Description": "Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.", + "DisplayName": "Sensor Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_OPT": { + "Bitmask": { + "0": "Sensor-Rate Logging (sample at full sensor rate seen by AP)", + "1": "Sample post-filtering", + "2": "Sample pre- and post-filter" + }, + "Description": "Options for the BatchSampler.", + "DisplayName": "Batch Logging Options Mask", + "User": "Advanced" + } + }, + "INS_TCAL1_": { + "INS_TCAL1_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL1_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL1_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL2_": { + "INS_TCAL2_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL2_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL2_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL3_": { + "INS_TCAL3_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL3_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL3_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "KDE_": { + "KDE_NPOLE": { + "Description": "Sets the number of motor poles to calculate the correct RPM value", + "DisplayName": "Number of motor poles" + } + }, + "LGR_": { + "LGR_DEPLOY_ALT": { + "Description": "Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.", + "DisplayName": "Landing gear deployment altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "LGR_DEPLOY_PIN": { + "Description": "Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Chassis deployment feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "LGR_DEPLOY_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.", + "DisplayName": "Chassis deployment feedback pin polarity", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "LGR_ENABLE": { + "Description": "Enable landing gear control", + "DisplayName": "Enable landing gear", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LGR_OPTIONS": { + "Bitmask": { + "0": "Retract after Takeoff", + "1": "Deploy during Land" + }, + "Description": "Options to retract or deploy landing gear in Auto or Guided mode", + "DisplayName": "Landing gear auto retract/deploy options", + "User": "Standard" + }, + "LGR_RETRACT_ALT": { + "Description": "Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.", + "DisplayName": "Landing gear retract altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "LGR_STARTUP": { + "Description": "Landing Gear Startup behaviour control", + "DisplayName": "Landing Gear Startup position", + "User": "Standard", + "Values": { + "0": "WaitForPilotInput", + "1": "Retract", + "2": "Deploy" + } + }, + "LGR_WOW_PIN": { + "Description": "Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Weight on wheels feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "LGR_WOW_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.", + "DisplayName": "Weight on wheels feedback pin polarity", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + } + }, + "LOG": { + "LOG_BACKEND_TYPE": { + "Bitmask": { + "0": "File", + "1": "MAVLink", + "2": "Block" + }, + "Description": "Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.", + "DisplayName": "AP_Logger Backend Storage type", + "User": "Standard" + }, + "LOG_BLK_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for block backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DARM_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.", + "DisplayName": "Maximum logging rate when disarmed", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DISARMED": { + "Description": "If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.", + "DisplayName": "Enable logging while disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Disabled on USB connection", + "3": "Discard log on reboot if never armed" + } + }, + "LOG_FILE_BUFSIZE": { + "Description": "The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce \"gaps\" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.", + "DisplayName": "Maximum AP_Logger File and Block Backend buffer size (in kilobytes)", + "User": "Standard" + }, + "LOG_FILE_DSRMROT": { + "Description": "When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.", + "DisplayName": "Stop logging to current file on disarm", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LOG_FILE_MB_FREE": { + "Description": "Set this such that the free space is larger than your largest typical flight log", + "DisplayName": "Old logs on the SD card will be deleted to maintain this amount of free space", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "MB", + "User": "Standard" + }, + "LOG_FILE_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for file backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_FILE_TIMEOUT": { + "Description": "This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.", + "DisplayName": "Timeout before giving up on file writes", + "Units": "s", + "User": "Standard" + }, + "LOG_MAV_BUFSIZE": { + "Description": "Maximum amount of memory to allocate to AP_Logger-over-mavlink", + "DisplayName": "Maximum AP_Logger MAVLink Backend buffer size", + "Units": "kB", + "User": "Advanced" + }, + "LOG_MAV_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for mavlink backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_MAX_FILES": { + "Description": "This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.", + "DisplayName": "Maximum number of log files", + "Increment": "1", + "Range": { + "high": "500", + "low": "2" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "LOG_REPLAY": { + "Description": "If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.", + "DisplayName": "Enable logging of information needed for Replay", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "LOIT_": { + "LOIT_ACC_MAX": { + "Description": "Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.", + "DisplayName": "Loiter maximum correction acceleration", + "Increment": "1", + "Range": { + "high": "981", + "low": "100" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "LOIT_ANG_MAX": { + "Description": "Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX", + "DisplayName": "Loiter pilot angle max", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "LOIT_BRK_ACCEL": { + "Description": "Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.", + "DisplayName": "Loiter braking acceleration", + "Increment": "1", + "Range": { + "high": "250", + "low": "25" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "LOIT_BRK_DELAY": { + "Description": "Loiter brake start delay (in seconds)", + "DisplayName": "Loiter brake start delay (in seconds)", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LOIT_BRK_JERK": { + "Description": "Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.", + "DisplayName": "Loiter braking jerk", + "Increment": "1", + "Range": { + "high": "5000", + "low": "500" + }, + "Units": "cm/s/s/s", + "User": "Advanced" + }, + "LOIT_SPEED": { + "Description": "Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode", + "DisplayName": "Loiter Horizontal Maximum Speed", + "Increment": "50", + "Range": { + "high": "3500", + "low": "20" + }, + "Units": "cm/s", + "User": "Standard" + } + }, + "Lua Script": { + "AEROM_ALT_ABORT": { + "Description": "Maximum allowable loss in altitude during a trick or sequence from its starting altitude.", + "DisplayName": "Altitude Abort", + "Units": "m" + }, + "AEROM_ANG_ACCEL": { + "Description": "Maximum angular acceleration in maneuvers", + "DisplayName": "Angular acceleration limit", + "Units": "deg/s/s" + }, + "AEROM_ANG_TC": { + "Description": "This is the time over which we filter the desired roll to smooth it", + "DisplayName": "Roll control filtertime constant", + "Units": "s" + }, + "AEROM_BOX_WIDTH": { + "Description": "Length of aerobatic \"box\" ", + "DisplayName": "Box Width", + "Units": "m" + }, + "AEROM_DEBUG": { + "Description": "This controls the printing of extra debug information on paths", + "DisplayName": "Debug control" + }, + "AEROM_ENTRY_RATE": { + "Description": "This controls how rapidly we roll into a new orientation", + "DisplayName": "The roll rate to use when entering a roll maneuver", + "Units": "deg/s" + }, + "AEROM_ERR_COR_D": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "D gain for path error corrections" + }, + "AEROM_ERR_COR_P": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "P gain for path error corrections" + }, + "AEROM_KE_RUDD": { + "Description": "Percent of rudder normally uses to sustain knife-edge at trick speed", + "DisplayName": "KnifeEdge Rudder", + "Units": "%" + }, + "AEROM_KE_RUDD_LK": { + "Description": "Time to look ahead in the path to calculate rudder correction for bank angle", + "DisplayName": "KnifeEdge Rudder lookahead", + "Units": "s" + }, + "AEROM_LKAHD": { + "Description": "This is how much time to look ahead in the path for calculating path rates", + "DisplayName": "Lookahead", + "Units": "s" + }, + "AEROM_MIS_ANGLE": { + "Description": "When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used", + "DisplayName": "Mission angle", + "Units": "deg" + }, + "AEROM_OPTIONS": { + "Bitmask": { + "0": "UseRTLOnAbort", + "1": "AddAtToMessages", + "2": "DualAircraftSynchronised" + }, + "Description": "Options to control aerobatic behavior", + "DisplayName": "Aerobatic options", + "Units": "deg" + }, + "AEROM_PATH_SCALE": { + "Description": "Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.", + "DisplayName": "Path Scale", + "Range": { + "high": "100", + "low": "0.1" + } + }, + "AEROM_ROL_COR_TC": { + "Description": "This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections", + "DisplayName": "Roll control time constant", + "Units": "s" + }, + "AEROM_SPD_I": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "I gain for speed controller", + "Units": "%" + }, + "AEROM_SPD_P": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "P gain for speed controller", + "Units": "%" + }, + "AEROM_STALL_PIT": { + "Description": "Pitch threashold for moving to final stage of stall turn", + "DisplayName": "Stall turn pitch threshold", + "Units": "deg" + }, + "AEROM_STALL_THR": { + "Description": "Amount of throttle to reduce to for a stall turn", + "DisplayName": "Stall turn throttle", + "Units": "%" + }, + "AEROM_THR_BOOST": { + "Description": "This is the extra throttle added in schedule elements marked as needing a throttle boost", + "DisplayName": "Throttle boost", + "Units": "%" + }, + "AEROM_THR_LKAHD": { + "Description": "This controls how far ahead we look in time along the path for the target throttle", + "DisplayName": "The lookahead for throttle control", + "Units": "s" + }, + "AEROM_THR_MIN": { + "Description": "Lowest throttle used during maneuvers", + "DisplayName": "Minimum Throttle", + "Units": "%" + }, + "AEROM_THR_PIT_FF": { + "Description": "This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch", + "DisplayName": "Throttle feed forward from pitch", + "Units": "%" + }, + "AEROM_TIME_COR_P": { + "Description": "This is the time constant for correcting path position errors", + "DisplayName": "Time constant for correction of our distance along the path", + "Units": "s" + }, + "AEROM_TS_I": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync I gain" + }, + "AEROM_TS_P": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync P gain" + }, + "AEROM_TS_RATE": { + "Description": "This sets the rate we send data for time sync between aircraft", + "DisplayName": "Timesync rate of send of NAMED_VALUE_FLOAT data", + "Units": "Hz" + }, + "AEROM_TS_SPDMAX": { + "Description": "This sets the maximum speed adjustment for time sync between aircraft", + "DisplayName": "Timesync speed max", + "Units": "m/s" + }, + "AEROM_YAW_ACCEL": { + "Description": "This is maximum yaw acceleration to use", + "DisplayName": "Yaw acceleration", + "Units": "deg/s/s" + }, + "BATT_ANX_CANDRV": { + "Description": "Set ANX CAN driver", + "DisplayName": "Set ANX CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "BATT_ANX_ENABLE": { + "Description": "Enable ANX battery support", + "DisplayName": "Enable ANX battery support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BATT_ANX_INDEX": { + "Description": "ANX CAN battery index", + "DisplayName": "ANX CAN battery index", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "BATT_ANX_OPTIONS": { + "Bitmask": { + "0": "LogAllFrames" + }, + "Description": "ANX CAN battery options", + "DisplayName": "ANX CAN battery options", + "User": "Advanced" + }, + "BATT_SOC1_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC1_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC1_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC1_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC1_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC2_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC2_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC2_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC3_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC3_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC3_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC4_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC4_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC4_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC_COUNT": { + "Description": "Number of battery SOC estimators", + "DisplayName": "Count of SOC estimators", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "CAM1_THERM_GAIN": { + "Description": "thermal image temperature range", + "DisplayName": "Camera1 Thermal Gain", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "LowGain (50C to 550C)", + "1": "HighGain (-20C to 150C)" + } + }, + "CAM1_THERM_PAL": { + "Description": "thermal image colour palette", + "DisplayName": "Camera1 Thermal Palette", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "WhiteHot", + "10": "BlackHot", + "11": "GloryHot", + "2": "Sepia", + "3": "IronBow", + "4": "Rainbow", + "5": "Night", + "6": "Aurora", + "7": "RedHot", + "8": "Jungle", + "9": "Medical" + } + }, + "CAM1_THERM_RAW": { + "Description": "save images with raw temperatures", + "DisplayName": "Camera1 Thermal Raw Data", + "Units": "m", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "Disabled (30fps)", + "1": "Enabled (25 fps)" + } + }, + "CGA_RATIO": { + "Description": "The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).", + "DisplayName": "CoG adjustment ratio", + "Range": { + "high": "2", + "low": "0.5" + }, + "User": "Advanced" + }, + "DIST_CUTOFF": { + "Description": "The distance from target beyond which the target is ignored", + "DisplayName": "Precland distance cutoff", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DJIR_DEBUG": { + "Description": "Enable DJIRS2 debug", + "DisplayName": "DJIRS2 debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled with attitude reporting" + } + }, + "DJIR_UPSIDEDOWN": { + "Description": "DJIRS2 upside down", + "DisplayName": "DJIRS2 upside down", + "User": "Standard", + "Values": { + "0": "Right side up", + "1": "Upside down" + } + }, + "DR_ENABLE": { + "Description": "Deadreckoning Enable", + "DisplayName": "Deadreckoning Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DR_ENABLE_DIST": { + "Description": "Distance from home (in meters) beyond which the dead reckoning will be enabled", + "DisplayName": "Deadreckoning Enable Distance", + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ALT_MIN": { + "Description": "Copter will fly at at least this altitude (in meters) above home during deadreckoning", + "DisplayName": "Deadreckoning Altitude Min", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ANGLE": { + "Description": "lean angle (in degrees) during deadreckoning", + "DisplayName": "Deadreckoning Lean Angle", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "DR_FLY_TIMEOUT": { + "Description": "Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout", + "DisplayName": "Deadreckoning flight timeout", + "Units": "s", + "User": "Standard" + }, + "DR_GPS_SACC_MAX": { + "Description": "GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy", + "DisplayName": "Deadreckoning GPS speed accuracy maximum threshold", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_SAT_MIN": { + "Description": "GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count", + "DisplayName": "Deadreckoning GPS satellite count min threshold", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_TRIGG_SEC": { + "Description": "GPS checks must fail for this many seconds before dead reckoning will be triggered", + "DisplayName": "Deadreckoning GPS check trigger seconds", + "Units": "s", + "User": "Standard" + }, + "DR_NEXT_MODE": { + "Description": "Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered", + "DisplayName": "Deadreckoning Next Mode", + "User": "Standard", + "Values": { + "16": "PosHold", + "17": "Brake", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "27": "Auto RTL", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "EFI_2K_CANDRV": { + "Description": "NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "NMEA 2000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_2K_ENABLE": { + "Description": "Enable NMEA 2000 EFI driver", + "DisplayName": "Enable NMEA 2000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_2K_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "NMEA 2000 driver options", + "DisplayName": "NMEA 2000 options", + "User": "Standard" + }, + "EFI_DLA_ENABLE": { + "Description": "Enable EFI DLA driver", + "DisplayName": "EFI DLA enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_DLA_LPS": { + "Description": "EFI DLA litres of fuel per second of injection time", + "DisplayName": "EFI DLA fuel scale", + "Range": { + "high": "1", + "low": "0.00001" + }, + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_CANDRV": { + "Description": "Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "Halo6000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_H6K_ENABLE": { + "Description": "Enable Halo6000 EFI driver", + "DisplayName": "Enable Halo6000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_H6K_FUELTOT": { + "Description": "The capacity of the tank in litres", + "DisplayName": "Halo6000 total fuel capacity", + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_OPTIONS": { + "Bitmask": { + "0": "LogAllCanPackets" + }, + "Description": "Halo6000 options", + "DisplayName": "Halo6000 options", + "User": "Standard" + }, + "EFI_H6K_START_FN": { + "Description": "The RC auxilliary function number for start/stop of the generator. Zero to disable start function", + "DisplayName": "Halo6000 start auxilliary function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_H6K_TELEM_RT": { + "Description": "The rate that additional generator telemetry is sent", + "DisplayName": "Halo6000 telemetry rate", + "Units": "Hz", + "User": "Standard" + }, + "EFI_INF_ENABLE": { + "Description": "Enable EFI INF-Inject driver", + "DisplayName": "EFI INF-Inject enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_INF_IGN_AUX": { + "Description": "EFI INF throttle ignition aux function", + "DisplayName": "EFI INF-Inject ignition aux function", + "User": "Standard" + }, + "EFI_INF_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "EFI INF driver options", + "DisplayName": "EFI INF-Inject options", + "User": "Standard" + }, + "EFI_INF_THR_HZ": { + "Description": "EFI INF throttle output rate", + "DisplayName": "EFI INF-Inject throttle rate", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "EFI_SP_CANDRV": { + "Description": "Set SkyPower EFI CAN driver", + "DisplayName": "Set SkyPower EFI CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "EFI_SP_ENABLE": { + "Description": "Enable SkyPower EFI support", + "DisplayName": "Enable SkyPower EFI support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_CTRL": { + "Description": "SkyPower EFI enable generator control", + "DisplayName": "SkyPower EFI enable generator control", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_FN": { + "Description": "SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop", + "DisplayName": "SkyPower EFI generator control function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_LOG_RT": { + "Description": "SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed", + "DisplayName": "SkyPower EFI log rate", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_MIN_RPM": { + "Description": "SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped", + "DisplayName": "SkyPower EFI minimum RPM", + "Range": { + "high": "1000", + "low": "1" + }, + "User": "Advanced" + }, + "EFI_SP_MODEL": { + "Description": "SkyPower EFI ECU model", + "DisplayName": "SkyPower EFI ECU model", + "User": "Standard", + "Values": { + "0": "SRE_180", + "1": "SP_275" + } + }, + "EFI_SP_RST_TIME": { + "Description": "SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.", + "DisplayName": "SkyPower EFI restart time", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "EFI_SP_START_FN": { + "Description": "SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start", + "DisplayName": "SkyPower EFI start function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_ST_DISARM": { + "Description": "SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed", + "DisplayName": "SkyPower EFI allow start disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_THR_FN": { + "Description": "SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control", + "DisplayName": "SkyPower EFI throttle function", + "User": "Standard", + "Values": { + "0": "Disabled", + "31": "HeliRSC", + "70": "FixedWing" + } + }, + "EFI_SP_THR_RATE": { + "Description": "SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine", + "DisplayName": "SkyPower EFI throttle rate", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_TLM_RT": { + "Description": "SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS", + "DisplayName": "SkyPower EFI telemetry rate", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_UPDATE_HZ": { + "Description": "SkyPower EFI update rate", + "DisplayName": "SkyPower EFI update rate", + "Range": { + "high": "200", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SVF_ARMCHECK": { + "Description": "Check for Generator ARM state before arming", + "DisplayName": "Generator SVFFI arming check", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SVF_ENABLE": { + "Description": "Enable SVFFI generator support", + "DisplayName": "Generator SVFFI enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_ENABLE": { + "Description": "Enable Hobbywing ESC telemetry", + "DisplayName": "Hobbywing ESC Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_OFS": { + "Description": "Motor number offset of first ESC", + "DisplayName": "Hobbywing ESC motor offset", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + }, + "ESC_HW_POLES": { + "Description": "Number of motor poles for eRPM scaling", + "DisplayName": "Hobbywing ESC motor poles", + "Range": { + "high": "50", + "low": "1" + }, + "User": "Standard" + }, + "ESRC_EXTN_QUAL": { + "Description": "ExternalNav may be used if quality is above this threshold", + "DisplayName": "EKF Source ExternalNav Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_EXTN_THRESH": { + "Description": "ExternalNav may be used if innovations are below this threshold", + "DisplayName": "EKF Source ExternalNav Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_FLOW_QUAL": { + "Description": "OpticalFlow may be used if quality is above this threshold", + "DisplayName": "EKF Source OpticalFlow Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_FLOW_THRESH": { + "Description": "OpticalFlow may be used if innovations are below this threshold", + "DisplayName": "EKF Source OpticalFlow Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_RNGFND_MAX": { + "Description": "OpticalFlow may be used if rangefinder distance is below this threshold", + "DisplayName": "EKF Source Rangefinder Max", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "PLND_ALT_CUTOFF": { + "Description": "The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing", + "DisplayName": "Precland altitude cutoff", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "POI_DIST_MAX": { + "Description": "POI's max distance (in meters) from the vehicle", + "DisplayName": "Mount POI distance max", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Standard" + }, + "PREV_ENABLE": { + "Description": "Enable parameter reversion system", + "DisplayName": "parameter reversion enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PREV_RC_FUNC": { + "Description": "RCn_OPTION number to used to trigger parameter reversion", + "DisplayName": "param reversion RC function", + "User": "Standard" + }, + "QUIK_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "QUIK_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "axes to tune", + "DisplayName": "Quicktune axes", + "User": "Standard" + }, + "QUIK_DOUBLE_TIME": { + "Description": "Time to double a tuning parameter. Raise this for a slower tune.", + "DisplayName": "Quicktune doubling time", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "s", + "User": "Standard" + }, + "QUIK_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_GAIN_MARGIN": { + "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune", + "DisplayName": "Quicktune gain margin", + "Range": { + "high": "80", + "low": "20" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_MAX_REDUCE": { + "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.", + "DisplayName": "Quicktune maximum gain reduction", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_OPTIONS": { + "Bitmask": { + "0": "UseTwoPositionSwitch" + }, + "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.", + "DisplayName": "Quicktune options", + "User": "Standard" + }, + "QUIK_OSC_SMAX": { + "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.", + "DisplayName": "Quicktune oscillation rate threshold", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "QUIK_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Quicktune RC function", + "User": "Standard" + }, + "QUIK_RP_PI_RATIO": { + "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain", + "DisplayName": "Quicktune roll/pitch PI ratio", + "Range": { + "high": "1.0", + "low": "0.5" + }, + "User": "Standard" + }, + "QUIK_YAW_D_MAX": { + "Description": "Maximum value for yaw D gain", + "DisplayName": "Quicktune Yaw D max", + "Range": { + "high": "1", + "low": "0.001" + }, + "User": "Standard" + }, + "QUIK_YAW_P_MAX": { + "Description": "Maximum value for yaw P gain", + "DisplayName": "Quicktune Yaw P max", + "Range": { + "high": "3", + "low": "0.1" + }, + "User": "Standard" + }, + "QUIK_Y_PI_RATIO": { + "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain", + "DisplayName": "Quicktune Yaw PI ratio", + "Range": { + "high": "20", + "low": "0.5" + }, + "User": "Standard" + }, + "RCK_DEBUG": { + "Description": "Sends Rockblock debug text to GCS via statustexts", + "DisplayName": "Display Rockblock debugging text", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_ENABLE": { + "Description": "Enables the Rockblock sending and recieving", + "DisplayName": "Enable Message transmission", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_FORCEHL": { + "Description": "Automatically enables High Latency mode if not already enabled", + "DisplayName": "Force enable High Latency mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_PERIOD": { + "Description": "When in High Latency mode, send Rockblock updates every N seconds", + "DisplayName": "Update rate", + "Range": { + "high": "600", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "RTUN_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Rover Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Rover Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "RTUN_AXES": { + "Bitmask": { + "0": "Steering", + "1": "Speed" + }, + "Description": "axes to tune", + "DisplayName": "Rover Quicktune axes", + "User": "Standard" + }, + "RTUN_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Rover Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Rover Quicktune RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + }, + "RTUN_SPD_FFRATIO": { + "Description": "Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value", + "DisplayName": "Rover Quicktune Speed FeedForward (equivalent) ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_I_RATIO": { + "Description": "Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Speed FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_P_RATIO": { + "Description": "Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Speed FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_FFRATIO": { + "Description": "Ratio between measured response and FF gain. Raise this to get a higher FF gain", + "DisplayName": "Rover Quicktune Steering Rate FeedForward ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_I_RATIO": { + "Description": "Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Steering FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_P_RATIO": { + "Description": "Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Steering FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "SHIP_AUTO_OFS": { + "Description": "Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.", + "DisplayName": "Ship automatic offset trigger", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Trigger" + } + }, + "SHIP_ENABLE": { + "Description": "Enable ship landing system", + "DisplayName": "Ship landing enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SHIP_LAND_ANGLE": { + "Description": "Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.", + "DisplayName": "Ship landing angle", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "SLUP_DEBUG": { + "Description": "Slung payload debug output, set to 1 to enable debug", + "DisplayName": "Slung Payload debug output", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_DIST_MAX": { + "Description": "Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress", + "DisplayName": "Slung Payload horizontal distance max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_ENABLE": { + "Description": "Slung Payload enable", + "DisplayName": "Slung Payload enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_RESTOFS_TC": { + "Description": "payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response", + "DisplayName": "Slung Payload resting offset estimate filter time constant", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "SLUP_SYSID": { + "Description": "Slung Payload mavlink system id. 0 to use any/all system ids", + "DisplayName": "Slung Payload mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_VEL_P": { + "Description": "Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload", + "DisplayName": "Slung Payload Velocity P gain", + "Range": { + "high": "0.8", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_WP_POS_P": { + "Description": "WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint", + "DisplayName": "Slung Payload return to WP position P gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "TERR_BRK_ALT": { + "Description": "terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.", + "DisplayName": "terrain brake altitude", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_ENABLE": { + "Description": "terrain brake enable", + "DisplayName": "terrain brake enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "TERR_BRK_HDIST": { + "Description": "terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate", + "DisplayName": "terrain brake home distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_SPD": { + "Description": "terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.", + "DisplayName": "terrain brake speed threshold", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TOFSENSE_ID1": { + "Description": "First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M First ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID2": { + "Description": "Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Second ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID3": { + "Description": "Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Thir ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST1": { + "Description": "First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M First Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST2": { + "Description": "Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Second Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST3": { + "Description": "Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Third Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_MODE": { + "Description": "TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode", + "DisplayName": "TOFSENSE-M mode to be used", + "User": "Standard", + "Values": { + "0": "8x8 mode", + "1": "4x4 mode" + } + }, + "TOFSENSE_NO": { + "Description": "Number of TOFSENSE-M CAN sensors connected", + "DisplayName": "TOFSENSE-M Connected", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_BR": { + "Description": "Serial Port baud rate. Sensor baud rate can be changed from Nassistant software", + "DisplayName": "TOFSENSE-M serial port baudrate", + "User": "Standard" + }, + "TOFSENSE_S1_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_SP": { + "Description": "UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. ", + "DisplayName": "TOFSENSE-M serial port config", + "Range": { + "high": "4", + "low": "1" + }, + "User": "Standard" + }, + "TRIK_ACT_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)", + "DisplayName": "Trik Action Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "TRIK_COUNT": { + "Description": "Number of tricks which can be selected over the range of the trik selection RC channel", + "DisplayName": "Trik Count", + "Range": { + "high": "11", + "low": "1" + } + }, + "TRIK_ENABLE": { + "Description": "Enables Tricks on Switch. TRIK params hidden until enabled", + "DisplayName": "Tricks on Switch Enable" + }, + "TRIK_SEL_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick selection", + "DisplayName": "Trik Selection Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "VIEP_CAM_SWHIGH": { + "Description": "Camera selection when switch is in high position", + "DisplayName": "ViewPro Camera For Switch High", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWLOW": { + "Description": "Camera selection when switch is in low position", + "DisplayName": "ViewPro Camera For Switch Low", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWMID": { + "Description": "Camera selection when switch is in middle position", + "DisplayName": "ViewPro Camera For Switch Mid", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_DEBUG": { + "Description": "ViewPro debug", + "DisplayName": "ViewPro debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled including attitude reporting" + } + }, + "VIEP_ZOOM_MAX": { + "Description": "ViewPro Zoom Times Max", + "DisplayName": "ViewPro Zoom Times Max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "VIEP_ZOOM_SPEED": { + "Description": "ViewPro Zoom Speed. Higher numbers result in faster zooming", + "DisplayName": "ViewPro Zoom Speed", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "WEB_BIND_PORT": { + "Description": "web server TCP port", + "DisplayName": "web server TCP port", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Standard" + }, + "WEB_BLOCK_SIZE": { + "Description": "web server block size for download", + "DisplayName": "web server block size", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Advanced" + }, + "WEB_DEBUG": { + "Description": "web server debugging", + "DisplayName": "web server debugging", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_ENABLE": { + "Description": "enable web server", + "DisplayName": "enable web server", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_SENDFILE_MIN": { + "Description": "sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download", + "DisplayName": "web server minimum file size for sendfile", + "Range": { + "high": "10000000", + "low": "0" + }, + "User": "Advanced" + }, + "WEB_TIMEOUT": { + "Description": "timeout for inactive connections", + "DisplayName": "web server timeout", + "Range": { + "high": "60", + "low": "0.1" + }, + "Units": "s", + "User": "Advanced" + }, + "WINCH_RATE_DN": { + "Description": "Maximum rate when releasing line", + "DisplayName": "WinchControl Rate Down", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RATE_UP": { + "Description": "Maximum rate when retracting line", + "DisplayName": "WinchControl Rate Up", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RC_FUNC": { + "Description": "RCn_OPTION number to use to control winch rate", + "DisplayName": "Winch Rate Control RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + } + }, + "MIS_": { + "MIS_OPTIONS": { + "Bitmask": { + "0": "Clear Mission on reboot", + "2": "ContinueAfterLand" + }, + "Description": "Bitmask of what options to use in missions.", + "DisplayName": "Mission options bitmask", + "User": "Advanced" + }, + "MIS_RESTART": { + "Description": "Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)", + "DisplayName": "Mission Restart when entering Auto mode", + "User": "Advanced", + "Values": { + "0": "Resume Mission", + "1": "Restart Mission" + } + }, + "MIS_TOTAL": { + "Description": "The number of mission mission items that has been loaded by the ground station. Do not change this manually.", + "DisplayName": "Total mission commands", + "Increment": "1", + "Range": { + "high": "32766", + "low": "0" + }, + "ReadOnly": "True", + "User": "Advanced" + } + }, + "MNT1": { + "MNT1_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT1_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT1_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT1_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT1_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT1_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT1_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MNT2": { + "MNT2_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT2_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT2_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT2_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT2_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT2_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT2_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MOT_": { + "MOT_BAT_CURR_MAX": { + "Description": "Maximum current over which maximum throttle is limited (0 = Disabled)", + "DisplayName": "Motor Current Max", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "A", + "User": "Advanced" + }, + "MOT_BAT_CURR_TC": { + "Description": "Time constant used to limit the maximum current", + "DisplayName": "Motor Current Max Time Constant", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_BAT_IDX": { + "Description": "Which battery monitor should be used for doing compensation", + "DisplayName": "Battery compensation index", + "User": "Advanced", + "Values": { + "0": "First battery", + "1": "Second battery" + } + }, + "MOT_BAT_VOLT_MAX": { + "Description": "Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation maximum voltage", + "Range": { + "high": "53", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "MOT_BAT_VOLT_MIN": { + "Description": "Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation minimum voltage", + "Range": { + "high": "42", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "MOT_BOOST_SCALE": { + "Description": "Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.", + "DisplayName": "Motor boost scale", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + }, + "MOT_HOVER_LEARN": { + "Description": "Enable/Disable automatic learning of hover throttle", + "DisplayName": "Hover Value Learning", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Learn", + "2": "Learn and Save" + } + }, + "MOT_OPTIONS": { + "Bitmask": { + "0": "Voltage compensation uses raw voltage" + }, + "Description": "Motor options", + "DisplayName": "Motor options", + "User": "Advanced" + }, + "MOT_PWM_MAX": { + "Description": "This sets the max PWM value in microseconds that will ever be output to the motors", + "DisplayName": "PWM output maximum", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "MOT_PWM_MIN": { + "Description": "This sets the min PWM output value in microseconds that will ever be output to the motors", + "DisplayName": "PWM output minimum", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "MOT_PWM_TYPE": { + "Description": "This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.", + "DisplayName": "Output PWM type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "OneShot", + "2": "OneShot125", + "3": "Brushed", + "4": "DShot150", + "5": "DShot300", + "6": "DShot600", + "7": "DShot1200", + "8": "PWMRange", + "9": "PWMAngle" + } + }, + "MOT_SAFE_DISARM": { + "Description": "Disables motor PWM output when disarmed", + "DisplayName": "Motor PWM output disabled when disarmed", + "User": "Advanced", + "Values": { + "0": "PWM enabled while disarmed", + "1": "PWM disabled while disarmed" + } + }, + "MOT_SAFE_TIME": { + "Description": "Time taken to disable and enable the motor PWM output when disarmed and armed.", + "DisplayName": "Time taken to disable and enable the motor PWM output when disarmed and armed.", + "Increment": "0.001", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_SLEW_DN_TIME": { + "Description": "Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.", + "DisplayName": "Output slew time for decreasing throttle", + "Increment": "0.001", + "Range": { + "high": ".5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_SLEW_UP_TIME": { + "Description": "Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.", + "DisplayName": "Output slew time for increasing throttle", + "Increment": "0.001", + "Range": { + "high": ".5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_SPIN_ARM": { + "Description": "Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.", + "DisplayName": "Motor Spin armed", + "User": "Advanced", + "Values": { + "0.0": "Low", + "0.1": "Default", + "0.2": "High" + } + }, + "MOT_SPIN_MAX": { + "Description": "Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range", + "DisplayName": "Motor Spin maximum", + "User": "Advanced", + "Values": { + "0.9": "Low", + "0.95": "Default", + "1.0": "High" + } + }, + "MOT_SPIN_MIN": { + "Description": "Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.", + "DisplayName": "Motor Spin minimum", + "User": "Advanced", + "Values": { + "0.0": "Low", + "0.15": "Default", + "0.25": "High" + } + }, + "MOT_SPOOL_TIME": { + "Description": "Time in seconds to spool up the motors from zero to min throttle. ", + "DisplayName": "Spool up time", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0.05" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_SPOOL_TIM_DN": { + "Description": "Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.", + "DisplayName": "Spool down time", + "Increment": "0.001", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "MOT_THST_EXPO": { + "Description": "Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)", + "DisplayName": "Thrust Curve Expo", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "MOT_THST_HOVER": { + "Description": "Motor thrust needed to hover expressed as a number from 0 to 1", + "DisplayName": "Thrust Hover Value", + "Range": { + "high": "0.8", + "low": "0.2" + }, + "User": "Advanced" + }, + "MOT_YAW_HEADROOM": { + "Description": "Yaw control is given at least this pwm in microseconds range", + "DisplayName": "Matrix Yaw Min", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "MOT_YAW_SV_ANGLE": { + "Description": "Yaw servo's maximum lean angle (Tricopter only)", + "DisplayName": "Yaw Servo Max Lean Angle", + "Increment": "1", + "Range": { + "high": "80", + "low": "5" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MSP": { + "MSP_OPTIONS": { + "Bitmask": { + "0": "EnableTelemetryMode", + "1": "unused", + "2": "EnableBTFLFonts" + }, + "Description": "A bitmask to set some MSP specific options: EnableTelemetryMode-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.", + "DisplayName": "MSP OSD Options", + "User": "Standard" + }, + "MSP_OSD_NCELLS": { + "Description": "Used for average cell voltage calculation", + "DisplayName": "Cell count override", + "User": "Standard", + "Values": { + "0": "Auto", + "1": "1", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "2": "2", + "3": "3", + "4": "4", + "5": "5", + "6": "6", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "NET_": { + "NET_DHCP": { + "Description": "Enable/Disable DHCP client", + "DisplayName": "DHCP client", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_ENABLE": { + "Description": "Networking Enable", + "DisplayName": "Networking Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_NETMASK": { + "Description": "Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0", + "DisplayName": "IP Subnet mask", + "Range": { + "high": "32", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_OPTIONS": { + "Bitmask": { + "0": "EnablePPP Ethernet gateway", + "1": "Enable CAN1 multicast gateway", + "2": "Enable CAN2 multicast gateway" + }, + "Description": "Networking options", + "DisplayName": "Networking options", + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_TESTS": { + "Bitmask": { + "0": "UDP echo test", + "1": "TCP echo test", + "2": "TCP discard test", + "3": "TCP reflect test" + }, + "Description": "Enable/Disable networking tests", + "DisplayName": "Test enable flags", + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_GWADDR": { + "NET_GWADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_IPADDR": { + "NET_IPADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_MACADDR": { + "NET_MACADDR0": { + "Description": "MAC address 1st byte", + "DisplayName": "MAC Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR1": { + "Description": "MAC address 2nd byte", + "DisplayName": "MAC Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR2": { + "Description": "MAC address 3rd byte", + "DisplayName": "MAC Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR3": { + "Description": "MAC address 4th byte", + "DisplayName": "MAC Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR4": { + "Description": "MAC address 5th byte", + "DisplayName": "MAC Address 5th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR5": { + "Description": "MAC address 6th byte", + "DisplayName": "MAC Address 6th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_P1_": { + "NET_P1_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P1_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P1_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P1_IP": { + "NET_P1_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P2_": { + "NET_P2_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P2_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P2_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P2_IP": { + "NET_P2_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P3_": { + "NET_P3_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P3_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P3_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P3_IP": { + "NET_P3_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P4_": { + "NET_P4_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P4_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P4_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P4_IP": { + "NET_P4_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_REMPPP_IP": { + "NET_REMPPP_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_TEST_IP": { + "NET_TEST_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NMEA_": { + "NMEA_MSG_EN": { + "Bitmask": { + "0": "GPGGA", + "1": "GPRMC", + "2": "PASHR" + }, + "Description": "This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval", + "DisplayName": "Messages Enable bitmask", + "User": "Standard" + }, + "NMEA_RATE_MS": { + "Description": "NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.", + "DisplayName": "NMEA Output rate", + "Increment": "1", + "Range": { + "high": "2000", + "low": "20" + }, + "Units": "ms", + "User": "Standard" + } + }, + "NTF_": { + "NTF_BUZZ_ON_LVL": { + "Description": "Specifies pin level that indicates buzzer should play", + "DisplayName": "Buzzer-on pin logic level", + "User": "Advanced", + "Values": { + "0": "LowIsOn", + "1": "HighIsOn" + } + }, + "NTF_BUZZ_PIN": { + "Description": "Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Buzzer pin", + "User": "Advanced", + "Values": { + "-1": "Disabled" + } + }, + "NTF_BUZZ_TYPES": { + "Bitmask": { + "0": "Built-in buzzer", + "1": "DShot", + "2": "DroneCAN" + }, + "Description": "Controls what types of Buzzer will be enabled", + "DisplayName": "Buzzer Driver Types", + "User": "Advanced" + }, + "NTF_BUZZ_VOLUME": { + "Description": "Control the volume of the buzzer", + "DisplayName": "Buzzer volume", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "NTF_DISPLAY_TYPE": { + "Description": "This sets up the type of on-board I2C display. Disabled by default.", + "DisplayName": "Type of on-board I2C display", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "ssd1306", + "10": "SITL", + "2": "sh1106" + } + }, + "NTF_LED_BRIGHT": { + "Description": "Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.", + "DisplayName": "LED Brightness", + "User": "Advanced", + "Values": { + "0": "Off", + "1": "Low", + "2": "Medium", + "3": "High" + } + }, + "NTF_LED_LEN": { + "Description": "The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)", + "DisplayName": "Serial LED String Length", + "Range": { + "high": "32", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NTF_LED_OVERRIDE": { + "Description": "Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially \"Green\" is disarmed (safe-to-approach), \"Red\" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.", + "DisplayName": "Specifies colour source for the RGBLed", + "User": "Advanced", + "Values": { + "0": "Standard", + "1": "MAVLink/Scripting/AP_Periph", + "2": "OutbackChallenge", + "3": "TrafficLight" + } + }, + "NTF_LED_TYPES": { + "Bitmask": { + "0": "Built-in LED", + "1": "Internal ToshibaLED", + "10": "Scripting", + "11": "DShot", + "12": "ProfiLED_SPI", + "13": "LP5562 External", + "14": "LP5562 Internal", + "15": "IS31FL3195 External", + "16": "IS31FL3195 Internal", + "17": "DiscreteRGB", + "18": "NeoPixelRGB", + "2": "External ToshibaLED", + "3": "External PCA9685", + "4": "Oreo LED", + "5": "DroneCAN", + "6": "NCP5623 External", + "7": "NCP5623 Internal", + "8": "NeoPixel", + "9": "ProfiLED" + }, + "Description": "Controls what types of LEDs will be enabled", + "DisplayName": "LED Driver Types", + "User": "Advanced" + }, + "NTF_OREO_THEME": { + "Description": "Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme", + "DisplayName": "OreoLED Theme", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Aircraft", + "2": "Rover" + } + } + }, + "OA_": { + "OA_MARGIN_MAX": { + "Description": "Object Avoidance will ignore objects more than this many meters from vehicle", + "DisplayName": "Object Avoidance wide margin distance", + "Increment": "1", + "Range": { + "high": "100", + "low": "0.1" + }, + "Units": "m", + "User": "Standard" + }, + "OA_OPTIONS": { + "Bitmask": { + "1": "log Dijkstra points", + "2": "Allow fast waypoints (Dijkastras only)" + }, + "Description": "Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). ", + "DisplayName": "Options while recovering from Object Avoidance", + "User": "Standard" + }, + "OA_TYPE": { + "Description": "Enabled/disable path planning around obstacles", + "DisplayName": "Object Avoidance Path Planning algorithm to use", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "BendyRuler", + "2": "Dijkstra", + "3": "Dijkstra with BendyRuler" + } + } + }, + "OA_BR_": { + "OA_BR_CONT_ANGLE": { + "Description": " BendyRuler will resist changing current bearing if the change in bearing is over this angle", + "DisplayName": "BendyRuler's bearing change resistance threshold angle ", + "Increment": "5", + "Range": { + "high": "180", + "low": "20" + }, + "User": "Standard" + }, + "OA_BR_CONT_RATIO": { + "Description": " BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.", + "DisplayName": "Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly ", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "1.1" + }, + "User": "Standard" + }, + "OA_BR_LOOKAHEAD": { + "Description": "Object Avoidance will look this many meters ahead of vehicle", + "DisplayName": "Object Avoidance look ahead distance maximum", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "OA_BR_TYPE": { + "Description": "BendyRuler will search for clear path along the direction defined by this parameter", + "DisplayName": "Type of BendyRuler", + "User": "Standard", + "Values": { + "1": "Horizontal search", + "2": "Vertical search" + } + } + }, + "OA_DB_": { + "OA_DB_ALT_MIN": { + "Description": "OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.", + "DisplayName": "OADatabase minimum altitude above home before storing obstacles", + "Range": { + "high": "4", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "OA_DB_BEAM_WIDTH": { + "Description": "Beam width of incoming lidar data", + "DisplayName": "OADatabase beam width", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "OA_DB_DIST_MAX": { + "Description": "Maximum distance of objects held in database. Set to zero to disable the limits", + "DisplayName": "OADatabase Distance Maximum", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "OA_DB_EXPIRE": { + "Description": "OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.", + "DisplayName": "OADatabase item timeout", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "OA_DB_OUTPUT": { + "Description": "OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.", + "DisplayName": "OADatabase output level", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Send only HIGH importance items", + "2": "Send HIGH and NORMAL importance items", + "3": "Send all items" + } + }, + "OA_DB_QUEUE_SIZE": { + "Description": "OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.", + "DisplayName": "OADatabase queue maximum number of points", + "Range": { + "high": "200", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "OA_DB_RADIUS_MIN": { + "Description": "Minimum radius of objects held in database", + "DisplayName": "OADatabase Minimum radius", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "OA_DB_SIZE": { + "Description": "OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process", + "DisplayName": "OADatabase maximum number of points", + "Range": { + "high": "10000", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "OSD": { + "OSD_ARM_SCR": { + "Description": "Screen to be shown on Arm event. Zero to disable the feature.", + "DisplayName": "Arm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_BTN_DELAY": { + "Description": "Debounce time in ms for stick commanded parameter navigation.", + "DisplayName": "Button delay", + "Range": { + "high": "3000", + "low": "0" + }, + "User": "Advanced" + }, + "OSD_CELL_COUNT": { + "Description": "Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.", + "DisplayName": "Battery cell count", + "Increment": "1", + "User": "Advanced" + }, + "OSD_CHAN": { + "Description": "This sets the channel used to switch different OSD screens.", + "DisplayName": "Screen switch transmitter channel", + "User": "Standard", + "Values": { + "0": "Disable", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + }, + "OSD_DSARM_SCR": { + "Description": "Screen to be shown on disarm event. Zero to disable the feature.", + "DisplayName": "Disarm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_FONT": { + "Description": "This sets which OSD font to use. It is an integer from 0 to the number of fonts available", + "DisplayName": "OSD Font", + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_FS_SCR": { + "Description": "Screen to be shown on failsafe event. Zero to disable the feature.", + "DisplayName": "Failsafe screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_H_OFFSET": { + "Description": "Sets horizontal offset of the osd inside image", + "DisplayName": "OSD horizontal offset", + "Range": { + "high": "63", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_MSG_TIME": { + "Description": "Sets message duration seconds", + "DisplayName": "Message display duration in seconds", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "OSD_OPTIONS": { + "Bitmask": { + "0": "UseDecimalPack", + "1": "InvertedWindArrow", + "2": "InvertedAHRoll", + "3": "Convert feet to miles at 5280ft instead of 10000ft", + "4": "DisableCrosshair", + "5": "TranslateArrows", + "6": "AviationStyleAH", + "7": "Prefix LQ with RF Mode" + }, + "Description": "This sets options that change the display", + "DisplayName": "OSD Options", + "User": "Standard" + }, + "OSD_SB_H_OFS": { + "Description": "Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.", + "DisplayName": "Sidebar horizontal offset", + "Range": { + "high": "20", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SB_V_EXT": { + "Description": "Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.", + "DisplayName": "Sidebar vertical extension", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SW_METHOD": { + "Description": "This sets the method used to switch different OSD screens.", + "DisplayName": "Screen switch method", + "User": "Standard", + "Values": { + "0": "switch to next screen if channel value was changed", + "1": "select screen based on pwm ranges specified for each screen", + "2": "switch to next screen after low to high transition and every 1s while channel value is high" + } + }, + "OSD_TYPE": { + "Description": "OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_TYPE2": { + "Description": "OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type 2", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_UNITS": { + "Description": "Sets the units to use in displaying items", + "DisplayName": "Display Units", + "User": "Standard", + "Values": { + "0": "Metric", + "1": "Imperial", + "2": "SI", + "3": "Aviation" + } + }, + "OSD_V_OFFSET": { + "Description": "Sets vertical offset of the osd inside image", + "DisplayName": "OSD vertical offset", + "Range": { + "high": "31", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_W_ACRVOLT": { + "Description": "Set level at which ACRVOLT item will flash", + "DisplayName": "Avg Cell Resting Volt warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_AVGCELLV": { + "Description": "Set level at which AVGCELLV item will flash", + "DisplayName": "AVGCELLV warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_BATVOLT": { + "Description": "Set level at which BAT_VOLT item will flash", + "DisplayName": "BAT_VOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_LQ": { + "Description": "Set level at which RC_LQ item will flash (%)", + "DisplayName": "RC link quality warn level (in %)", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_NSAT": { + "Description": "Set level at which NSAT item will flash", + "DisplayName": "NSAT warn level", + "Range": { + "high": "30", + "low": "1" + }, + "User": "Standard" + }, + "OSD_W_RESTVOLT": { + "Description": "Set level at which RESTVOLT item will flash", + "DisplayName": "RESTVOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_RSSI": { + "Description": "Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.", + "DisplayName": "RSSI warn level (in %)", + "Range": { + "high": "100", + "low": "-128" + }, + "User": "Standard" + }, + "OSD_W_SNR": { + "Description": "Set level at which RC_SNR item will flash (in db)", + "DisplayName": "RC link SNR warn level (in %)", + "Range": { + "high": "10", + "low": "-20" + }, + "User": "Standard" + }, + "OSD_W_TERR": { + "Description": "Set level below which TER_HGT item will flash. -1 disables.", + "DisplayName": "Terrain warn level", + "Range": { + "high": "3000", + "low": "-1" + }, + "Units": "m", + "User": "Standard" + } + }, + "OSD1_": { + "OSD1_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD1_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD1_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD1_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD1_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD1_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD2_": { + "OSD2_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD2_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD2_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD2_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD2_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD2_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD3_": { + "OSD3_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD3_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD3_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD3_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD3_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD3_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD4_": { + "OSD4_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD4_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD4_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD4_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD4_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD4_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD5_": { + "OSD5_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD5_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD5_PARAM1": { + "OSD5_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM2": { + "OSD5_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM3": { + "OSD5_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM4": { + "OSD5_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM5": { + "OSD5_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM6": { + "OSD5_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM7": { + "OSD5_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM8": { + "OSD5_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM9": { + "OSD5_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_": { + "OSD6_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD6_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD6_PARAM1": { + "OSD6_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM2": { + "OSD6_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM3": { + "OSD6_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM4": { + "OSD6_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM5": { + "OSD6_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM6": { + "OSD6_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM7": { + "OSD6_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM8": { + "OSD6_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM9": { + "OSD6_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "PLND_": { + "PLND_ACC_P_NSE": { + "Description": "Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less", + "DisplayName": "Kalman Filter Accelerometer Noise", + "Range": { + "high": "5", + "low": "0.5" + }, + "User": "Advanced" + }, + "PLND_ALT_MAX": { + "Description": "Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand maximum alt for retry", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m" + }, + "PLND_ALT_MIN": { + "Description": "Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand minimum alt for retry", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m" + }, + "PLND_BUS": { + "Description": "Precland sensor bus for I2C sensors.", + "DisplayName": "Sensor Bus", + "User": "Advanced", + "Values": { + "-1": "DefaultBus", + "0": "InternalI2C", + "1": "ExternalI2C" + } + }, + "PLND_CAM_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_ENABLED": { + "Description": "Precision Land enabled/disabled", + "DisplayName": "Precision Land enabled/disabled", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PLND_EST_TYPE": { + "Description": "Specifies the estimation method to be used", + "DisplayName": "Precision Land Estimator Type", + "User": "Advanced", + "Values": { + "0": "RawSensor", + "1": "KalmanFilter" + } + }, + "PLND_LAG": { + "Description": "Precision Landing sensor lag, to cope with variable landing_target latency", + "DisplayName": "Precision Landing sensor lag", + "Increment": "1", + "Range": { + "high": "0.250", + "low": "0.02" + }, + "RebootRequired": "True", + "Units": "s", + "User": "Advanced" + }, + "PLND_LAND_OFS_X": { + "Description": "Desired landing position of the camera forward of the target in vehicle body frame", + "DisplayName": "Land offset forward", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_LAND_OFS_Y": { + "Description": "desired landing position of the camera right of the target in vehicle body frame", + "DisplayName": "Land offset right", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_OPTIONS": { + "Bitmask": { + "0": "Moving Landing Target", + "1": "Allow Precision Landing after manual reposition", + "2": "Maintain high speed in final descent" + }, + "Description": "Precision Landing Extra Options", + "DisplayName": "Precision Landing Extra Options", + "User": "Advanced" + }, + "PLND_ORIENT": { + "Description": "Orientation of camera/sensor on body", + "DisplayName": "Camera Orientation", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Forward", + "25": "Down", + "4": "Back" + } + }, + "PLND_RET_BEHAVE": { + "Description": "Prec Land will do the action selected by this parameter if a retry to a landing is needed", + "DisplayName": "PrecLand retry behaviour", + "Values": { + "0": "Go to the last location where landing target was detected", + "1": "Go towards the approximate location of the detected landing target" + } + }, + "PLND_RET_MAX": { + "Description": "PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.", + "DisplayName": "PrecLand Maximum number of retires for a failed landing", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + } + }, + "PLND_STRICT": { + "Description": "How strictly should the vehicle land on the target if target is lost", + "DisplayName": "PrecLand strictness", + "Values": { + "0": "Land Vertically (Not strict)", + "1": "Retry Landing(Normal Strictness)", + "2": "Do not land (just Hover) (Very Strict)" + } + }, + "PLND_TIMEOUT": { + "Description": "Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.", + "DisplayName": "PrecLand retry timeout", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "s" + }, + "PLND_TYPE": { + "Description": "Precision Land Type", + "DisplayName": "Precision Land Type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IRLock", + "3": "SITL_Gazebo", + "4": "SITL" + } + }, + "PLND_XY_DIST_MAX": { + "Description": "The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.", + "DisplayName": "Precision Landing maximum distance to target before descending", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_YAW_ALIGN": { + "Description": "Yaw angle from body x-axis to sensor x-axis.", + "DisplayName": "Sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "36000", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + } + }, + "PRX": { + "PRX_ALT_MIN": { + "Description": "Minimum altitude below which proximity should not work.", + "DisplayName": "Proximity lowest altitude.", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX_FILT": { + "Description": "Cutoff frequency for low pass filter applied to each face in the proximity boundary", + "DisplayName": "Proximity filter cutoff frequency", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PRX_IGN_GND": { + "Description": "Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder", + "DisplayName": "Proximity sensor land detection", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PRX_LOG_RAW": { + "Description": "Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled", + "DisplayName": "Proximity raw distances log", + "User": "Advanced", + "Values": { + "0": "Off", + "1": "On" + } + } + }, + "PRX1": { + "PRX1_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX1_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX1_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX1_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX1_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX1_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX1_": { + "PRX1_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX2": { + "PRX2_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX2_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX2_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX2_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX2_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX2_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX2_": { + "PRX2_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX3": { + "PRX3_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX3_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX3_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX3_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX3_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX3_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX3_": { + "PRX3_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX4": { + "PRX4_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX4_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX4_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX4_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX4_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX4_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX4_": { + "PRX4_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PSC": { + "PSC_ACCZ_D": { + "Description": "Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration", + "DisplayName": "Acceleration (vertical) controller D gain", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "PSC_ACCZ_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Accel (vertical) Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "PSC_ACCZ_FF": { + "Description": "Acceleration (vertical) controller feed forward", + "DisplayName": "Acceleration (vertical) controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "PSC_ACCZ_FLTD": { + "Description": "Acceleration (vertical) controller derivative frequency in Hz", + "DisplayName": "Acceleration (vertical) controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "PSC_ACCZ_FLTE": { + "Description": "Acceleration (vertical) controller error frequency in Hz", + "DisplayName": "Acceleration (vertical) controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "PSC_ACCZ_FLTT": { + "Description": "Acceleration (vertical) controller target frequency in Hz", + "DisplayName": "Acceleration (vertical) controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "PSC_ACCZ_I": { + "Description": "Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration", + "DisplayName": "Acceleration (vertical) controller I gain", + "Range": { + "high": "3.000", + "low": "0.000" + }, + "User": "Standard" + }, + "PSC_ACCZ_IMAX": { + "Description": "Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate", + "DisplayName": "Acceleration (vertical) controller I gain maximum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "d%", + "User": "Standard" + }, + "PSC_ACCZ_NEF": { + "Description": "Accel (vertical) Error notch filter index", + "DisplayName": "Accel (vertical) Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "PSC_ACCZ_NTF": { + "Description": "Accel (vertical) Target notch filter index", + "DisplayName": "Accel (vertical) Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "PSC_ACCZ_P": { + "Description": "Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output", + "DisplayName": "Acceleration (vertical) controller P gain", + "Increment": "0.05", + "Range": { + "high": "1.500", + "low": "0.200" + }, + "User": "Standard" + }, + "PSC_ACCZ_PDMX": { + "Description": "Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Acceleration (vertical) controller PD sum maximum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "d%" + }, + "PSC_ACCZ_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Accel (vertical) slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "PSC_ACC_XY_FILT": { + "Description": "Lower values will slow the response of the navigation controller and reduce twitchiness", + "DisplayName": "XY Acceleration filter cutoff frequency", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_ANGLE_MAX": { + "Description": "Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value", + "DisplayName": "Position Control Angle Max", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "PSC_JERK_XY": { + "Description": "Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target", + "DisplayName": "Jerk limit for the horizontal kinematic input shaping", + "Increment": "1", + "Range": { + "high": "20", + "low": "1" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "PSC_JERK_Z": { + "Description": "Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target", + "DisplayName": "Jerk limit for the vertical kinematic input shaping", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "PSC_POSXY_P": { + "Description": "Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller", + "DisplayName": "Position (horizontal) controller P gain", + "Range": { + "high": "2.000", + "low": "0.500" + }, + "User": "Standard" + }, + "PSC_POSZ_P": { + "Description": "Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller", + "DisplayName": "Position (vertical) controller P gain", + "Range": { + "high": "3.000", + "low": "1.000" + }, + "User": "Standard" + }, + "PSC_VELXY_D": { + "Description": "Velocity (horizontal) D gain. Corrects short-term changes in velocity", + "DisplayName": "Velocity (horizontal) D gain", + "Increment": "0.001", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "PSC_VELXY_FF": { + "Description": "Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) feed forward gain", + "Increment": "0.01", + "Range": { + "high": "6", + "low": "0" + }, + "User": "Advanced" + }, + "PSC_VELXY_FLTD": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VELXY_FLTE": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VELXY_I": { + "Description": "Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.02" + }, + "User": "Advanced" + }, + "PSC_VELXY_IMAX": { + "Description": "Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output", + "DisplayName": "Velocity (horizontal) integrator maximum", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "PSC_VELXY_P": { + "Description": "Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) P gain", + "Increment": "0.1", + "Range": { + "high": "6.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "PSC_VELZ_D": { + "Description": "Velocity (vertical) controller D gain. Corrects short-term changes in velocity", + "DisplayName": "Velocity (vertical) controller D gain", + "Increment": "0.001", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "PSC_VELZ_FF": { + "Description": "Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target", + "DisplayName": "Velocity (vertical) controller Feed Forward gain", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "PSC_VELZ_FLTD": { + "Description": "Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms", + "DisplayName": "Velocity (vertical) input filter for D term", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VELZ_FLTE": { + "Description": "Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms", + "DisplayName": "Velocity (vertical) error filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VELZ_I": { + "Description": "Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration", + "DisplayName": "Velocity (vertical) controller I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.02" + }, + "User": "Advanced" + }, + "PSC_VELZ_IMAX": { + "Description": "Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output", + "DisplayName": "Velocity (vertical) controller I gain maximum", + "Range": { + "high": "8.000", + "low": "1.000" + }, + "User": "Standard" + }, + "PSC_VELZ_P": { + "Description": "Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller", + "DisplayName": "Velocity (vertical) controller P gain", + "Range": { + "high": "8.000", + "low": "1.000" + }, + "User": "Standard" + } + }, + "RALLY_": { + "RALLY_INCL_HOME": { + "Description": "Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL", + "DisplayName": "Rally Include Home", + "User": "Standard", + "Values": { + "0": "DoNotIncludeHome", + "1": "IncludeHome" + } + }, + "RALLY_LIMIT_KM": { + "Description": "Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.", + "DisplayName": "Rally Limit", + "Increment": "0.1", + "Units": "km", + "User": "Advanced" + }, + "RALLY_TOTAL": { + "Description": "Number of rally points currently loaded", + "DisplayName": "Rally Total", + "User": "Advanced" + } + }, + "RC": { + "RC_FS_TIMEOUT": { + "Description": "RC failsafe will trigger this many seconds after loss of RC", + "DisplayName": "RC Failsafe timeout", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "Units": "s", + "User": "Standard" + }, + "RC_OPTIONS": { + "Bitmask": { + "0": "Ignore RC Receiver", + "1": "Ignore MAVLink Overrides", + "10": "Enable multiple receiver support", + "11": "Use Link Quality for RSSI with CRSF", + "12": "Annotate CRSF flight mode with * on disarm", + "13": "Use 420kbaud for ELRS protocol", + "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup", + "3": "FPort Pad", + "4": "Log RC input bytes", + "5": "Arming check throttle for 0 input", + "6": "Skip the arming check for neutral Roll/Pitch/Yaw sticks", + "7": "Allow Switch reverse", + "8": "Use passthrough for CRSF telemetry", + "9": "Suppress CRSF mode/rate message for ELRS systems" + }, + "Description": "RC input options", + "DisplayName": "RC options", + "User": "Advanced" + }, + "RC_OVERRIDE_TIME": { + "Description": "Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled", + "DisplayName": "RC override timeout", + "Range": { + "high": "120.0", + "low": "0.0" + }, + "Units": "s", + "User": "Advanced" + }, + "RC_PROTOCOLS": { + "Bitmask": { + "0": "All", + "1": "PPM", + "10": "ST24", + "11": "FPORT", + "12": "FPORT2", + "13": "FastSBUS", + "14": "DroneCAN", + "15": "Ghost", + "16": "MAVRadio", + "2": "IBUS", + "3": "SBUS", + "4": "SBUS_NI", + "5": "DSM", + "6": "SUMD", + "7": "SRXL", + "8": "SRXL2", + "9": "CRSF" + }, + "Description": "Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.", + "DisplayName": "RC protocols enabled", + "User": "Advanced" + } + }, + "RC10_": { + "RC10_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC10_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC10_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC11_": { + "RC11_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC11_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC11_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC12_": { + "RC12_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC12_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC12_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC13_": { + "RC13_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC13_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC13_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC14_": { + "RC14_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC14_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC14_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC15_": { + "RC15_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC15_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC15_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC16_": { + "RC16_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC16_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC16_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC1_": { + "RC1_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC1_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC1_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC2_": { + "RC2_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC2_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC2_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC3_": { + "RC3_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC3_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC3_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC4_": { + "RC4_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC4_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC4_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC5_": { + "RC5_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC5_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC5_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC6_": { + "RC6_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC6_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC6_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC7_": { + "RC7_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC7_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC7_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC8_": { + "RC8_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC8_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC8_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC9_": { + "RC9_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "10": "RangeFinder Enable", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "109": "use Custom Controller", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "13": "Super Simple Mode", + "14": "Acro Trainer", + "15": "Sprayer Enable", + "151": "TURTLE Mode", + "152": "SIMPLE heading reset", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with AirMode (4.2 and higher)", + "158": "Optflow Calibration", + "159": "Force IS_Flying", + "16": "AUTO Mode", + "161": "Turbine Start(heli)", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "17": "AUTOTUNE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "178": "FlightMode Pause/Resume", + "18": "LAND Mode", + "180": "Test autotuned gains after tune is complete", + "19": "Gripper Release", + "2": "FLIP Mode", + "21": "Parachute Enable", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "219": "Transmitter Tuning", + "22": "Parachute Release", + "23": "Parachute 3pos", + "24": "Auto Mission Reset", + "25": "AttCon Feed Forward", + "26": "AttCon Accel Limits", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "3": "Simple Mode", + "30": "Lost Copter Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "32": "Motor Interlock", + "33": "BRAKE Mode", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "37": "THROW Mode", + "38": "ADSB Avoidance Enable", + "39": "PrecLoiter Enable", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "43": "InvertedFlight Enable", + "44": "Winch Enable", + "45": "Winch Control", + "46": "RC Override Enable", + "47": "User Function 1", + "48": "User Function 2", + "49": "User Function 3", + "5": "Save Trim", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "60": "ZigZag Mode", + "61": "ZigZag SaveWP", + "62": "Compass Learn", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "68": "STABILIZE Mode", + "69": "POSHOLD Mode", + "7": "Save WP", + "70": "ALTHOLD Mode", + "71": "FLOWHOLD Mode", + "72": "CIRCLE Mode", + "73": "DRIFT Mode", + "75": "SurfaceTrackingUpDown", + "76": "STANDBY Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisOdom Align", + "81": "Disarm", + "83": "ZigZag Auto", + "84": "AirMode", + "85": "Generator", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "99": "AUTO RTL" + } + }, + "RC9_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC9_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RCMAP_": { + "RCMAP_PITCH": { + "Description": "Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Pitch channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_ROLL": { + "Description": "Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Roll channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_THROTTLE": { + "Description": "Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Throttle channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_YAW": { + "Description": "Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Yaw channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "RELAY10_": { + "RELAY10_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY10_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY10_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY10_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY11_": { + "RELAY11_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY11_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY11_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY11_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY12_": { + "RELAY12_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY12_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY12_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY12_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY13_": { + "RELAY13_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY13_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY13_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY13_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY14_": { + "RELAY14_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY14_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY14_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY14_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY15_": { + "RELAY15_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY15_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY15_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY15_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY16_": { + "RELAY16_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY16_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY16_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY16_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY1_": { + "RELAY1_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY1_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY1_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY1_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY2_": { + "RELAY2_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY2_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY2_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY2_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY3_": { + "RELAY3_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY3_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY3_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY3_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY4_": { + "RELAY4_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY4_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY4_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY4_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY5_": { + "RELAY5_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY5_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY5_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY5_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY6_": { + "RELAY6_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY6_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY6_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY6_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY7_": { + "RELAY7_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY7_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY7_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY7_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY8_": { + "RELAY8_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY8_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY8_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY8_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY9_": { + "RELAY9_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY9_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "3": "Parachute", + "4": "Camera" + } + }, + "RELAY9_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY9_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RNGFND1_": { + "RNGFND1_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND1_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND1_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND1_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND1_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND1_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND1_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND1_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND1_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND1_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND2_": { + "RNGFND2_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND2_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND2_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND2_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND2_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND2_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND2_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND2_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND2_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND2_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND3_": { + "RNGFND3_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND3_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND3_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND3_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND3_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND3_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND3_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND3_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND3_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND3_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND4_": { + "RNGFND4_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND4_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND4_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND4_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND4_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND4_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND4_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND4_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND4_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND4_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND5_": { + "RNGFND5_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND5_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND5_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND5_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND5_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND5_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND5_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND5_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND5_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND5_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND6_": { + "RNGFND6_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND6_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND6_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND6_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND6_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND6_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND6_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND6_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND6_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND6_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND7_": { + "RNGFND7_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND7_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND7_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND7_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND7_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND7_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND7_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND7_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND7_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND7_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND8_": { + "RNGFND8_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND8_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND8_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND8_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND8_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND8_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND8_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND8_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND8_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND8_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND9_": { + "RNGFND9_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND9_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND9_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND9_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND9_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND9_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND9_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND9_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND9_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND9_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFNDA_": { + "RNGFNDA_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFNDA_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFNDA_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFNDA_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFNDA_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFNDA_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFNDA_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFNDA_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFNDA_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFNDA_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RPM1_": { + "RPM1_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM1_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM1_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM1_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM1_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM1_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM1_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM2_": { + "RPM2_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM2_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM2_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM2_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM2_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM2_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM3_": { + "RPM3_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM3_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM3_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM3_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM3_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM3_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM4_": { + "RPM4_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM4_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM4_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM4_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM4_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM4_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RSSI_": { + "RSSI_ANA_PIN": { + "Description": "Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Receiver RSSI sensing pin", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6", + "8": "V5 Nano" + } + }, + "RSSI_CHANNEL": { + "Description": "The channel number where RSSI will be output by the radio receiver (5 and above).", + "DisplayName": "Receiver RSSI channel number", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Standard" + }, + "RSSI_CHAN_HIGH": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW", + "DisplayName": "Receiver RSSI PWM high value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_CHAN_LOW": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH", + "DisplayName": "RSSI PWM low value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_PIN_HIGH": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's highest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_PIN_LOW": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's lowest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_TYPE": { + "Description": "Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.", + "DisplayName": "RSSI Type", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "AnalogPin", + "2": "RCChannelPwmValue", + "3": "ReceiverProtocol", + "4": "PWMInputPin", + "5": "TelemetryRadioRSSI" + } + } + }, + "SCHED_": { + "SCHED_DEBUG": { + "Description": "Set to non-zero to enable scheduler debug messages. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.", + "DisplayName": "Scheduler debug level", + "User": "Advanced", + "Values": { + "0": "Disabled", + "2": "ShowSlips", + "3": "ShowOverruns" + } + }, + "SCHED_LOOP_RATE": { + "Description": "This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.", + "DisplayName": "Scheduling main loop rate", + "Range": { + "high": "400", + "low": "50" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SCHED_OPTIONS": { + "Bitmask": { + "0": "Enable per-task perf info" + }, + "Description": "This controls optional aspects of the scheduler.", + "DisplayName": "Scheduling options", + "User": "Advanced" + } + }, + "SCR_": { + "SCR_DEBUG_OPTS": { + "Bitmask": { + "0": "No Scripts to run message if all scripts have stopped", + "1": "Runtime messages for memory usage and execution time", + "2": "Suppress logging scripts to dataflash", + "3": "log runtime memory usage and execution time", + "4": "Disable pre-arm check", + "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm" + }, + "Description": "Debugging options", + "DisplayName": "Scripting Debug Level", + "User": "Advanced" + }, + "SCR_DIR_DISABLE": { + "Bitmask": { + "0": "ROMFS", + "1": "APM/scripts" + }, + "Description": "This will stop scripts being loaded from the given locations", + "DisplayName": "Directory disable", + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_ENABLE": { + "Description": "Controls if scripting is enabled", + "DisplayName": "Enable Scripting", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Lua Scripts" + } + }, + "SCR_HEAP_SIZE": { + "Description": "Amount of memory available for scripting", + "DisplayName": "Scripting Heap Size", + "Increment": "1024", + "Range": { + "high": "1048576", + "low": "1024" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_LD_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables", + "DisplayName": "Loaded script checksum", + "User": "Advanced" + }, + "SCR_RUN_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables", + "DisplayName": "Running script checksum", + "User": "Advanced" + }, + "SCR_SDEV1_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV2_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV3_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV_EN": { + "Description": "Enable scripting serial devices", + "DisplayName": "Scripting serial device enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SCR_THD_PRIORITY": { + "Description": "This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.", + "DisplayName": "Scripting thread priority", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "IO Priority", + "2": "Storage Priority", + "3": "UART Priority", + "4": "I2C Priority", + "5": "SPI Priority", + "6": "Timer Priority", + "7": "Main Priority", + "8": "Boost Priority" + } + }, + "SCR_USER1": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter1", + "User": "Standard" + }, + "SCR_USER2": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter2", + "User": "Standard" + }, + "SCR_USER3": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter3", + "User": "Standard" + }, + "SCR_USER4": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter4", + "User": "Standard" + }, + "SCR_USER5": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter5", + "User": "Standard" + }, + "SCR_USER6": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter6", + "User": "Standard" + }, + "SCR_VM_I_COUNT": { + "Description": "The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time", + "DisplayName": "Scripting Virtual Machine Instruction Count", + "Increment": "10000", + "Range": { + "high": "1000000", + "low": "1000" + }, + "User": "Advanced" + } + }, + "SERIAL": { + "SERIAL0_BAUD": { + "Description": "The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial0 baud rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL0_PROTOCOL": { + "Description": "Control what protocol to use on the console. ", + "DisplayName": "Console protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "1": "MAVLink1", + "2": "MAVLink2" + } + }, + "SERIAL1_BAUD": { + "Description": "The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telem1 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL1_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem1 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL1_PROTOCOL": { + "Description": "Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telem1 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL2_BAUD": { + "Description": "The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telemetry 2 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL2_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem2 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL2_PROTOCOL": { + "Description": "Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telemetry 2 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL3_BAUD": { + "Description": "The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 3 (GPS) Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL3_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial3 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL3_PROTOCOL": { + "Description": "Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial 3 (GPS) protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL4_BAUD": { + "Description": "The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 4 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL4_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial4 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL4_PROTOCOL": { + "Description": "Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial4 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL5_BAUD": { + "Description": "The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 5 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL5_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial5 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL5_PROTOCOL": { + "Description": "Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial5 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL6_BAUD": { + "Description": "The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 6 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL6_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial6 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL6_PROTOCOL": { + "Description": "Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial6 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL7_BAUD": { + "Description": "The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 7 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL7_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial7 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL7_PROTOCOL": { + "Description": "Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial7 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL8_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 8 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL8_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial8 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL8_PROTOCOL": { + "Description": "Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial8 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL9_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 9 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL9_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial9 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL9_PROTOCOL": { + "Description": "Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial9 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL_PASS1": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru first port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASS2": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru second port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASSTIMO": { + "Description": "This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.", + "DisplayName": "Serial passthru timeout", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + } + }, + "SERVO": { + "SERVO_32_ENABLE": { + "Description": "This allows for up to 32 outputs, enabling parameters for outputs above 16", + "DisplayName": "Enable outputs 17 to 31", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_DSHOT_ESC": { + "Description": "DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.", + "DisplayName": "Servo DShot ESC type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "BLHeli32/Kiss/AM32", + "2": "BLHeli_S/BlueJay", + "3": "BLHeli32/AM32/Kiss+EDT", + "4": "BLHeli_S/BlueJay+EDT" + } + }, + "SERVO_DSHOT_RATE": { + "Description": "DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.", + "DisplayName": "Servo DShot output rate", + "User": "Advanced", + "Values": { + "0": "1Khz", + "1": "loop-rate", + "2": "double loop-rate", + "3": "triple loop-rate", + "4": "quadruple loop rate" + } + }, + "SERVO_GPIO_MASK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin", + "DisplayName": "Servo GPIO mask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_RATE": { + "Description": "Default output rate in Hz for all PWM outputs.", + "DisplayName": "Servo default output rate", + "Range": { + "high": "400", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SERVO_RC_FS_MSK": { + "Bitmask": { + "0": "RCIN1Scaled", + "1": "RCIN2Scaled", + "10": "RCIN11Scaled", + "11": "SRCIN12Scaled", + "12": "RCIN13Scaled", + "13": "RCIN14Scaled", + "14": "RCIN15Scaled", + "15": "RCIN16Scaled", + "2": "RCIN3Scaled", + "3": "RCIN4Scaled", + "4": "RCIN5Scaled", + "5": "RCIN6Scaled", + "6": "RCIN7Scaled", + "7": "RCIN8Scaled", + "8": "RCIN9Scaled", + "9": "RCIN10Scaled" + }, + "Description": "Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.", + "DisplayName": "Servo RC Failsafe Mask", + "User": "Advanced" + } + }, + "SERVO10_": { + "SERVO10_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO10_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO10_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO11_": { + "SERVO11_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO11_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO11_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO12_": { + "SERVO12_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO12_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO12_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO13_": { + "SERVO13_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO13_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO13_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO14_": { + "SERVO14_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO14_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO14_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO15_": { + "SERVO15_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO15_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO15_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO16_": { + "SERVO16_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO16_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO16_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO17_": { + "SERVO17_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO17_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO17_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO18_": { + "SERVO18_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO18_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO18_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO19_": { + "SERVO19_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO19_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO19_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO1_": { + "SERVO1_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO1_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO1_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO20_": { + "SERVO20_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO20_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO20_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO21_": { + "SERVO21_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO21_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO21_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO22_": { + "SERVO22_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO22_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO22_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO23_": { + "SERVO23_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO23_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO23_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO24_": { + "SERVO24_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO24_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO24_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO25_": { + "SERVO25_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO25_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO25_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO26_": { + "SERVO26_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO26_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO26_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO27_": { + "SERVO27_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO27_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO27_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO28_": { + "SERVO28_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO28_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO28_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO29_": { + "SERVO29_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO29_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO29_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO2_": { + "SERVO2_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO2_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO2_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO30_": { + "SERVO30_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO30_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO30_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO31_": { + "SERVO31_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO31_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO31_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO32_": { + "SERVO32_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO32_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO32_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO3_": { + "SERVO3_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO3_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO3_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO4_": { + "SERVO4_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO4_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO4_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO5_": { + "SERVO5_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO5_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO5_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO6_": { + "SERVO6_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO6_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO6_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO7_": { + "SERVO7_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO7_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO7_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO8_": { + "SERVO8_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO8_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO8_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO9_": { + "SERVO9_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "30": "EngineRunEnable", + "31": "HeliRSC", + "32": "HeliTailRSC", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7", + "40": "Motor8", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "8": "Mount1Roll", + "81": "BoostThrottle", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "88": "Winch", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO9_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO9_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO_BLH_": { + "SERVO_BLH_3DMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.", + "DisplayName": "BLHeli bitmask of 3D channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_AUTO": { + "Description": "If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors", + "DisplayName": "BLHeli pass-thru auto-enable for multicopter motors", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_BDMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.", + "DisplayName": "BLHeli bitmask of bi-directional dshot channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_DEBUG": { + "Description": "When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.", + "DisplayName": "BLHeli debug level", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)", + "DisplayName": "BLHeli Channel Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_OTYPE": { + "Description": "When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.", + "DisplayName": "BLHeli output type override", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "OneShot", + "2": "OneShot125", + "3": "Brushed", + "4": "DShot150", + "5": "DShot300", + "6": "DShot600", + "7": "DShot1200" + } + }, + "SERVO_BLH_POLES": { + "Description": "This allows calculation of true RPM from ESC's eRPM. The default is 14.", + "DisplayName": "BLHeli Motor Poles", + "Range": { + "high": "127", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_PORT": { + "Description": "This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.", + "DisplayName": "Control port", + "User": "Advanced", + "Values": { + "0": "Console", + "1": "Mavlink Serial Channel1", + "2": "Mavlink Serial Channel2", + "3": "Mavlink Serial Channel3", + "4": "Mavlink Serial Channel4", + "5": "Mavlink Serial Channel5" + } + }, + "SERVO_BLH_RVMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.", + "DisplayName": "BLHeli bitmask of reversed channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_TEST": { + "Description": "Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.", + "DisplayName": "BLHeli internal interface test", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestMotor1", + "2": "TestMotor2", + "3": "TestMotor3", + "4": "TestMotor4", + "5": "TestMotor5", + "6": "TestMotor6", + "7": "TestMotor7", + "8": "TestMotor8" + } + }, + "SERVO_BLH_TMOUT": { + "Description": "This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout", + "DisplayName": "BLHeli protocol timeout", + "Range": { + "high": "300", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "SERVO_BLH_TRATE": { + "Description": "This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests", + "DisplayName": "BLHeli telemetry rate", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + } + }, + "SERVO_FTW_": { + "SERVO_FTW_MASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask specifying FETtec ESC output.", + "DisplayName": "Servo channel output bitmask", + "RebootRequired": "True", + "User": "Standard" + }, + "SERVO_FTW_POLES": { + "Description": "Number of motor electrical poles", + "DisplayName": "Nr. electrical poles", + "Range": { + "high": "50", + "low": "2" + }, + "User": "Standard" + }, + "SERVO_FTW_RVMASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask to reverse rotation of FETtec ESC outputs.", + "DisplayName": "Servo channel reverse rotation bitmask", + "User": "Standard" + } + }, + "SERVO_ROB_": { + "SERVO_ROB_POSMAX": { + "Description": "Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position max", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + }, + "SERVO_ROB_POSMIN": { + "Description": "Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position min", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + } + }, + "SERVO_SBUS_": { + "SERVO_SBUS_RATE": { + "Description": "This sets the SBUS output frame rate in Hz.", + "DisplayName": "SBUS default output rate", + "Range": { + "high": "250", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "SERVO_VOLZ_": { + "SERVO_VOLZ_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel17", + "17": "Channel18", + "18": "Channel19", + "19": "Channel20", + "2": "Channel3", + "20": "Channel21", + "21": "Channel22", + "22": "Channel23", + "23": "Channel24", + "24": "Channel25", + "25": "Channel26", + "26": "Channel27", + "28": "Channel29", + "29": "Channel30", + "3": "Channel4", + "30": "Channel31", + "31": "Channel32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of volz servo protocol to specific channels", + "DisplayName": "Channel Bitmask", + "User": "Standard" + }, + "SERVO_VOLZ_RANGE": { + "Description": "Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.", + "DisplayName": "Range of travel", + "Units": "deg" + } + }, + "SID": { + "SID_AXIS": { + "Description": "Controls which axis are being excited. Set to non-zero to see more parameters", + "DisplayName": "System identification axis", + "User": "Standard", + "Values": { + "0": "None", + "1": "Input Roll Angle", + "10": "Mixer Roll", + "11": "Mixer Pitch", + "12": "Mixer Yaw", + "13": "Mixer Thrust", + "14": "Measured Lateral Position", + "15": "Measured Longitudinal Position", + "16": "Measured Lateral Velocity", + "17": "Measured Longitudinal Velocity", + "18": "Input Lateral Velocity", + "19": "Input Longitudinal Velocity", + "2": "Input Pitch Angle", + "3": "Input Yaw Angle", + "4": "Recovery Roll Angle", + "5": "Recovery Pitch Angle", + "6": "Recovery Yaw Angle", + "7": "Rate Roll", + "8": "Rate Pitch", + "9": "Rate Yaw" + } + }, + "SID_F_START_HZ": { + "Description": "Frequency at the start of the sweep", + "DisplayName": "System identification Start Frequency", + "Range": { + "high": "100", + "low": "0.01" + }, + "Units": "Hz", + "User": "Standard" + }, + "SID_F_STOP_HZ": { + "Description": "Frequency at the end of the sweep", + "DisplayName": "System identification Stop Frequency", + "Range": { + "high": "100", + "low": "0.01" + }, + "Units": "Hz", + "User": "Standard" + }, + "SID_MAGNITUDE": { + "Description": "Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.", + "DisplayName": "System identification Chirp Magnitude", + "User": "Standard" + }, + "SID_T_FADE_IN": { + "Description": "Time to reach maximum amplitude of sweep", + "DisplayName": "System identification Fade in time", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "SID_T_FADE_OUT": { + "Description": "Time to reach zero amplitude at the end of the sweep", + "DisplayName": "System identification Fade out time", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "SID_T_REC": { + "Description": "Time taken to complete the sweep", + "DisplayName": "System identification Total Sweep length", + "Range": { + "high": "255", + "low": "0" + }, + "Units": "s", + "User": "Standard" + } + }, + "SIM_": { + "SIM_ACC1_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 1 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 2 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 3 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 4 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 5 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACCEL1_FAIL": { + "Description": "Simulated failure of ACCEL1", + "DisplayName": "ACCEL1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL1 Failure" + } + }, + "SIM_ACCEL2_FAIL": { + "Description": "Simulated failure of ACCEL2", + "DisplayName": "ACCEL2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL2 Failure" + } + }, + "SIM_ACCEL3_FAIL": { + "Description": "Simulated failure of ACCEL3", + "DisplayName": "ACCEL3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL3 Failure" + } + }, + "SIM_ACCEL4_FAIL": { + "Description": "Simulated failure of ACCEL4", + "DisplayName": "ACCEL4 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL4 Failure" + } + }, + "SIM_ACCEL5_FAIL": { + "Description": "Simulated failure of ACCEL5", + "DisplayName": "ACCEL5 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL5 Failure" + } + }, + "SIM_ACC_FAIL_MSK": { + "Description": "Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Accelerometer Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_ACC_FILE_RW": { + "Description": "Read and write accelerometer data to/from files", + "DisplayName": "Accelerometer data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_ADSB_ALT": { + "Description": "Simulated ADSB altitude of another aircraft", + "DisplayName": "ADSB altitude of another aircraft", + "Units": "m" + }, + "SIM_ADSB_COUNT": { + "Description": "Total number of ADSB simulated aircraft", + "DisplayName": "Number of ADSB aircrafts" + }, + "SIM_ADSB_RADIUS": { + "Description": "Simulated standard deviation of radius in ADSB of another aircraft", + "DisplayName": "ADSB radius stddev of another aircraft", + "Units": "m" + }, + "SIM_ADSB_TX": { + "Description": "ADSB transceiever enable and disable", + "DisplayName": "ADSB transmit enable", + "Values": { + "0": "Transceiever disable", + "1": "Transceiever enable" + } + }, + "SIM_ADSB_TYPES": { + "Bitmask": { + "0": "MAVLink", + "3": "SageTechMXS" + }, + "Description": "specifies which simulated ADSB types are active", + "DisplayName": "Simulated ADSB Type mask", + "User": "Advanced" + }, + "SIM_BARO_COUNT": { + "Description": "Number of simulated baros to create in SITL", + "DisplayName": "Baro count", + "Range": { + "high": "3", + "low": "0" + } + }, + "SIM_BATT_CAP_AH": { + "Description": "Simulated battery capacity", + "DisplayName": "Simulated battery capacity", + "Units": "Ah", + "User": "Advanced" + }, + "SIM_BATT_VOLTAGE": { + "Description": "Simulated battery (constant) voltage", + "DisplayName": "Simulated battery voltage", + "Units": "V", + "User": "Advanced" + }, + "SIM_BAUDLIMIT_EN": { + "Description": "SITL enable bandwidth limitting on telemetry ports with non-zero values", + "DisplayName": "Telemetry bandwidth limitting" + }, + "SIM_CAN_SRV_MSK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "The set of actuators controlled externally by CAN SITL AP_Periph", + "DisplayName": "Mask of CAN servos/ESCs", + "User": "Advanced" + }, + "SIM_CAN_TYPE1": { + "Description": "transport type for first CAN interface", + "DisplayName": "transport type for first CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CAN_TYPE2": { + "Description": "transport type for second CAN interface", + "DisplayName": "transport type for second CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CLAMP_CH": { + "Description": "If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM", + "DisplayName": "Simulated Clamp Channel" + }, + "SIM_DRIFT_SPEED": { + "Description": "Gyro drift rate of change in degrees/second/minute", + "DisplayName": "Gyro drift speed" + }, + "SIM_DRIFT_TIME": { + "Description": "Gyro drift duration of one full drift cycle (period in minutes)", + "DisplayName": "Gyro drift time" + }, + "SIM_EFI_TYPE": { + "Description": "Different types of Electronic Fuel Injection (EFI) systems", + "DisplayName": "Type of Electronic Fuel Injection", + "Values": { + "0": "None", + "1": "MegaSquirt EFI system", + "2": "L\u00f6weheiser EFI system", + "8": "Hirth engines" + } + }, + "SIM_ENGINE_FAIL": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8" + }, + "Description": "mask of motors which SIM_ENGINE_MUL will be applied to", + "DisplayName": "Engine Fail Mask" + }, + "SIM_ENGINE_MUL": { + "Description": "Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor", + "DisplayName": "Engine failure thrust scaler", + "Units": "ms" + }, + "SIM_ESC_ARM_RPM": { + "Description": "Simulated RPM when motors are armed", + "DisplayName": "ESC RPM when armed", + "User": "Advanced" + }, + "SIM_ESC_TELEM": { + "Description": "enable perfect simulated ESC telemetry", + "DisplayName": "Simulated ESC Telemetry", + "User": "Advanced" + }, + "SIM_FLOAT_EXCEPT": { + "Description": "If set, if a numerical error occurs SITL will die with a floating point exception.", + "DisplayName": "Generate floating point exceptions", + "User": "Advanced" + }, + "SIM_FLOW_DELAY": { + "Description": "Opflow data delay", + "DisplayName": "Opflow Delay", + "Units": "ms" + }, + "SIM_FLOW_ENABLE": { + "Description": "Enable simulated Optical Flow sensor", + "DisplayName": "Opflow Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_FLOW_POS_X": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Y": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Z": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_RATE": { + "Description": "Opflow Data Rate", + "DisplayName": "Opflow Rate", + "Units": "Hz" + }, + "SIM_FLOW_RND": { + "Description": "Optical Flow sensor measurement noise", + "DisplayName": "Opflow noise", + "Units": "rad/s" + }, + "SIM_GND_BEHAV": { + "Description": "Ground behavior of aircraft (tailsitter, no movement, forward only)", + "DisplayName": "Ground behavior" + }, + "SIM_GPS2_ACC": { + "Description": "GPS 2 Accuracy", + "DisplayName": "GPS 2 Accuracy", + "User": "Advanced" + }, + "SIM_GPS2_ALT_OFS": { + "Description": "GPS 2 Altitude Error", + "DisplayName": "GPS 2 Altitude Offset", + "Units": "m" + }, + "SIM_GPS2_BYTELOS": { + "Description": "Percent of bytes lost from GPS 2", + "DisplayName": "GPS 2 Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS2_DISABLE": { + "Description": "Disables GPS 2", + "DisplayName": "GPS 2 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS2_DRFTALT": { + "Description": "GPS 2 altitude drift error", + "DisplayName": "GPS 2 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_X": { + "Description": "Glitch offsets of simulated GPS 2 sensor (X-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Y": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Y-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Z": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Z-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_HDG": { + "Description": "Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 2 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_HZ": { + "Description": "GPS 2 Update rate", + "DisplayName": "GPS 2 Hz", + "Units": "Hz" + }, + "SIM_GPS2_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_LAG_MS": { + "Description": "GPS 2 lag in ms", + "DisplayName": "GPS 2 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS2_LCKTIME": { + "Description": "Delay in seconds before GPS2 acquires lock", + "DisplayName": "GPS 2 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS2_NOISE": { + "Description": "Amplitude of the GPS2 altitude error", + "DisplayName": "GPS 2 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_NUMSATS": { + "Description": "Number of satellites GPS 2 has in view", + "DisplayName": "GPS 2 Num Satellites" + }, + "SIM_GPS2_POS_X": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Y": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Z": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_TYPE": { + "Description": "Sets the type of simulation used for GPS 2", + "DisplayName": "GPS 2 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS2_VERR_X": { + "Description": "GPS 2 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Y": { + "Description": "GPS 2 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Z": { + "Description": "GPS 2 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_ACC": { + "Description": "GPS 1 Accuracy", + "DisplayName": "GPS 1 Accuracy", + "User": "Advanced" + }, + "SIM_GPS_ALT_OFS": { + "Description": "GPS 1 Altitude Error", + "DisplayName": "GPS 1 Altitude Offset", + "Units": "m" + }, + "SIM_GPS_BYTELOSS": { + "Description": "Percent of bytes lost from GPS 1", + "DisplayName": "GPS Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS_DISABLE": { + "Description": "Disables GPS 1", + "DisplayName": "GPS 1 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS_DRIFTALT": { + "Description": "GPS 1 altitude drift error", + "DisplayName": "GPS 1 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_X": { + "Description": "Glitch offsets of simulated GPS 1 sensor (X-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Y": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Y-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Z": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Z-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_HDG": { + "Description": "Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 1 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_HZ": { + "Description": "GPS 1 Update rate", + "DisplayName": "GPS 1 Hz", + "Units": "Hz" + }, + "SIM_GPS_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_LAG_MS": { + "Description": "GPS 1 lag", + "DisplayName": "GPS 1 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS_LOCKTIME": { + "Description": "Delay in seconds before GPS1 acquires lock", + "DisplayName": "GPS 1 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS_LOG_NUM": { + "Description": "Log number for GPS:update_file()", + "DisplayName": "GPS Log Number" + }, + "SIM_GPS_NOISE": { + "Description": "Amplitude of the GPS1 altitude error", + "DisplayName": "GPS 1 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_NUMSATS": { + "Description": "Number of satellites GPS 1 has in view", + "DisplayName": "GPS 1 Num Satellites" + }, + "SIM_GPS_POS_X": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Y": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Z": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_TYPE": { + "Description": "Sets the type of simulation used for GPS 1", + "DisplayName": "GPS 1 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS_VERR_X": { + "Description": "GPS 1 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Y": { + "Description": "GPS 1 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Z": { + "Description": "GPS 1 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_X": { + "Description": "First Gyro bias on X axis", + "DisplayName": "First Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Y": { + "Description": "First Gyro bias on Y axis", + "DisplayName": "First Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Z": { + "Description": "First Gyro bias on Z axis", + "DisplayName": "First Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 1 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_X": { + "Description": "Second Gyro bias on X axis", + "DisplayName": "Second Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Y": { + "Description": "Second Gyro bias on Y axis", + "DisplayName": "Second Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Z": { + "Description": "Second Gyro bias on Z axis", + "DisplayName": "Second Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 2 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_X": { + "Description": "Third Gyro bias on X axis", + "DisplayName": "Third Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Y": { + "Description": "Third Gyro bias on Y axis", + "DisplayName": "Third Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Z": { + "Description": "Third Gyro bias on Z axis", + "DisplayName": "Third Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 3 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_X": { + "Description": "Fourth Gyro bias on X axis", + "DisplayName": "Fourth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Y": { + "Description": "Fourth Gyro bias on Y axis", + "DisplayName": "Fourth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Z": { + "Description": "Fourth Gyro bias on Z axis", + "DisplayName": "Fourth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 4 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_X": { + "Description": "Fifth Gyro bias on X axis", + "DisplayName": "Fifth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Y": { + "Description": "Fifth Gyro bias on Y axis", + "DisplayName": "Fifth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Z": { + "Description": "Fifth Gyro bias on Z axis", + "DisplayName": "Fifth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 5 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR_FAIL_MSK": { + "Description": "Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Gyro Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_GYR_FILE_RW": { + "Description": "Read and write gyro data to/from files", + "DisplayName": "Gyro data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_IMUT_END": { + "Description": "Ending IMU temperature of a curve", + "DisplayName": "IMU temperature end" + }, + "SIM_IMUT_FIXED": { + "Description": "IMU fixed temperature by user", + "DisplayName": "IMU fixed temperature" + }, + "SIM_IMUT_START": { + "Description": "Starting IMU temperature of a curve", + "DisplayName": "IMU temperature start" + }, + "SIM_IMUT_TCONST": { + "Description": "IMU temperature time constant of the curve", + "DisplayName": "IMU temperature time constant" + }, + "SIM_IMU_COUNT": { + "Description": "Number of simulated IMUs to create", + "DisplayName": "IMU count" + }, + "SIM_IMU_POS_X": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Y": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Z": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_INIT_ALT_OFS": { + "Description": "GPS initial alt offset from origin", + "DisplayName": "Initial Altitude Offset" + }, + "SIM_INIT_LAT_OFS": { + "Description": "GPS initial lat offset from origin", + "DisplayName": "Initial Latitude Offset" + }, + "SIM_INIT_LON_OFS": { + "Description": "GPS initial lon offset from origin", + "DisplayName": "Initial Longitude Offset" + }, + "SIM_INS_THR_MIN": { + "Description": "Minimum throttle for simulated ins noise", + "DisplayName": "Minimum throttle INS noise" + }, + "SIM_JSON_MASTER": { + "Description": "the instance number to take servos from", + "DisplayName": "JSON master instance" + }, + "SIM_LED_LAYOUT": { + "Description": "LED layout config value", + "DisplayName": "LED layout" + }, + "SIM_LOOP_DELAY": { + "Description": "Extra time delay per main loop", + "DisplayName": "Extra delay per main loop", + "Units": "us" + }, + "SIM_MAG1_DEVID": { + "Description": "Device ID of simulated compass 1", + "DisplayName": "MAG1 Device ID", + "User": "Advanced" + }, + "SIM_MAG1_FAIL": { + "Description": "Simulated failure of MAG1", + "DisplayName": "MAG1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG1 Failure" + } + }, + "SIM_MAG1_ORIENT": { + "Description": "MAG1 external compass orientation", + "DisplayName": "MAG1 Orientation", + "User": "Advanced" + }, + "SIM_MAG1_SCALING": { + "Description": "Scale the compass 1 to simulate sensor scale factor errors", + "DisplayName": "MAG1 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG2_DEVID": { + "Description": "Device ID of simulated compass 2", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG2_FAIL": { + "Description": "Simulated failure of MAG2", + "DisplayName": "MAG2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG2 Failure" + } + }, + "SIM_MAG2_ORIENT": { + "Description": "MAG2 external compass orientation", + "DisplayName": "MAG2 Orientation", + "User": "Advanced" + }, + "SIM_MAG2_SCALING": { + "Description": "Scale the compass 2 to simulate sensor scale factor errors", + "DisplayName": "MAG2 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG3_DEVID": { + "Description": "Device ID of simulated compass 3", + "DisplayName": "MAG3 Device ID", + "User": "Advanced" + }, + "SIM_MAG3_FAIL": { + "Description": "Simulated failure of MAG3", + "DisplayName": "MAG3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG3 Failure" + } + }, + "SIM_MAG3_ORIENT": { + "Description": "MAG3 external compass orientation", + "DisplayName": "MAG3 Orientation", + "User": "Advanced" + }, + "SIM_MAG3_SCALING": { + "Description": "Scale the compass 3 to simulate sensor scale factor errors", + "DisplayName": "MAG3 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG4_DEVID": { + "Description": "Device ID of simulated compass 4", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG5_DEVID": { + "Description": "Device ID of simulated compass 5", + "DisplayName": "MAG5 Device ID", + "User": "Advanced" + }, + "SIM_MAG6_DEVID": { + "Description": "Device ID of simulated compass 6", + "DisplayName": "MAG6 Device ID", + "User": "Advanced" + }, + "SIM_MAG7_DEVID": { + "Description": "Device ID of simulated compass 7", + "DisplayName": "MAG7 Device ID", + "User": "Advanced" + }, + "SIM_MAG8_DEVID": { + "Description": "Device ID of simulated compass 8", + "DisplayName": "MAG8 Device ID", + "User": "Advanced" + }, + "SIM_MAG_ALY_HGT": { + "Description": "Height above ground where anomally strength has decayed to 1/8 of the ground level value", + "DisplayName": "Magnetic anomaly height", + "Units": "m", + "User": "Advanced" + }, + "SIM_MAG_DELAY": { + "Description": "Magnetometer measurement delay", + "DisplayName": "Mag measurement delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_MAG_RND": { + "Description": "Scaling factor for simulated vibration from motors", + "DisplayName": "Mag motor noise factor", + "User": "Advanced" + }, + "SIM_MAG_SAVE_IDS": { + "Description": "This forces saving of compass devids on startup so that simulated compasses start as calibrated", + "DisplayName": "Save MAG devids on startup", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ODOM_ENABLE": { + "Description": "SITL odometry enabl", + "DisplayName": "Odometry enable", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_OH_MASK": { + "Description": "channels which are passed through to actual hardware when running sim on actual hardware", + "DisplayName": "SIM-on_hardware Output Enable Mask" + }, + "SIM_OH_RELAY_MSK": { + "Description": "Allow relay output operation when running SIM-on-hardware", + "DisplayName": "SIM-on_hardware Relay Enable Mask" + }, + "SIM_OPOS_ALT": { + "Description": "Specifies vehicle's startup altitude (AMSL)", + "DisplayName": "Original Position (Altitude)", + "User": "Advanced" + }, + "SIM_OPOS_HDG": { + "Description": "Specifies vehicle's startup heading (0-360)", + "DisplayName": "Original Position (Heading)", + "User": "Advanced" + }, + "SIM_OPOS_LAT": { + "Description": "Specifies vehicle's startup latitude", + "DisplayName": "Original Position (Latitude)", + "User": "Advanced" + }, + "SIM_OPOS_LNG": { + "Description": "Specifies vehicle's startup longitude", + "DisplayName": "Original Position (Longitude)", + "User": "Advanced" + }, + "SIM_OSD_COLUMNS": { + "Description": "Simulated OSD number of text columns", + "DisplayName": "Simulated OSD number of text columns", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_OSD_ROWS": { + "Description": "Simulated OSD number of text rows", + "DisplayName": "Simulated OSD number of text rows", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_PIN_MASK": { + "Description": "SITL GPIO emulation", + "DisplayName": "GPIO emulation" + }, + "SIM_RATE_HZ": { + "Description": "SITL Loop rate", + "DisplayName": "Loop rate", + "Units": "Hz" + }, + "SIM_RC_CHANCOUNT": { + "Description": "SITL RC channel count", + "DisplayName": "RC channel count" + }, + "SIM_RC_FAIL": { + "Description": "Allows you to emulate rc failures in sim", + "DisplayName": "Simulated RC signal failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "No RC pusles", + "2": "All Channels neutral except Throttle is 950us" + } + }, + "SIM_SHOVE_TIME": { + "Description": "Force to the vehicle over a period of time", + "DisplayName": "Time length for shove", + "Units": "ms" + }, + "SIM_SHOVE_X": { + "Description": "Acceleration of shove to vehicle in x axis", + "DisplayName": "Acceleration of shove x", + "Units": "m/s/s" + }, + "SIM_SHOVE_Y": { + "Description": "Acceleration of shove to vehicle in y axis", + "DisplayName": "Acceleration of shove y", + "Units": "m/s/s" + }, + "SIM_SHOVE_Z": { + "Description": "Acceleration of shove to vehicle in z axis", + "DisplayName": "Acceleration of shove z", + "Units": "m/s/s" + }, + "SIM_SONAR_GLITCH": { + "Description": "Probablility a sonar glitch would happen", + "DisplayName": "Sonar glitch probablility", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SONAR_RND": { + "Description": "Scaling factor for simulated sonar noise", + "DisplayName": "Sonar noise factor", + "User": "Advanced" + }, + "SIM_SONAR_ROT": { + "Description": "Sonar rotation from rotations enumeration", + "DisplayName": "Sonar rotation" + }, + "SIM_SONAR_SCALE": { + "Description": "Sonar conversion scale from distance to voltage", + "DisplayName": "Sonar conversion scale", + "Units": "m/V" + }, + "SIM_SPEEDUP": { + "Description": "Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used", + "DisplayName": "Sim Speedup", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced " + }, + "SIM_TEMP_BFACTOR": { + "Description": "A pressure change with temperature that closely matches what has been observed with a ICM-20789", + "DisplayName": "Baro temperature factor", + "User": "Advanced" + }, + "SIM_TEMP_BRD_OFF": { + "Description": "Barometer board temperature offset from atmospheric temperature", + "DisplayName": "Baro temperature offset", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_START": { + "Description": "Baro start temperature", + "DisplayName": "Start temperature", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_TCONST": { + "Description": "Barometer warmup temperature time constant", + "DisplayName": "Warmup time constant", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TERRAIN": { + "Description": "Enable using terrain for height", + "DisplayName": "Terrain Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_THML_SCENARI": { + "Description": "Scenario for thermalling simulation, for soaring", + "DisplayName": "Thermal scenarios" + }, + "SIM_TIDE_DIR": { + "Description": "Tide direction wave is coming from", + "DisplayName": "Tide direction", + "Units": "deg" + }, + "SIM_TIDE_SPEED": { + "Description": "Tide speed in simulation", + "DisplayName": "Tide speed", + "Units": "m/s" + }, + "SIM_TIME_JITTER": { + "Description": "Upper limit of random jitter in loop time", + "DisplayName": "Loop time jitter", + "Units": "us", + "User": "Advanced" + }, + "SIM_TWIST_TIME": { + "Description": "Time that twist is applied on the vehicle", + "DisplayName": "Twist time", + "Units": "ms" + }, + "SIM_TWIST_X": { + "Description": "Rotational acceleration of twist x axis", + "DisplayName": "Twist x", + "Units": "rad/s/s" + }, + "SIM_TWIST_Y": { + "Description": "Rotational acceleration of twist y axis", + "DisplayName": "Twist y", + "Units": "rad/s/s" + }, + "SIM_TWIST_Z": { + "Description": "Rotational acceleration of twist z axis", + "DisplayName": "Twist z", + "Units": "rad/s/s" + }, + "SIM_UART_LOSS": { + "Description": "Sets percentage of outgoing byte loss on UARTs", + "DisplayName": "UART byte loss percentage", + "Units": "%", + "User": "Advanced" + }, + "SIM_VIB_MOT_HMNC": { + "Description": "Motor harmonics generated in SITL", + "DisplayName": "Motor harmonics" + }, + "SIM_VIB_MOT_MASK": { + "Description": "Motor mask, allowing external simulators to mark motors", + "DisplayName": "Motor mask" + }, + "SIM_VIB_MOT_MAX": { + "Description": "Max frequency to use as baseline for adding motor noise for the gyros and accels", + "DisplayName": "Max motor vibration frequency", + "Units": "Hz" + }, + "SIM_VIB_MOT_MULT": { + "Description": "Amplitude scaling of motor noise relative to gyro/accel noise", + "DisplayName": "Vibration motor scale" + }, + "SIM_VICON_FAIL": { + "Description": "SITL vicon failure", + "DisplayName": "SITL vicon failure", + "User": "Advanced", + "Values": { + "0": "Vicon Healthy", + "1": "Vicon Failed" + } + }, + "SIM_VICON_GLIT_X": { + "Description": "SITL vicon position glitch North", + "DisplayName": "SITL vicon position glitch North", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Y": { + "Description": "SITL vicon position glitch East", + "DisplayName": "SITL vicon position glitch East", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Z": { + "Description": "SITL vicon position glitch Down", + "DisplayName": "SITL vicon position glitch Down", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_X": { + "Description": "SITL vicon position on vehicle in Forward direction", + "DisplayName": "SITL vicon position on vehicle in Forward direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Y": { + "Description": "SITL vicon position on vehicle in Right direction", + "DisplayName": "SITL vicon position on vehicle in Right direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Z": { + "Description": "SITL vicon position on vehicle in Down direction", + "DisplayName": "SITL vicon position on vehicle in Down direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced " + }, + "SIM_VICON_TMASK": { + "Bitmask": { + "0": "VISION_POSITION_ESTIMATE", + "1": "VISION_SPEED_ESTIMATE", + "2": "VICON_POSITION_ESTIMATE", + "3": "VISION_POSITION_DELTA", + "4": "ODOMETRY" + }, + "Description": "SITL vicon messages sent", + "DisplayName": "SITL vicon type mask", + "User": "Advanced" + }, + "SIM_VICON_VGLI_X": { + "Description": "SITL vicon velocity glitch North", + "DisplayName": "SITL vicon velocity glitch North", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Y": { + "Description": "SITL vicon velocity glitch East", + "DisplayName": "SITL vicon velocity glitch East", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Z": { + "Description": "SITL vicon velocity glitch Down", + "DisplayName": "SITL vicon velocity glitch Down", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_YAW": { + "Description": "SITL vicon yaw angle in earth frame", + "DisplayName": "SITL vicon yaw angle in earth frame", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_VICON_YAWERR": { + "Description": "SITL vicon yaw added to reported yaw sent to vehicle", + "DisplayName": "SITL vicon yaw error", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_WAVE_AMP": { + "Description": "Wave amplitude in SITL", + "DisplayName": "Wave amplitude", + "Units": "m" + }, + "SIM_WAVE_DIR": { + "Description": "Direction wave is coming from", + "DisplayName": "Wave direction", + "Units": "deg" + }, + "SIM_WAVE_ENABLE": { + "Description": "Wave enable and modes", + "DisplayName": "Wave enable", + "Values": { + "0": "disabled", + "1": "roll and pitch", + "2": "roll and pitch and heave" + } + }, + "SIM_WAVE_LENGTH": { + "Description": "Wave length in SITL", + "DisplayName": "Wave length", + "Units": "m" + }, + "SIM_WAVE_SPEED": { + "Description": "Wave speed in SITL", + "DisplayName": "Wave speed", + "Units": "m/s" + }, + "SIM_WIND_DIR": { + "Description": "Allows you to set wind direction (true deg) in sim", + "DisplayName": "Direction simulated wind is coming from", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_DIR_Z": { + "Description": "Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.", + "DisplayName": "Simulated wind vertical direction", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_SPD": { + "Description": "Allows you to emulate wind in sim", + "DisplayName": "Simulated Wind speed", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T": { + "Description": "Selects how wind varies from surface to WIND_T_ALT", + "DisplayName": "Wind Profile Type", + "User": "Advanced ", + "Values": { + "0": "square law", + "1": "none", + "2": "linear-see WIND_T_COEF" + } + }, + "SIM_WIND_TC": { + "Description": "this controls the time over which wind changes take effect", + "DisplayName": "Wind variation time constant", + "Units": "s", + "User": "Advanced" + }, + "SIM_WIND_TURB": { + "Description": "Allows you to emulate random wind variations in sim", + "DisplayName": "Simulated Wind variation", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T_ALT": { + "Description": "Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level", + "DisplayName": "Full Wind Altitude", + "Units": "m", + "User": "Advanced" + }, + "SIM_WIND_T_COEF": { + "Description": "For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value", + "DisplayName": "Linear Wind Curve Coeff", + "User": "Advanced" + }, + "SIM_WOW_PIN": { + "Description": "SITL set this simulated pin to true if vehicle is on ground", + "DisplayName": "Weight on Wheels Pin", + "User": "Advanced" + } + }, + "SIM_ARSPD2_": { + "SIM_ARSPD2_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD2_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD2_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_ARSPD_": { + "SIM_ARSPD_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_BAR2_": { + "SIM_BAR2_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR2_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR2_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR2_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR2_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR2_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR2_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR2_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BAR3_": { + "SIM_BAR3_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR3_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR3_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR3_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR3_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR3_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR3_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR3_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BARO_": { + "SIM_BARO_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BARO_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BARO_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BARO_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BARO_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BARO_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BARO_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BARO_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BARO_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BARO_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_GLD_": { + "SIM_GLD_BLN_BRST": { + "Description": "balloon burst height", + "DisplayName": "balloon burst height", + "Units": "m" + }, + "SIM_GLD_BLN_RATE": { + "Description": "balloon climb rate", + "DisplayName": "balloon climb rate", + "Units": "m/s" + } + }, + "SIM_GRPE_": { + "SIM_GRPE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPE_PIN": { + "Description": "The pin number that the gripper emp is connected to. (start at 1)", + "DisplayName": "Gripper emp pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SIM_GRPS_": { + "SIM_GRPS_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPS_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_PIN": { + "Description": "The pin number that the gripper servo is connected to. (start at 1)", + "DisplayName": "Gripper servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_GRPS_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_REVERSE": { + "Description": "Reverse the closing direction.", + "DisplayName": "Gripper close direction", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reverse" + } + } + }, + "SIM_PLD_": { + "SIM_PLD_ALT_LIMIT": { + "Description": "Precland device maximum range altitude", + "DisplayName": "Precland device alt range", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_DIST_LIMIT": { + "Description": "Precland device maximum lateral range", + "DisplayName": "Precland device lateral range", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Preland simulation", + "DisplayName": "Preland device Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_HEIGHT": { + "Description": "Precland device center's height above SITL origin. Assumes a 2x2m square as station base", + "DisplayName": "Precland device center's height SITL origin", + "Increment": "1", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_LAT": { + "Description": "Precland device center's latitude", + "DisplayName": "Precland device center's latitude", + "Increment": "0.000001", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_LON": { + "Description": "Precland device center's longitude", + "DisplayName": "Precland device center's longitude", + "Increment": "0.000001", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_OPTIONS": { + "Bitmask": { + "0": "Enable target distance" + }, + "Description": "SIM_Precland extra options", + "DisplayName": "SIM_Precland extra options", + "User": "Advanced" + }, + "SIM_PLD_ORIENT": { + "Description": "Precland device orientation vector", + "DisplayName": "Precland device orientation", + "User": "Advanced", + "Values": { + "0": "Front", + "24": "Up", + "4": "Back" + } + }, + "SIM_PLD_RATE": { + "Description": "Precland device rate. e.g led patter refresh rate, RF message rate, etc.", + "DisplayName": "Precland device update rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SIM_PLD_SHIP": { + "Description": "This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters", + "DisplayName": "SIM_Precland follow ship", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_TYPE": { + "Description": "Precland device radiance type: it can be a cylinder, a cone, or a sphere.", + "DisplayName": "Precland device radiance type", + "User": "Advanced", + "Values": { + "0": "cylinder", + "1": "cone", + "2": "sphere" + } + }, + "SIM_PLD_YAW": { + "Description": "Precland device systems rotation from north", + "DisplayName": "Precland device systems rotation from north", + "Increment": "1", + "Range": { + "high": "+180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + } + }, + "SIM_RFL_": { + "SIM_RFL_OPTS": { + "Bitmask": { + "0": "Reset position on startup", + "1": "Swap first 4 and last 4 servos (for quadplane testing)", + "2": "Demix heli servos and send roll/pitch/collective/yaw", + "3": "Don't print frame rate stats" + }, + "Description": "Bitmask of FlightAxis options", + "DisplayName": "FlightAxis options", + "User": "Advanced" + } + }, + "SIM_SB_": { + "SIM_SB_ALT_TARG": { + "Description": "altitude target", + "DisplayName": "altitude target", + "Units": "m" + }, + "SIM_SB_ARM_LEN": { + "Description": "distance from center of mass to one motor", + "DisplayName": "arm length", + "Units": "m" + }, + "SIM_SB_CLMB_RT": { + "Description": "target climb rate", + "DisplayName": "target climb rate", + "Units": "m/s" + }, + "SIM_SB_COL": { + "Description": "center of lift position above CoG", + "DisplayName": "center of lift", + "Units": "m" + }, + "SIM_SB_DRAG_FWD": { + "Description": "drag on X axis", + "DisplayName": "drag in forward direction" + }, + "SIM_SB_DRAG_SIDE": { + "Description": "drag on Y axis", + "DisplayName": "drag in sidewards direction" + }, + "SIM_SB_DRAG_UP": { + "Description": "drag on Z axis", + "DisplayName": "drag in upward direction" + }, + "SIM_SB_FLR": { + "Description": "amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift", + "DisplayName": "free lift rate" + }, + "SIM_SB_HMASS": { + "Description": "mass of lifting gas", + "DisplayName": "helium mass", + "Units": "kg" + }, + "SIM_SB_MASS": { + "Description": "mass of blimp not including lifting gas", + "DisplayName": "mass", + "Units": "kg" + }, + "SIM_SB_MOI_PITCH": { + "Description": "moment of inertia in pitch", + "DisplayName": "moment of inertia in pitch" + }, + "SIM_SB_MOI_ROLL": { + "Description": "moment of inertia in roll", + "DisplayName": "moment of inertia in roll" + }, + "SIM_SB_MOI_YAW": { + "Description": "moment of inertia in yaw", + "DisplayName": "moment of inertia in yaw" + }, + "SIM_SB_MOT_ANG": { + "Description": "maximum motor tilt angle", + "DisplayName": "motor angle", + "Units": "deg" + }, + "SIM_SB_MOT_THST": { + "Description": "thrust at max throttle for one motor", + "DisplayName": "motor thrust", + "Units": "N" + }, + "SIM_SB_WVANE": { + "Description": "center of drag for weathervaning", + "DisplayName": "weathervaning offset", + "Units": "m" + }, + "SIM_SB_YAW_RT": { + "Description": "maximum yaw rate with full left throttle at target altitude", + "DisplayName": "yaw rate", + "Units": "deg/s" + } + }, + "SIM_SERVO_": { + "SIM_SERVO_DELAY": { + "Description": "servo delay", + "DisplayName": "servo delay", + "Units": "s" + }, + "SIM_SERVO_FILTER": { + "Description": "servo filter", + "DisplayName": "servo filter", + "Units": "Hz" + }, + "SIM_SERVO_SPEED": { + "Description": "servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit", + "DisplayName": "servo speed", + "Units": "s" + } + }, + "SIM_SLUP_": { + "SIM_SLUP_DRAG": { + "Description": "Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly", + "DisplayName": "Slung Payload drag coefficient", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_ENABLE": { + "Description": "Slung Payload Sim enable/disable", + "DisplayName": "Slung Payload Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SLUP_LINELEN": { + "Description": "Slung Payload line length in meters", + "DisplayName": "Slung Payload line length", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_SYSID": { + "Description": "Slung Payload MAVLink system id to distinguish it from others on the same network", + "DisplayName": "Slung Payload MAVLink system ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SLUP_WEIGHT": { + "Description": "Slung Payload weight in kg", + "DisplayName": "Slung Payload weight", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "kg", + "User": "Advanced" + } + }, + "SIM_SPR_": { + "SIM_SPR_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Sprayer simulation", + "DisplayName": "Sprayer Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SPR_PUMP": { + "Description": "The pin number that the Sprayer pump is connected to. (start at 1)", + "DisplayName": "Sprayer pump pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SPR_SPIN": { + "Description": "The pin number that the Sprayer spinner servo is connected to. (start at 1)", + "DisplayName": "Sprayer spinner servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SPRAY_": { + "SPRAY_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the sprayer", + "DisplayName": "Sprayer enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SPRAY_PUMP_MIN": { + "Description": "Minimum pump speed expressed as a percentage", + "DisplayName": "Pump speed minimum", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "SPRAY_PUMP_RATE": { + "Description": "Desired pump speed when travelling 1m/s expressed as a percentage", + "DisplayName": "Pump speed", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "SPRAY_SPEED_MIN": { + "Description": "Speed minimum at which we will begin spraying", + "DisplayName": "Speed minimum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "cm/s", + "User": "Standard" + }, + "SPRAY_SPINNER": { + "Description": "Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)", + "DisplayName": "Spinner rotation speed", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "ms", + "User": "Standard" + } + }, + "SR0_": { + "SR0_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR0_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR0_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR1_": { + "SR1_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR1_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR1_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR2_": { + "SR2_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR2_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR2_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR3_": { + "SR3_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR3_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR3_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR4_": { + "SR4_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR4_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR4_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR5_": { + "SR5_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR5_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR5_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR6_": { + "SR6_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR6_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS", + "DisplayName": "Extra data type 3 stream rate" + }, + "SR6_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_CTRL": { + "Description": "Unused", + "DisplayName": "Unused", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SRTL_": { + "SRTL_ACCURACY": { + "Description": "SmartRTL accuracy. The minimum distance between points.", + "DisplayName": "SmartRTL accuracy", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SRTL_OPTIONS": { + "Bitmask": { + "2": "Ignore pilot yaw" + }, + "Description": "Bitmask of SmartRTL options.", + "DisplayName": "SmartRTL options", + "User": "Standard" + }, + "SRTL_POINTS": { + "Description": "SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.", + "DisplayName": "SmartRTL maximum number of points on path", + "Range": { + "high": "500", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "STAT": { + "STAT_BOOTCNT": { + "Description": "Number of times board has been booted", + "DisplayName": "Boot Count", + "ReadOnly": "True", + "User": "Standard" + }, + "STAT_FLTTIME": { + "Description": "Total FlightTime (seconds)", + "DisplayName": "Total FlightTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RESET": { + "Description": "Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)", + "DisplayName": "Statistics Reset Time", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RUNTIME": { + "Description": "Total time autopilot has run", + "DisplayName": "Total RunTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + } + }, + "TCAL": { + "TCAL_BARO_EXP": { + "Description": "Learned exponent for barometer temperature correction", + "DisplayName": "Temperature Calibration barometer exponent", + "ReadOnly": "True", + "User": "Advanced", + "Volatile": "True" + }, + "TCAL_ENABLED": { + "Description": "Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values", + "DisplayName": "Temperature calibration enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "EnableAndLearn" + } + }, + "TCAL_TEMP_MAX": { + "Description": "Maximum learned temperature. This is automatically set by the learning process", + "DisplayName": "Temperature calibration max learned temperature", + "ReadOnly": "True", + "Units": "degC", + "User": "Advanced", + "Volatile": "True" + }, + "TCAL_TEMP_MIN": { + "Description": "Minimum learned temperature. This is automatically set by the learning process", + "DisplayName": "Temperature calibration min learned temperature", + "ReadOnly": "True", + "Units": "degC", + "User": "Advanced", + "Volatile": "True" + } + }, + "TEMP": { + "TEMP_LOG": { + "Description": "Enables temperature sensor logging", + "DisplayName": "Logging", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Log all instances", + "2": "Log only instances with sensor source set to None" + } + } + }, + "TEMP1_": { + "TEMP1_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP1_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP1_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP1_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP1_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP1_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP1_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP1_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP1_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP1_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP2_": { + "TEMP2_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP2_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP2_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP2_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP2_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP2_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP2_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP2_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP2_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP2_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP3_": { + "TEMP3_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP3_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP3_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP3_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP3_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP3_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP3_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP3_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP3_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP3_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP4_": { + "TEMP4_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP4_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP4_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP4_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP4_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP4_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP4_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP4_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP4_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP4_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP5_": { + "TEMP5_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP5_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP5_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP5_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP5_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP5_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP5_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP5_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP5_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP5_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP6_": { + "TEMP6_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP6_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP6_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP6_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP6_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP6_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP6_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP6_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP6_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP6_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP7_": { + "TEMP7_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP7_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP7_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP7_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP7_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP7_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP7_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP7_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP7_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP7_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP8_": { + "TEMP8_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP8_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP8_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP8_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP8_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP8_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP8_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP8_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP8_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP8_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP9_": { + "TEMP9_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP9_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP9_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP9_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP9_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP9_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP9_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP9_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP9_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP9_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TERRAIN_": { + "TERRAIN_CACHE_SZ": { + "Description": "The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory", + "DisplayName": "Terrain cache size", + "Range": { + "high": "128", + "low": "0" + }, + "User": "Advanced" + }, + "TERRAIN_ENABLE": { + "Description": "enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.", + "DisplayName": "Terrain data enable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "TERRAIN_MARGIN": { + "Description": "Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used", + "DisplayName": "Acceptance margin", + "Range": { + "high": "50000", + "low": "0.05" + }, + "Units": "m", + "User": "Advanced" + }, + "TERRAIN_OFS_MAX": { + "Description": "The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.", + "DisplayName": "Terrain reference offset maximum", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "TERRAIN_OPTIONS": { + "Bitmask": { + "0": "Disable Download" + }, + "Description": "Options to change behaviour of terrain system", + "DisplayName": "Terrain options", + "User": "Advanced" + }, + "TERRAIN_SPACING": { + "Description": "Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.", + "DisplayName": "Terrain grid spacing", + "Increment": "1", + "Units": "m", + "User": "Advanced" + } + }, + "TMODE": { + "TMODE_ACTION1": { + "Description": "This is the action taken when the left action button is pressed", + "DisplayName": "Tmode action 1", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ACTION2": { + "Description": "This is the action taken when the right action button is pressed", + "DisplayName": "Tmode action 2", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ACTION3": { + "Description": "This is the action taken when the power button is pressed", + "DisplayName": "Tmode action 3", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ACTION4": { + "Description": "This is the action taken when the left action button is pressed while the left (Mode) button is held down", + "DisplayName": "Tmode action 4", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ACTION5": { + "Description": "This is the action taken when the right action is pressed while the left (Mode) button is held down", + "DisplayName": "Tmode action 5", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ACTION6": { + "Description": "This is the action taken when the power button is pressed while the left (Mode) button is held down", + "DisplayName": "Tmode action 6", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_ENABLE": { + "Description": "tmode (or \"toy\" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards", + "DisplayName": "tmode enable ", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "EnableVersion1", + "2": "EnableVersion2" + } + }, + "TMODE_FLAGS": { + "Bitmask": { + "0": "DisarmOnLowThrottle", + "1": "ArmOnHighThrottle", + "2": "UpgradeToLoiter", + "3": "RTLStickCancel" + }, + "Description": "Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged", + "DisplayName": "Tmode flags", + "User": "Standard" + }, + "TMODE_LEFT": { + "Description": "This is the action taken when the left (Mode) button is pressed", + "DisplayName": "Tmode left action", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_LEFT_LONG": { + "Description": "This is the action taken when the left (Mode) button is long-pressed", + "DisplayName": "Tmode left long action", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "24": "ModeFlowHold", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_LOAD_FILT": { + "Description": "This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc", + "DisplayName": "Load test filter", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "TMODE_LOAD_MUL": { + "Description": "This scales the load test output, as a value between 0 and 1", + "DisplayName": "Load test multiplier", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "TMODE_LOAD_TYPE": { + "Description": "This sets the type of load test", + "DisplayName": "Load test type", + "User": "Advanced", + "Values": { + "0": "ConstantThrust", + "1": "LogReplay1", + "2": "LogReplay2" + } + }, + "TMODE_MODE1": { + "Description": "This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS", + "DisplayName": "Tmode first mode", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "FlowHold", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "TMODE_MODE2": { + "Description": "This is the secondary mode. This mode is assumed to require GPS", + "DisplayName": "Tmode second mode", + "User": "Standard", + "Values": { + "0": "Stabilize", + "1": "Acro", + "11": "Drift", + "13": "Sport", + "14": "Flip", + "15": "AutoTune", + "16": "PosHold", + "17": "Brake", + "18": "Throw", + "19": "Avoid_ADSB", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "FlowHold", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "TMODE_RIGHT": { + "Description": "This is the action taken when the right (Return) button is pressed", + "DisplayName": "Tmode right action", + "User": "Standard", + "Values": { + "0": "None", + "1": "TakePhoto", + "10": "ModeDrift", + "11": "ModeSport", + "12": "ModeAutoTune", + "13": "ModePosHold", + "14": "ModeBrake", + "15": "ModeThrow", + "16": "Flip", + "17": "ModeStabilize", + "18": "Disarm", + "19": "ToggleMode", + "2": "ToggleVideo", + "20": "Arm-Land-RTL", + "21": "ToggleSimpleMode", + "22": "ToggleSuperSimpleMode", + "23": "MotorLoadTest", + "3": "ModeAcro", + "4": "ModeAltHold", + "5": "ModeAuto", + "6": "ModeLoiter", + "7": "ModeRTL", + "8": "ModeCircle", + "9": "ModeLand" + } + }, + "TMODE_TMAX": { + "Description": "This sets the thrust multiplier when voltage is low", + "DisplayName": "Max thrust multiplier", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "TMODE_TMIN": { + "Description": "This sets the thrust multiplier when voltage is high", + "DisplayName": "Min thrust multiplier", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "TMODE_TRIM_AUTO": { + "Description": "This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500", + "DisplayName": "Stick auto trim limit", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "TMODE_VMAX": { + "Description": "This is the battery voltage above which thrust min is used", + "DisplayName": "Max voltage for output limiting", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + }, + "TMODE_VMIN": { + "Description": "This is the battery voltage below which no output limiting is done", + "DisplayName": "Min voltage for output limiting", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + } + }, + "VEHICLE": { + "FLTMODE_GCSBLOCK": { + "Bitmask": { + "0": "Stabilize", + "1": "Acro", + "10": "AutoTune", + "11": "PosHold", + "12": "Brake", + "13": "Throw", + "14": "Avoid_ADSB", + "15": "Guided_NoGPS", + "16": "Smart_RTL", + "17": "FlowHold", + "18": "Follow", + "19": "ZigZag", + "2": "AltHold", + "20": "SystemID", + "21": "Heli_Autorotate", + "22": "Auto RTL", + "23": "Turtle", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "Circle", + "7": "Drift", + "8": "Sport", + "9": "Flip" + }, + "Description": "Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.", + "DisplayName": "Flight mode block from GCS", + "User": "Standard" + } + }, + "VISO": { + "VISO_DELAY_MS": { + "Description": "Visual odometry sensor delay relative to inertial measurements", + "DisplayName": "Visual odometry sensor delay", + "Range": { + "high": "250", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "VISO_ORIENT": { + "Description": "Visual odometery camera orientation", + "DisplayName": "Visual odometery camera orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "2": "Right", + "24": "Up", + "25": "Down", + "4": "Back", + "6": "Left" + } + }, + "VISO_POS_M_NSE": { + "Description": "Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry position measurement noise ", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Visual odometry camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Visual odometry camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Visual odometry camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_QUAL_MIN": { + "Description": "Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown", + "DisplayName": "Visual odometry minimum quality", + "Range": { + "high": "100", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "VISO_SCALE": { + "Description": "Visual odometry scaling factor applied to position estimates from sensor", + "DisplayName": "Visual odometry scaling factor", + "User": "Advanced" + }, + "VISO_TYPE": { + "Description": "Visual odometry camera connection type", + "DisplayName": "Visual odometry camera connection type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IntelT265", + "3": "VOXL(ModalAI)" + } + }, + "VISO_VEL_M_NSE": { + "Description": "Visual odometry velocity measurement noise in m/s", + "DisplayName": "Visual odometry velocity measurement noise", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "VISO_YAW_M_NSE": { + "Description": "Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry yaw measurement noise", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "VTX_": { + "VTX_BAND": { + "Description": "Video Transmitter Band", + "DisplayName": "Video Transmitter Band", + "User": "Standard", + "Values": { + "0": "Band A", + "1": "Band B", + "10": "3G3 Band B", + "2": "Band E", + "3": "Airwave", + "4": "RaceBand", + "5": "Low RaceBand", + "6": "1G3 Band A", + "7": "1G3 Band B", + "8": "Band X", + "9": "3G3 Band A" + } + }, + "VTX_CHANNEL": { + "Description": "Video Transmitter Channel", + "DisplayName": "Video Transmitter Channel", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "VTX_ENABLE": { + "Description": "Toggles the Video Transmitter on and off", + "DisplayName": "Is the Video Transmitter enabled or not", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "VTX_FREQ": { + "Description": "Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL", + "DisplayName": "Video Transmitter Frequency", + "Range": { + "high": "6000", + "low": "1000" + }, + "ReadOnly": "True", + "User": "Standard" + }, + "VTX_MAX_POWER": { + "Description": "Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.", + "DisplayName": "Video Transmitter Max Power Level", + "Range": { + "high": "1000", + "low": "25" + } + }, + "VTX_OPTIONS": { + "Bitmask": { + "0": "Pitmode", + "1": "Pitmode until armed", + "2": "Pitmode when disarmed", + "3": "Unlocked", + "4": "Add leading zero byte to requests", + "5": "Use 1 stop-bit in SmartAudio", + "6": "Ignore CRC in SmartAudio", + "7": "Ignore status updates in CRSF and blindly set VTX options" + }, + "Description": "Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.", + "DisplayName": "Video Transmitter Options", + "User": "Advanced" + }, + "VTX_POWER": { + "Description": "Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level", + "DisplayName": "Video Transmitter Power Level", + "Range": { + "high": "1000", + "low": "1" + } + } + }, + "WINCH": { + "WINCH_OPTIONS": { + "Bitmask": { + "0": "Spin freely on startup", + "1": "Verbose output", + "2": "Retry if stuck (Daiwa only)" + }, + "Description": "Winch options", + "DisplayName": "Winch options", + "User": "Standard" + }, + "WINCH_POS_P": { + "Description": "Winch control position error P gain", + "DisplayName": "Winch control position error P gain", + "Range": { + "high": "10.0", + "low": "0.01" + }, + "User": "Standard" + }, + "WINCH_RATE_MAX": { + "Description": "Winch deploy or retract rate maximum. Set to maximum rate with no load.", + "DisplayName": "Winch deploy or retract rate maximum", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "WINCH_TYPE": { + "Description": "Winch Type", + "DisplayName": "Winch Type", + "User": "Standard", + "Values": { + "0": "None", + "1": "PWM", + "2": "Daiwa" + } + } + }, + "WPNAV_": { + "WPNAV_ACCEL": { + "Description": "Defines the horizontal acceleration in cm/s/s used during missions", + "DisplayName": "Waypoint Acceleration ", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "WPNAV_ACCEL_C": { + "Description": "Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.", + "DisplayName": "Waypoint Cornering Acceleration", + "Increment": "10", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "WPNAV_ACCEL_Z": { + "Description": "Defines the vertical acceleration in cm/s/s used during missions", + "DisplayName": "Waypoint Vertical Acceleration", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "WPNAV_JERK": { + "Description": "Defines the horizontal jerk in m/s/s used during missions", + "DisplayName": "Waypoint Jerk", + "Range": { + "high": "20", + "low": "1" + }, + "Units": "m/s/s/s", + "User": "Standard" + }, + "WPNAV_RADIUS": { + "Description": "Defines the distance from a waypoint, that when crossed indicates the wp has been hit.", + "DisplayName": "Waypoint Radius", + "Increment": "1", + "Range": { + "high": "1000", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "WPNAV_RFND_USE": { + "Description": "This controls if waypoint missions use rangefinder for terrain following", + "DisplayName": "Waypoint missions use rangefinder for terrain following", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "WPNAV_SPEED": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission", + "DisplayName": "Waypoint Horizontal Speed Target", + "Increment": "50", + "Range": { + "high": "2000", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "WPNAV_SPEED_DN": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission", + "DisplayName": "Waypoint Descent Speed Target", + "Increment": "10", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "WPNAV_SPEED_UP": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission", + "DisplayName": "Waypoint Climb Speed Target", + "Increment": "50", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "WPNAV_TER_MARGIN": { + "Description": "Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)", + "DisplayName": "Waypoint Terrain following altitude margin", + "Range": { + "high": "100", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + } + }, + "WVANE_": { + "WVANE_ANG_MIN": { + "Description": "The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.", + "DisplayName": "Weathervaning min angle", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "WVANE_ENABLE": { + "Description": "Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "-1": "Only use during takeoffs or landing see weathervane takeoff and land override parameters", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "WVANE_GAIN": { + "Description": "This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.", + "DisplayName": "Weathervaning gain", + "Increment": "0.1", + "Range": { + "high": "4", + "low": "0.5" + }, + "User": "Standard" + }, + "WVANE_HGT_MIN": { + "Description": "Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning.", + "DisplayName": "Weathervaning min height", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "WVANE_LAND": { + "Description": "Override the weather vaning behaviour when in landing", + "DisplayName": "Landing override", + "User": "Standard", + "Values": { + "-1": "No override", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "WVANE_OPTIONS": { + "Bitmask": { + "0": "Use pitch when nose or tail-in for faster weathervaning" + }, + "Description": "Options impacting weathervaning behaviour", + "DisplayName": "Weathervaning options", + "User": "Standard" + }, + "WVANE_SPD_MAX": { + "Description": "Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.", + "DisplayName": "Weathervaning max ground speed", + "Increment": "0.1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "WVANE_TAKEOFF": { + "Description": "Override the weather vaning behaviour when in takeoffs", + "DisplayName": "Takeoff override", + "User": "Standard", + "Values": { + "-1": "No override", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "WVANE_VELZ_MAX": { + "Description": "The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.", + "DisplayName": "Weathervaning max vertical speed", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + } + }, + "ZIGZ_": { + "ZIGZ_AUTO_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) ZigZag auto feature", + "DisplayName": "ZigZag auto enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ZIGZ_DIRECTION": { + "Description": "The direction to move sideways in ZigZag mode", + "DisplayName": "Sideways direction in ZigZag auto", + "User": "Advanced", + "Values": { + "0": "forward", + "1": "right", + "2": "backward", + "3": "left" + } + }, + "ZIGZ_LINE_NUM": { + "Description": "Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways", + "DisplayName": "Total number of lines", + "Range": { + "high": "32767", + "low": "-1" + }, + "User": "Advanced" + }, + "ZIGZ_SIDE_DIST": { + "Description": "The distance to move sideways in ZigZag mode", + "DisplayName": "Sideways distance in ZigZag auto", + "Range": { + "high": "100", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "ZIGZ_SPRAYER": { + "Description": "Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.", + "DisplayName": "Auto sprayer in ZigZag", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ZIGZ_WP_DELAY": { + "Description": "Waiting time after reached the destination", + "DisplayName": "The delay for zigzag waypoint", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + } + }, + "json": { + "version": 0 + } +} \ No newline at end of file diff --git a/Copter-4.6/apm.pdef.xml b/Copter-4.6/apm.pdef.xml new file mode 100644 index 0000000..7004dea --- /dev/null +++ b/Copter-4.6/apm.pdef.xml @@ -0,0 +1,36104 @@ + + + + + + + + + 1 255 + + + 1 255 + 1 + + + Hz + hertz + 0 10 + .5 + + + cm + centimeters + 0.0 1000.0 + 10 + + + + Feedback from mid stick + High throttle cancels landing + Disarm on land detection + + 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection + + + s + seconds + 0 30 + 1 + + + + Roll + Pitch + Yaw + AccelZ + + 0:Roll,1:Pitch,2:Yaw,3:AccelZ + + + cm + centimeters + 30 300000 + 1 + + + 0.5 10.0 + .1 + + Disabled + Shallow + Steep + + + + cm/s + centimeters per second + 0 2000 + 50 + + + cm + centimeters + 0 1000 + 1 + + + cm + centimeters + 0 3000 + 10 + + + ms + milliseconds + 0 60000 + 1000 + + + + Relative to Home + Terrain + + + + + Disabled/NoAction + RTL + RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS) + SmartRTL or RTL + SmartRTL or Land + Land + Auto DO_LAND_START or RTL + Brake or Land + + + + 100 900 + + + + SwitchPos1 + SwitchPos2 + SwitchPos3 + SwitchPos4 + SwitchPos5 + SwitchPos6 + + 0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6 + + + + Never change yaw + Face next waypoint + Face next waypoint except RTL + Face along GPS course + + + + cm/s + centimeters per second + 30 200 + 10 + + + cm/s + centimeters per second + 0 500 + 10 + + + cm/s + centimeters per second + 50 500 + 10 + + + cm/s/s + centimeters per square second + 50 500 + 10 + + + + Disabled + Enabled always RTL + Enabled Continue with Mission in Auto Mode (Removed in 4.0+) + Enabled always Land + Enabled always SmartRTL or RTL + Enabled always SmartRTL or Land + Enabled Auto DO_LAND_START or RTL + Enabled always Brake or Land + + + + 910 1100 + PWM + PWM in microseconds + 1 + + + 0 300 + PWM + PWM in microseconds + 1 + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + Auto RTL + Turtle + + + + + Disabled + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + Smart_RTL + FlowHold + Follow + ZigZag + SystemID + Heli_Autorotate + + + + + SwitchPos1 + SwitchPos2 + SwitchPos3 + SwitchPos4 + SwitchPos5 + SwitchPos6 + + 0:SwitchPos1, 1:SwitchPos2, 2:SwitchPos3, 3:SwitchPos4, 4:SwitchPos5, 5:SwitchPos6 + + + + Fast Attitude + Medium Attitude + GPS + System Performance + Control Tuning + Navigation Tuning + RC input + IMU + Mission Commands + Battery Monitor + RC output + Optical Flow + PID + Compass + Camera + Motors + Fast IMU + Raw IMU + Video Stabilization + Fast harmonic notch logging + + 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,5:Navigation Tuning,6:RC input,7:IMU,8:Mission Commands,9:Battery Monitor,10:RC output,11:Optical Flow,12:PID,13:Compass,15:Camera,17:Motors,18:Fast IMU,19:Raw IMU,20:Video Stabilization,21:Fast harmonic notch logging + + + + Normal Start-up + Start-up in ESC Calibration mode if throttle high + Start-up in ESC Calibration mode regardless of throttle + Start-up and automatically calibrate ESCs + Disabled + + + + + None + Stab Roll/Pitch kP + Rate Roll/Pitch kP + Rate Roll/Pitch kI + Rate Roll/Pitch kD + Stab Yaw kP + Rate Yaw kP + Rate Yaw kD + Rate Yaw Filter + Motor Yaw Headroom + AltHold kP + Throttle Rate kP + Throttle Accel kP + Throttle Accel kI + Throttle Accel kD + Loiter Pos kP + Velocity XY kP + Velocity XY kI + WP Speed + Acro Roll/Pitch deg/s + Acro Yaw deg/s + RC Feel + Heli Ext Gyro + Declination + Circle Rate + Rate Pitch kP + Rate Pitch kI + Rate Pitch kD + Rate Roll kP + Rate Roll kI + Rate Roll kD + Rate Pitch FF + Rate Roll FF + Rate Yaw FF + SysID Magnitude + PSC Angle Max + + + + + Plus + X + V + H + V-Tail + A-Tail + Y6B + Y6F + BetaFlightX + DJIX + ClockwiseX + I + BetaFlightXReversed + Y4 + + True + + + s + seconds + 0 127 + + + cdeg + centidegrees + 10 + 1000 8000 + + + deg/s + degrees per second + 4 12 + + + cdeg + centidegrees + 10 + 2000 4500 + + + + No repositioning + Repositioning + + + + + Land + AltHold + Land even in Stabilize + + + + + Strict + Default + Relaxed + + + + + Disabled + Enabled + + + + Hz + hertz + 50 490 + 1 + + + 0 3 + 0.1 + + + 0 3 + 0.1 + + + + Disabled + Leveling + Leveling and Limited + + + + + Stopped + Running + + + + m + meters + + + m + meters + + + 0 5 + + + + Auto + Guided + LOITER + RTL + Land + Brake + Throw + + + + + Upward Throw + Drop + + + + + Disabled + Enabled + + + + + ADSBMavlinkProcessing + DevOptionVFR_HUDRelativeAlt + + 0:ADSBMavlinkProcessing,1:DevOptionVFR_HUDRelativeAlt + + + 0 1 + + + + NotEnforced + Enforced + + + + + Undefined + Quad + Hexa + Octa + OctaQuad + Y6 + Heli + Tri + SingleCopter + CoaxCopter + BiCopter + Heli_Dual + 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Transmitter + Ignore pilot yaw + SetAttitudeTarget interprets Thrust As Thrust + Do not stabilize PositionXY + Do not stabilize VelocityXY + Waypoint navigation used for position targets + Allow weathervaning + + 0:Allow Arming from Transmitter,2:Ignore pilot yaw,3:SetAttitudeTarget interprets Thrust As Thrust,4:Do not stabilize PositionXY,5:Do not stabilize VelocityXY,6:Waypoint navigation used for position targets,7:Allow weathervaning + + + s + seconds + 2 120 + 1 + + + + Ignore pilot yaw + + 2:Ignore pilot yaw + + + + Disable thrust loss check + Disable yaw imbalance warning + Release gripper on thrust loss + Require position for arming + + 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming + + + Hz + hertz + 0 5 + 0.05 + True + + + s + seconds + 0.1 5 + + + + Do not track + Ground + Ceiling + + True + + + + Disabled/NoAction + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Auto DO_LAND_START or RTL + + + 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second + + + s + seconds + + + 0.1 100 + + + m + meters + + + % + percent + + + deg + degrees + + + % + percent + + + s + seconds + + + m + meters + + + + + + + m/s + meters per second + + + Hz + hertz + + + deg + degrees + + + + UseRTLOnAbort + AddAtToMessages + DualAircraftSynchronised + + 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised + deg + degrees + + + + + 301 307 + + + 301 307 + + + 1 11 + + + + Disabled + Enabled + Enabled including attitude reporting + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + 0 7 + + + 0 30 + + + + Disabled + Enabled + + + + + EnableLogging + + 0:EnableLogging + + + 0 50 + Hz + hertz + + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + None + 1stCANDriver + 2ndCanDriver + + + + 1 10 + + + + LogAllFrames + + 0:LogAllFrames + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres + + + + Disabled + Enabled + + + + 1 50 + + + 0 31 + + + + Disabled + Enabled + + + + + Disabled + FirstCAN + SecondCAN + + + + + EnableLogging + + 0:EnableLogging + + + + Disabled + Enabled + Enabled with attitude reporting + + + + + Right side up + Upside down + + + + + Disabled + Enabled + + + + + None + 1stCANDriver + 2ndCanDriver + + + + 10 200 + Hz + hertz + + + + Disabled + FixedWing + HeliRSC + + + + 10 100 + Hz + hertz + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + 1 1000 + + + 1 10 + Hz + hertz + + + 1 50 + Hz + hertz + + + + Disabled + Enabled + + + + + SRE_180 + SP_275 + + + + + Disabled + Enabled + + + + 0 10 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + FirstCAN + SecondCAN + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + Hz + hertz + + + litres + litres + + + + LogAllCanPackets + + 0:LogAllCanPackets + + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 3 + + + + 8x8 mode + 4x4 mode + + + + 1 3 + + + 1 255 + + + 1 3 + + + 1 255 + + + 1 3 + + + 1 255 + + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + + + + + + Disabled + uAvionix-MAVLink + Sagetech + uAvionix-UCP + Sagetech MX Series + + True + + + 1 100 + True + + + 0 100000 + m + meters + + + -1 16777215 + + + + NoInfo + Light + Small + Large + HighVortexlarge + Heavy + HighlyManuv + Rotocraft + RESERVED + Glider + LightAir + Parachute + UltraLight + RESERVED + UAV + Space + RESERVED + EmergencySurface + ServiceSurface + PointObstacle + + + + + NO_DATA + L15W23 + L25W28P5 + L25W34 + L35W33 + L35W38 + L45W39P5 + L45W45 + L55W45 + L55W52 + L65W59P5 + L65W67 + L75W72P5 + L75W80 + L85W80 + L85W90 + + + + + NoData + Left2m + Left4m + Left6m + Center + Right2m + Right4m + Right6m + + + + + NO_DATA + AppliedBySensor + + + + + Rx + Tx + + 0:Rx,1:Tx + + + 0 7777 + octal + octal + + + + UAT_in + 1090ES_in + UAT_out + 1090ES_out + + 0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out + + + 0 32767 + m + meters + + + + + + no logging + log only special ID + log all + + + + + Ping200X Send GPS + Squawk 7400 on RC failsafe + Squawk 7400 on GCS failsafe + Sagetech MXS use External Config + + 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config + + + + + + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + + + + + + + + + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + + + + m + meters + + + m + meters + + + hPa + hectopascal + + + + + + + + + + + + + + + s + seconds + + + km + kilometers + + + + Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) + Enable AFS for all autonomous modes (not just AUTO) + + 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + + + s + seconds + + + + + 0.0 1.0 + .01 + + + + Disabled + Use GPS for DCM position + Use GPS for DCM position and height + + + + 0.1 0.4 + .01 + + + 0.1 0.4 + .01 + + + 0 127 + m/s + meters per second + 1 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + + None + Yaw45 + Yaw90 + Yaw135 + Yaw180 + Yaw225 + Yaw270 + Yaw315 + Roll180 + Yaw45Roll180 + Yaw90Roll180 + Yaw135Roll180 + Pitch180 + Yaw225Roll180 + Yaw270Roll180 + Yaw315Roll180 + Roll90 + Yaw45Roll90 + Yaw90Roll90 + Yaw135Roll90 + Roll270 + Yaw45Roll270 + Yaw90Roll270 + Yaw135Roll270 + Pitch90 + Pitch270 + Yaw90Pitch180 + Yaw270Pitch180 + Pitch90Roll90 + Pitch90Roll180 + Pitch90Roll270 + Pitch180Roll90 + Pitch180Roll270 + Pitch270Roll90 + Pitch270Roll180 + Pitch270Roll270 + Yaw90Pitch180Roll90 + Yaw270Roll90 + Yaw293Pitch68Roll180 + Pitch315 + Pitch315Roll90 + Roll45 + Roll315 + Custom 4.1 and older + Custom 1 + Custom 2 + + + + 0.001 0.5 + .01 + + + 0 10 + 1 + + + + Disabled + Enable EKF2 + Enable EKF3 + ExternalAHRS + + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + + DisableDCMFallbackFW + DisableDCMFallbackVTOL + DontDisableAirspeedUsingEKF + + 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + + + + + + None + NMEA AIVDM message + + True + + + 1 100 + + + s + seconds + 1 2000 + + + + Log all AIVDM messages + Log only unsupported AIVDM messages + Log decoded messages + + 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + + + + + m/s/s + meters per square second + 0.25 3.0 + + + + Disabled + ArmingOnly + ArmOrDisarm + + + + + Land + VTOL Land + DO_LAND_START + Takeoff + VTOL Takeoff + Rallypoint + RTL + + 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + + + + All + Barometer + Compass + GPS lock + INS + Parameters + RC Channels + Board voltage + Battery Level + Logging Available + Hardware safety switch + GPS Configuration + System + Mission + Rangefinder + Camera + AuxAuth + VisualOdometry + FFT + + 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT + + + + Disable prearm display + Do not send status text on state change + + 0:Disable prearm display,1:Do not send status text on state change + + + mGauss + milligauss + 0 500 + + + + Crash Dump arming check active + Crash Dump arming check deactivated + + + + + + + Disabled + Enabled + + + + 0.3 1 + 0.01 + + + RPM + Revolutions Per Minute + 1000 2800 + 1 + + + cm/s + centimeters per second + 800 2000 + 50 + + + Hz + hertz + 0.2 0.5 + 0.01 + + + Hz + hertz + 0.03 0.15 + 0.01 + + + cm/s/s + centimeters per square second + 30 60 + 10 + + + s + seconds + 0.5 3 + 0.1 + + + 0.1 6.0 + 0.1 + + + 0 1 + 0.01 + + + + + + Disable + Enable + + + + + Normal + Swapped + Auto Detect + + + + + FirstSensor + 2ndSensor + + + + + SpeedMismatchDisable + AllowSpeedMismatchRecovery + DisableVoltageCorrection + UseEkf3Consistency + ReportOffset + + 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + + + m/s + meters per second + + + m/s + meters per second + + + 0.0 10.0 + + + 0.0 10.0 + % + percent + + + + + + None + I2C-MS4525D0 + Analog + I2C-MS5525 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+ + + m + meters + 0.1 + + + + FirstBaro + 2ndBaro + 3rdBaro + + + + + Disabled + Bus0 + Bus1 + Bus6 + + + + Pa + pascal + 1 + True + True + + + Pa + pascal + 1 + True + True + + + % + percent + 0 100 + 1 + + + + BMP085 + BMP280 + MS5611 + MS5607 + MS5637 + FBM320 + DPS280 + LPS25H + Keller + MS5837 + BMP388 + SPL06 + MSP + BMP581 + + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + + + True + + + True + + + True + + + m + meters + 0.1 + True + + + m + meters + 1 + 0 5000 + + + + Treat MS5611 as MS5607 + + 0:Treat MS5611 as MS5607 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + + None + Land + RTL + SmartRTL or RTL + SmartRTL or Land + Terminate + Auto DO_LAND_START or RTL + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + None + Pozyx + Marvelmind + Nooploop + SITL + + + + deg + degrees + 0.000001 + -90 90 + + + deg + degrees + 0.000001 + -180 180 + + + m + meters + 1 + 0 10000 + + + deg + degrees + 1 + -180 +180 + + + + + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + True + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + + Disabled + Enabled + + True + + + + Disabled + 50Hz + 75Hz + 100Hz + 150Hz + 200Hz + 250Hz + 300Hz + + True + + + -8388608 8388607 + + + + Output1 + Output2 + Output3 + Output4 + Output5 + Output6 + Output7 + Output8 + Output9 + Output10 + Output11 + Output12 + Output13 + Output14 + + 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + True + + + -1 80 + degC + degrees Celsius + + + + AUTO + PX4V1 + Pixhawk + Cube/Pixhawk2 + Pixracer + PixhawkMini + Pixhawk2Slim + Intel Aero FC + Pixhawk Pro + AUAV2.1 + PCNC1 + MINDPXV2 + SP01 + CUAVv5/FMUV5 + VRX BRAIN51 + VRX BRAIN52 + VRX BRAIN52E + VRX UBRAIN51 + VRX UBRAIN52 + VRX CORE10 + VRX BRAIN54 + PX4 FMUV6 + PX4 OLDDRIVERS + + True + + + + Disabled + Enabled + EnableNoFWUpdate + + True + + + + ActiveForSafetyDisable + ActiveForSafetyEnable + ActiveWhenArmed + Force safety on when the aircraft disarms + + 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + + + V + volt + 4.0 5.5 + 0.1 + + + V + volt + 3.3 12.0 + 0.1 + + + 0 32 + 1 + + + + 3.3V + 5V + + + + + Enable hardware watchdog + Disable MAVftp + Enable set of internal parameters + Enable Debug Pins + Unlock flash on reboot + Write protect firmware flash on reboot + Write protect bootloader flash on reboot + Skip board validation + Disable board arming gpio output change on arm/disarm + + 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + + + 0 10000 + ms + milliseconds + + + 1 500 + 1 + + + 0 1 + 0.1 + + + 0 100 + 1 + + + 0 10 + 1 + True + + + 0 20 + degC + degrees Celsius + + + 0 64 + True + + + 0 64 + True + + + + StandardFW + DshotFW + + True + + + + + + None + CYRF6936 + CC2500 + BK2425 + + + + + Auto + DSM2 + DSMX + + + + 0 4 + + + + NotDisabled + Disabled + + + + 0 16 + + + 0 16 + + + + Disabled + Enabled + + + + 1 8 + + + + Disabled + MinChannel + MidChannel + MaxChannel + MinChannelCW + MidChannelCW + MaxChannelCW + + + + + Mode1 + Mode2 + + + + + Disabled + TestChan1 + TestChan2 + TestChan3 + TestChan4 + TestChan5 + TestChan6 + TestChan7 + TestChan8 + + + + 0 16 + + + 0 16 + + + 1 8 + + + 0 40 + + + 0 120 + + + 0 31 + + + + + + GPS + MAVLINK_SYSTEM_TIME + HW + + 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + + + -720 +840 + + + + + + Disabled + Enabled + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + 0 3600 + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + deg + degrees + 0 180 + + + + Always + Only when in AUTO + + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + Disabled + RunCam Split Micro/RunCam with UART + RunCam Split + RunCam Split4 4k + RunCam Hybrid/RunCam Thumb Pro + Runcam 2 4k + + + + + Power Button + WiFi Button + Change Mode + 5-Key OSD + Settings Access + DisplayPort + Start Recording + Stop Recording + + 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + + + + + + + + + + Stick yaw right + Stick roll right + 3-position switch + 2-position switch + Autorecording enabled + + 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + + + + + 0 4 + + Log None + Log Error + Log Warning and below + Log Info and below + Log Everything + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + True + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + True + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + 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Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + ALTHOLD Mode + AUTO Mode + AUTO RTL + AUTOTUNE Mode + Acro Trainer + AirMode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with AirMode (4.2 and higher) + AttCon Accel Limits + AttCon Feed Forward + Auto Mission Reset + BRAKE Mode + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + DRIFT Mode + Disarm + EKF Source Set + FFT Tune + FLIP Mode + FLOWHOLD Mode + FOLLOW Mode + Fence Enable + FlightMode Pause/Resume + Force IS_Flying + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + Gripper Release + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LAND Mode + LOITER Mode + Landing Gear + Lost Copter Sound + Motor Emergency Stop + Motor Interlock + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Optflow Calibration + POSHOLD Mode + Parachute 3pos + Parachute Enable + Parachute Release + Pause Stream Logging + PrecLoiter Enable + Proximity Avoidance Enable + RC Override Enable + RTL + RangeFinder Enable + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + RunCam Control + RunCam OSD Control + SIMPLE heading reset + SMARTRTL Mode + STABILIZE Mode + STANDBY Mode + Save Trim + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Simple Mode + Sprayer Enable + Super Simple Mode + SurfaceTrackingUpDown + SwitchExternalAHRS + THROW Mode + TURTLE Mode + Test autotuned gains after tune is complete + Transmitter Tuning + Turbine Start(heli) + User Function 1 + User Function 2 + User Function 3 + VTX Power + VisOdom Align + Winch Control + Winch Enable + ZigZag Auto + ZigZag Mode + ZigZag SaveWP + use Custom Controller + + + + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Parachute + Camera + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + 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NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 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AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 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VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + 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Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + Disabled + AnalogPin + RCChannelPwmValue + ReceiverProtocol + PWMInputPin + TelemetryRadioRSSI + + + + + V5 Nano + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + V + volt + 0.01 + 0 5.0 + + + V + volt + 0.01 + 0 5.0 + + + 0 16 + + + PWM + PWM in microseconds + 0 2000 + + + PWM + PWM in microseconds + 0 2000 + + + + + + Disabled + ShowSlips + ShowOverruns + + + + 50 400 + True + Hz + hertz + + + + Enable per-task perf info + + 0:Enable per-task perf info + + + + + + None + Lua Scripts + + True + + + 1000 1000000 + 10000 + + + 1024 1048576 + 1024 + True + + + + No Scripts to run message if all scripts have stopped + Runtime messages for memory usage and execution time + Suppress logging scripts to dataflash + log runtime memory usage and execution time + Disable pre-arm check + Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + + + + + + + + + + + + + + + ROMFS + APM/scripts + + 0:ROMFS, 1:APM/scripts + True + + + + + + + + Normal + IO Priority + Storage Priority + UART Priority + I2C Priority + SPI Priority + Timer Priority + Main Priority + Boost Priority + + True + + + + Disabled + Enabled + + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + MAVLink1 + MAVLink2 + + True + + + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + True + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + 0 120 + s + seconds + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + + 25 400 + Hz + hertz + + + + 1Khz + loop-rate + double loop-rate + triple loop-rate + quadruple loop rate + + + + + None + BLHeli32/Kiss/AM32 + BLHeli_S/BlueJay + BLHeli32/AM32/Kiss+EDT + BLHeli_S/BlueJay+EDT + + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + True + + + + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + SRCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + + + + Disabled + Enabled + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + 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RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + 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RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + BoostThrottle + Motor9 + Motor10 + Motor11 + Motor12 + Winch + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + Parachute + Gripper + LandingGear + EngineRunEnable + HeliRSC + HeliTailRSC + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7 + Motor8 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + ThrottleLeft + ThrottleRight + 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SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + Disabled + Enabled + + True + + + + Disabled + TestMotor1 + TestMotor2 + TestMotor3 + TestMotor4 + TestMotor5 + TestMotor6 + TestMotor7 + TestMotor8 + + + + s + seconds + 0 300 + + + Hz + hertz + 0 500 + + + + Disabled + Enabled + + + + + None + OneShot + OneShot125 + Brushed + DShot150 + DShot300 + DShot600 + DShot1200 + + True + + + + Console + Mavlink Serial Channel1 + Mavlink Serial Channel2 + Mavlink Serial Channel3 + Mavlink Serial Channel4 + Mavlink Serial Channel5 + + + + 1 127 + True + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + + + SERVO1 + SERVO2 + SERVO3 + SERVO4 + SERVO5 + SERVO6 + SERVO7 + SERVO8 + SERVO9 + SERVO10 + SERVO11 + SERVO12 + + 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + True + + + + SERVO1 + SERVO2 + SERVO3 + SERVO4 + SERVO5 + SERVO6 + SERVO7 + SERVO8 + SERVO9 + SERVO10 + SERVO11 + SERVO12 + + 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + + + 2 50 + + + + + 0 4095 + + + 0 4095 + + + + + 25 250 + Hz + hertz 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4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + None + MulticastUDP + SocketCAN + + + + + None + MulticastUDP + SocketCAN + + + + m/V + meters per volt + + + + Disable + Enabled + + + + + Disable + Enabled + + + + Hz + hertz + + + ms + milliseconds + + + + + m + meters + + + m + meters + + + + + + Transceiever disable + Transceiever enable + + + + 1 10 + + + m + meters + + + m + meters + + + m + meters + + + m + meters + + + m + meters + + + m + meters + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8 + + + degC + 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on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disabled + TSYS01 + MCP9600 + MAX31865 + TSYS03 + Analog + DroneCAN + MLX90614 + + True + + + 0 3 + True + + + 0 127 + True + + + + None + ESC + Motor + Battery Index + Battery ID/SerialNumber + CAN based Pitot tube + DroneCAN-out on AP_Periph + + + + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + + + + + + + + + + + + + Disable + Enable + + + + m + meters + 1 + + + + Disable Download + + 0:Disable Download + + + m + meters + 0.05 50000 + + + m + meters + 0 50 + + + 0 128 + + + + + + Disabled + EnableVersion1 + EnableVersion2 + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + FlowHold + + + + + Stabilize + Acro + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + Drift + Sport + Flip + AutoTune + PosHold + Brake + Throw + Avoid_ADSB + Guided_NoGPS + FlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + ModeFlowHold + + + + 0 100 + + + + None + TakePhoto + ToggleVideo + ModeAcro + ModeAltHold + ModeAuto + ModeLoiter + ModeRTL + ModeCircle + ModeLand + ModeDrift + ModeSport + ModeAutoTune + ModePosHold + ModeBrake + ModeThrow + Flip + ModeStabilize + Disarm + ToggleMode + Arm-Land-RTL + ToggleSimpleMode + ToggleSuperSimpleMode + MotorLoadTest + + + + + DisarmOnLowThrottle + ArmOnHighThrottle + UpgradeToLoiter + RTLStickCancel + + 0:DisarmOnLowThrottle,1:ArmOnHighThrottle,2:UpgradeToLoiter,3:RTLStickCancel + + + 0 5 + 0.01 + + + 0 5 + 0.01 + + + 0 1 + 0.01 + + + 0 1 + 0.01 + + + 0 1 + 0.01 + + + 0 100 + + + + ConstantThrust + LogReplay1 + LogReplay2 + + + + + + + None + MAVLink + IntelT265 + VOXL(ModalAI) + + True + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Right + Back + Left + Up + Down + + + + + + ms + milliseconds + 0 250 + + + m/s + meters per second + 0.05 5.0 + + + m + meters + 0.1 10.0 + + + rad + radians + 0.05 1.0 + + + % + percent + -1 100 + + + + + + Disable + Enable + + + + 1 1000 + + + 0 7 + + + + Band A + Band B + Band E + Airwave + RaceBand + Low RaceBand + 1G3 Band A + 1G3 Band B + Band X + 3G3 Band A + 3G3 Band B + + + + True + 1000 6000 + + + + Pitmode + Pitmode until armed + Pitmode when disarmed + Unlocked + Add leading zero byte to requests + Use 1 stop-bit in SmartAudio + Ignore CRC in SmartAudio + Ignore status updates in CRSF and blindly set VTX options + + 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests,5:Use 1 stop-bit in SmartAudio,6:Ignore CRC in SmartAudio,7:Ignore status updates in CRSF and blindly set VTX options + + + 25 1000 + + + + + + None + PWM + Daiwa + + + + 0 10 + m/s + meters per second + + + 0.01 10.0 + + + + Spin freely on startup + Verbose output + Retry if stuck (Daiwa only) + + 0:Spin freely on startup, 1:Verbose output, 2:Retry if stuck (Daiwa only) + + + + + cm/s + centimeters per second + 10 2000 + 50 + + + cm + centimeters + 5 1000 + 1 + + + cm/s + centimeters per second + 10 1000 + 50 + + + cm/s + centimeters per second + 10 500 + 10 + + + cm/s/s + centimeters per square second + 50 500 + 10 + + + cm/s/s + centimeters per square second + 50 500 + 10 + + + + Disable + Enable + + + + m/s/s/s + meters per cubic second + 1 20 + + + m + meters + 0.1 100 + + + cm/s/s + centimeters per square second + 0 500 + 10 + + + + + + Only use during takeoffs or landing see weathervane takeoff and land override parameters + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + 0.5 4 + 0.1 + + + deg + degrees + 0 10 + 0.1 + + + m + meters + 0 50 + 1 + + + m/s + meters per second + 0 50 + 0.1 + + + m/s + meters per second + 0 5 + 0.1 + + + + No override + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + + No override + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + + Use pitch when nose or tail-in for faster weathervaning + + 0:Use pitch when nose or tail-in for faster weathervaning + + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + s + seconds + 0 127 + + + m + meters + 0.1 100 + + + + forward + right + backward + left + + + + -1 32767 + + + + diff --git a/Plane-4.6/Parameters.html b/Plane-4.6/Parameters.html new file mode 100644 index 0000000..753f0e7 --- /dev/null +++ b/Plane-4.6/Parameters.html @@ -0,0 +1,56207 @@ + + + +

Complete Parameter List

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+ +

This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

+ + +[toc exclude="Complete Parameter List"] + + + +

ArduPlane Parameters

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Eeprom format version number (ArduPlane:FORMAT_VERSION)

Note: This parameter is for advanced users
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This value is incremented when changes are made to the eeprom format

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MAVLink system ID of this vehicle (ArduPlane:SYSID_THISMAV)

Note: This parameter is for advanced users
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Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

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Ground station MAVLink system ID (ArduPlane:SYSID_MYGCS)

Note: This parameter is for advanced users
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The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.

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Autotune level (ArduPlane:AUTOTUNE_LEVEL)

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Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values

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Autotune options bitmask (ArduPlane:AUTOTUNE_OPTIONS)

Note: This parameter is for advanced users
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Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune.

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Telemetry startup delay (ArduPlane:TELEM_DELAY)

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The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

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GCS PID tuning mask (ArduPlane:GCS_PID_MASK)

Note: This parameter is for advanced users
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bitmask of PIDs to send MAVLink PID_TUNING messages for

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Rudder Mix (ArduPlane:KFF_RDDRMIX)

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Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.

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Throttle to Pitch Mix (ArduPlane:KFF_THR2PTCH)

Note: This parameter is for advanced users
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Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.

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Low throttle pitch down trim (ArduPlane:STAB_PITCH_DOWN)

Note: This parameter is for advanced users
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Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.

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Glide slope minimum (ArduPlane:GLIDE_SLOPE_MIN)

Note: This parameter is for advanced users
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This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.

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Glide slope threshold (ArduPlane:GLIDE_SLOPE_THR)

Note: This parameter is for advanced users
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This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff

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Stick Mixing (ArduPlane:STICK_MIXING)

Note: This parameter is for advanced users
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When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.

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Takeoff throttle min speed (ArduPlane:TKOFF_THR_MINSPD)

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Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.

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Takeoff throttle min acceleration (ArduPlane:TKOFF_THR_MINACC)

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Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm".

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Takeoff throttle delay (ArduPlane:TKOFF_THR_DELAY)

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This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.

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Takeoff throttle maximum time (ArduPlane:TKOFF_THR_MAX_T)

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This sets the time that maximum throttle will be forced during a fixed wing takeoff.

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Takeoff minimum throttle (ArduPlane:TKOFF_THR_MIN)

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The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.

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Takeoff options (ArduPlane:TKOFF_OPTIONS)

Note: This parameter is for advanced users
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This selects the mode of the takeoff in AUTO and TAKEOFF flight modes.

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Takeoff tail dragger elevator (ArduPlane:TKOFF_TDRAG_ELEV)

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This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.

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Takeoff tail dragger speed1 (ArduPlane:TKOFF_TDRAG_SPD1)

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This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.

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Takeoff rotate speed (ArduPlane:TKOFF_ROTATE_SPD)

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This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.

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Takeoff throttle slew rate (ArduPlane:TKOFF_THR_SLEW)

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This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.

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Takeoff pitch limit reduction (ArduPlane:TKOFF_PLIM_SEC)

Note: This parameter is for advanced users
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This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.

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Takeoff flap percentage (ArduPlane:TKOFF_FLAP_PCNT)

Note: This parameter is for advanced users
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The amount of flaps (as a percentage) to apply in automatic takeoff

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Level flight roll limit (ArduPlane:LEVEL_ROLL_LIMIT)

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This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach.

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Bitmask for when to allow negative reverse thrust (ArduPlane:USE_REV_THRUST)

Note: This parameter is for advanced users
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This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.

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Altitude offset (ArduPlane:ALT_OFFSET)

Note: This parameter is for advanced users
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This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission

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Waypoint Radius (ArduPlane:WP_RADIUS)

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Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.

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Waypoint Maximum Radius (ArduPlane:WP_MAX_RADIUS)

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Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.

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Waypoint Loiter Radius (ArduPlane:WP_LOITER_RAD)

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Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.

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RTL loiter radius (ArduPlane:RTL_RADIUS)

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Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.

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Enable stall prevention (ArduPlane:STALL_PREVENTION)

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Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.

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Target cruise airspeed (ArduPlane:AIRSPEED_CRUISE)

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Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.

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Minimum Airspeed (ArduPlane:AIRSPEED_MIN)

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Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.

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Maximum Airspeed (ArduPlane:AIRSPEED_MAX)

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Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.

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Stall airspeed (ArduPlane:AIRSPEED_STALL)

+ +

If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed. Value is as an indicated (calibrated/apparent) airspeed.

+ + + +

Fly By Wire elevator reverse (ArduPlane:FBWB_ELEV_REV)

+ +

Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.

+ + + +

Use terrain following (ArduPlane:TERRAIN_FOLLOW)

+ +

This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.

+ + + +

Terrain lookahead (ArduPlane:TERRAIN_LOOKAHD)

+ +

This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.

+ + + +

Fly By Wire B altitude change rate (ArduPlane:FBWB_CLIMB_RATE)

+ +

This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.

+ + + +

Minimum Throttle (ArduPlane:THR_MIN)

+ +

Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.

+ + + +

Maximum Throttle (ArduPlane:THR_MAX)

+ +

Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.

+ + + +

Maximum Throttle for takeoff (ArduPlane:TKOFF_THR_MAX)

Note: This parameter is for advanced users
+ +

The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.

+ + + +

Throttle slew rate (ArduPlane:THR_SLEWRATE)

+ +

Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.

+ + + +

Flap slew rate (ArduPlane:FLAP_SLEWRATE)

Note: This parameter is for advanced users
+ +

maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.

+ + + +

Throttle suppress manual passthru (ArduPlane:THR_SUPP_MAN)

Note: This parameter is for advanced users
+ +

When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff

+ + + +

Throttle passthru in stabilize (ArduPlane:THR_PASS_STAB)

Note: This parameter is for advanced users
+ +

If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.

+ + + +

Throttle and RC Failsafe Enable (ArduPlane:THR_FAILSAFE)

+ +

0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.

+ + + +

Throttle Failsafe Value (ArduPlane:THR_FS_VALUE)

+ +

The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.

+ + + +

Throttle cruise percentage (ArduPlane:TRIM_THROTTLE)

+ +

Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.

+ + + +

Throttle nudge enable (ArduPlane:THROTTLE_NUDGE)

+ +

When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.

+ + + +

Short failsafe action (ArduPlane:FS_SHORT_ACTN)

+ +

The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.

+ + + +

Short failsafe timeout (ArduPlane:FS_SHORT_TIMEOUT)

+ +

The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds

+ + + +

Long failsafe action (ArduPlane:FS_LONG_ACTN)

+ +

The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.

+ + + +

Long failsafe timeout (ArduPlane:FS_LONG_TIMEOUT)

+ +

The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.

+ + + +

GCS failsafe enable (ArduPlane:FS_GCS_ENABL)

+ +

Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.

+ + + +

Flightmode channel (ArduPlane:FLTMODE_CH)

Note: This parameter is for advanced users
+ +

RC Channel to use for flight mode control

+ + + +

FlightMode1 (ArduPlane:FLTMODE1)

+ +

Flight mode for switch position 1 (910 to 1230 and above 2049)

+ + + +

FlightMode2 (ArduPlane:FLTMODE2)

+ +

Flight mode for switch position 2 (1231 to 1360)

+ + + +

FlightMode3 (ArduPlane:FLTMODE3)

+ +

Flight mode for switch position 3 (1361 to 1490)

+ + + +

FlightMode4 (ArduPlane:FLTMODE4)

+ +

Flight mode for switch position 4 (1491 to 1620)

+ + + +

FlightMode5 (ArduPlane:FLTMODE5)

+ +

Flight mode for switch position 5 (1621 to 1749)

+ + + +

FlightMode6 (ArduPlane:FLTMODE6)

+ +

Flight mode for switch position 6 (1750 to 2049)

+ + + +

Initial flight mode (ArduPlane:INITIAL_MODE)

Note: This parameter is for advanced users
+ +

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.

+ + + +

Maximum Bank Angle (ArduPlane:ROLL_LIMIT_DEG)

+ +

Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.

+ + + +

Maximum Pitch Angle (ArduPlane:PTCH_LIM_MAX_DEG)

+ +

Maximum pitch up angle commanded in modes with stabilized limits.

+ + + +

Minimum Pitch Angle (ArduPlane:PTCH_LIM_MIN_DEG)

+ +

Maximum pitch down angle commanded in modes with stabilized limits

+ + + +

ACRO mode roll rate (ArduPlane:ACRO_ROLL_RATE)

+ +

The maximum roll rate at full stick deflection in ACRO mode

+ + + +

ACRO mode pitch rate (ArduPlane:ACRO_PITCH_RATE)

+ +

The maximum pitch rate at full stick deflection in ACRO mode

+ + + +

ACRO mode yaw rate (ArduPlane:ACRO_YAW_RATE)

+ +

The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.

+ + + +

ACRO mode attitude locking (ArduPlane:ACRO_LOCKING)

+ +

Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude

+ + + +

Ground steer altitude (ArduPlane:GROUND_STEER_ALT)

+ +

Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.

+ + + +

Ground steer rate (ArduPlane:GROUND_STEER_DPS)

Note: This parameter is for advanced users
+ +

Ground steering rate in degrees per second for full rudder stick deflection

+ + + +

Mixing Gain (ArduPlane:MIXING_GAIN)

+ +

The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.

+ + + +

Rudder only aircraft (ArduPlane:RUDDER_ONLY)

+ +

Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.

+ + + +

Mixing Offset (ArduPlane:MIXING_OFFSET)

+ +

The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.

+ + + +

Differential spoilers rudder rate (ArduPlane:DSPOILR_RUD_RATE)

+ +

Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).

+ + + +

Log bitmask (ArduPlane:LOG_BITMASK)

Note: This parameter is for advanced users
+ +

Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basic log types by setting this to 65535.

+ + + +

speed used for speed scaling calculations (ArduPlane:SCALING_SPEED)

Note: This parameter is for advanced users
+ +

Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values

+ + + +

Minimum ground speed (ArduPlane:MIN_GROUNDSPEED)

Note: This parameter is for advanced users
+ +

Minimum ground speed when under airspeed control

+ + + +

Pitch angle offset (ArduPlane:PTCH_TRIM_DEG)

+ +

Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.

+ + + +

RTL altitude (ArduPlane:RTL_ALTITUDE)

+ +

Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.

+ + + +

Minimum altitude for FBWB and CRUISE mode (ArduPlane:CRUISE_ALT_FLOOR)

+ +

This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.

+ + + +

Flap 1 percentage (ArduPlane:FLAP_1_PERCNT)

Note: This parameter is for advanced users
+ +

The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps

+ + + +

Flap 1 speed (ArduPlane:FLAP_1_SPEED)

Note: This parameter is for advanced users
+ +

The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

+ + + +

Flap 2 percentage (ArduPlane:FLAP_2_PERCNT)

Note: This parameter is for advanced users
+ +

The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps

+ + + +

Flap 2 speed (ArduPlane:FLAP_2_SPEED)

Note: This parameter is for advanced users
+ +

The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED

+ + + +

IO override channel (ArduPlane:OVERRIDE_CHAN)

Note: This parameter is for advanced users
+ +

If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.

+ + + +

RTL auto land (ArduPlane:RTL_AUTOLAND)

+ +

Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).

+ + + +

Crash Deceleration Threshold (ArduPlane:CRASH_ACC_THRESH)

Note: This parameter is for advanced users
+ +

X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.

+ + + +

Crash Detection (ArduPlane:CRASH_DETECT)

Note: This parameter is for advanced users
+ +

Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.

+ + + +

Enable rangefinder for landing (ArduPlane:RNGFND_LANDING)

+ +

This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare

+ + + +

GCS sysid enforcement (ArduPlane:SYSID_ENFORCE)

Note: This parameter is for advanced users
+ +

This controls whether packets from other than the expected GCS system ID will be accepted

+ + + +

rudder differential thrust gain (ArduPlane:RUDD_DT_GAIN)

+ +

gain control from rudder to differential thrust

+ + + +

Manual R/C pass-through mask (ArduPlane:MANUAL_RCMASK)

Note: This parameter is for advanced users
+ +

Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.

+ + + +

Home reset altitude threshold (ArduPlane:HOME_RESET_ALT)

Note: This parameter is for advanced users
+ +

When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.

+ + + +

Flight mode options (ArduPlane:FLIGHT_OPTIONS)

Note: This parameter is for advanced users
+ +

Flight mode specific options

+ + + +

Takeoff throttle acceleration count (ArduPlane:TKOFF_ACCEL_CNT)

+ +

This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.

+ + + +

Differential spoiler crow flaps outer weight (ArduPlane:DSPOILER_CROW_W1)

Note: This parameter is for advanced users
+ +

This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.

+ + + +

Differential spoiler crow flaps inner weight (ArduPlane:DSPOILER_CROW_W2)

Note: This parameter is for advanced users
+ +

This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.

+ + + +

Takeoff timeout (ArduPlane:TKOFF_TIMEOUT)

+ +

This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.

+ + + +

Differential spoiler and crow flaps options (ArduPlane:DSPOILER_OPTS)

Note: This parameter is for advanced users
+ +

Differential spoiler and crow flaps options. Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in).

+ + + +

Differential spoiler aileron matching (ArduPlane:DSPOILER_AILMTCH)

Note: This parameter is for advanced users
+ +

This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected

+ + + +

Forward throttle battery voltage compensation maximum voltage (ArduPlane:FWD_BAT_VOLT_MAX)

Note: This parameter is for advanced users
+ +

Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.

+ + + +

Forward throttle battery voltage compensation minimum voltage (ArduPlane:FWD_BAT_VOLT_MIN)

Note: This parameter is for advanced users
+ +

Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.

+ + + +

Forward throttle battery compensation index (ArduPlane:FWD_BAT_IDX)

Note: This parameter is for advanced users
+ +

Which battery monitor should be used for doing compensation for the forward throttle

+ + + +

EKF failsafe variance threshold (ArduPlane:FS_EKF_THRESH)

Note: This parameter is for advanced users
+ +

Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes

+ + + +

RTL minimum climb (ArduPlane:RTL_CLIMB_MIN)

+ +

The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.

+ + + +

Manual control expo for roll (ArduPlane:MAN_EXPO_ROLL)

+ +

Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes

+ + + +

Manual input expo for pitch (ArduPlane:MAN_EXPO_PITCH)

+ +

Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes

+ + + +

Manual input expo for rudder (ArduPlane:MAN_EXPO_RUDDER)

+ +

Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes

+ + + +

Oneshot output mask (ArduPlane:ONESHOT_MASK)

Note: This parameter is for advanced users
+ +

Mask of output channels to use oneshot on

+ + + +

Autotune axis bitmask (ArduPlane:AUTOTUNE_AXES)

+ +

1-byte bitmap of axes to autotune

+ + + +

rangefinder landing orientation (ArduPlane:RNGFND_LND_ORNT)

+ +

The orientation of rangefinder to use for landing detection. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters. Custom orientation can be used with Custom1 or Custom2. The orientation must match at least one of the available rangefinders.

+ + + +

VEHICLE Parameters

+ + +

Flight mode block from GCS (FLTMODE_GCSBLOCK)

+ +

Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.

+ + + +

Lua Script Parameters

+ + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + + +

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

+ + + +

param reversion RC function (PREV_RC_FUNC)

+ +

RCn_OPTION number to used to trigger parameter reversion

+ + + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+ + + +

Camera1 Thermal Palette (CAM1_THERM_PAL)

+ +

thermal image colour palette

+ + + +

Camera1 Thermal Gain (CAM1_THERM_GAIN)

+ +

thermal image temperature range

+ + + +

Camera1 Thermal Raw Data (CAM1_THERM_RAW)

+ +

save images with raw temperatures

+ + + +

terrain brake enable (TERR_BRK_ENABLE)

+ +

terrain brake enable

+ + + +

terrain brake altitude (TERR_BRK_ALT)

+ +

terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.

+ + + +

terrain brake home distance (TERR_BRK_HDIST)

+ +

terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate

+ + + +

terrain brake speed threshold (TERR_BRK_SPD)

+ +

terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

+ + + +

Quicktune axes (QUIK_AXES)

+ +

axes to tune

+ + + +

Quicktune doubling time (QUIK_DOUBLE_TIME)

+ +

Time to double a tuning parameter. Raise this for a slower tune.

+ + + +

Quicktune gain margin (QUIK_GAIN_MARGIN)

+ +

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+ + + +

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+ +

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+ + + +

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+ +

Maximum value for yaw P gain

+ + + +

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+ +

Maximum value for yaw D gain

+ + + +

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+ +

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+ + + +

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+ +

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+ + + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Quicktune auto save (QUIK_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Quicktune RC function (QUIK_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+ +

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+ + + +

Quicktune options (QUIK_OPTIONS)

+ +

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+ + + +

Ship landing enable (SHIP_ENABLE)

+ +

Enable ship landing system

+ + + +

Ship landing angle (SHIP_LAND_ANGLE)

+ +

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

+ + + +

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+ + + +

CoG adjustment ratio (CGA_RATIO)

Note: This parameter is for advanced users
+ +

The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).

+ + + +

enable web server (WEB_ENABLE)

+ +

enable web server

+ + + +

web server TCP port (WEB_BIND_PORT)

+ +

web server TCP port

+ + + +

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+ +

web server debugging

+ + + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+ + + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

+ + + +

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+ +

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+ + + +

Slung Payload enable (SLUP_ENABLE)

+ +

Slung Payload enable

+ + + +

Slung Payload Velocity P gain (SLUP_VEL_P)

+ +

Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload

+ + + +

Slung Payload horizontal distance max (SLUP_DIST_MAX)

+ +

Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress

+ + + +

Slung Payload mavlink system id (SLUP_SYSID)

+ +

Slung Payload mavlink system id. 0 to use any/all system ids

+ + + +

Slung Payload return to WP position P gain (SLUP_WP_POS_P)

+ +

WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint

+ + + +

Slung Payload resting offset estimate filter time constant (SLUP_RESTOFS_TC)

+ +

payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response

+ + + +

Slung Payload debug output (SLUP_DEBUG)

+ +

Slung payload debug output, set to 1 to enable debug

+ + + +

Rover Quicktune enable (RTUN_ENABLE)

+ +

Enable quicktune system

+ + + +

Rover Quicktune axes (RTUN_AXES)

+ +

axes to tune

+ + + +

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+ +

Ratio between measured response and FF gain. Raise this to get a higher FF gain

+ + + +

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+ +

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+ +

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+ +

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

+ + + +

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+ +

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+ +

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

WinchControl Rate Up (WINCH_RATE_UP)

+ +

Maximum rate when retracting line

+ + + +

WinchControl Rate Down (WINCH_RATE_DN)

+ +

Maximum rate when releasing line

+ + + +

Winch Rate Control RC function (WINCH_RC_FUNC)

+ +

RCn_OPTION number to use to control winch rate

+ + + +

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+ +

ExternalNav may be used if innovations are below this threshold

+ + + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

Count of SOC estimators (BATT_SOC_COUNT)

+ +

Number of battery SOC estimators

+ + + +

Battery estimator index (BATT_SOC1_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC1_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC1_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC1_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC1_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC2_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC2_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC2_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC2_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC2_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC3_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC3_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC3_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC3_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC3_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC4_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC4_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC4_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC4_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC4_C3)

+ +

Battery estimator coefficient3

+ + + +

Deadreckoning Enable (DR_ENABLE)

+ +

Deadreckoning Enable

+ + + +

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+ +

Distance from home (in meters) beyond which the dead reckoning will be enabled

+ + + +

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+ +

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+ + + +

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+ +

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+ + + +

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+ +

GPS checks must fail for this many seconds before dead reckoning will be triggered

+ + + +

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+ +

lean angle (in degrees) during deadreckoning

+ + + +

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+ +

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+ + + +

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+ +

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+ + + +

Deadreckoning Next Mode (DR_NEXT_MODE)

+ +

Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered

+ + + +

Angular acceleration limit (AEROM_ANG_ACCEL)

+ +

Maximum angular acceleration in maneuvers

+ + + +

Roll control filtertime constant (AEROM_ANG_TC)

+ +

This is the time over which we filter the desired roll to smooth it

+ + + +

Throttle feed forward from pitch (AEROM_THR_PIT_FF)

+ +

This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch

+ + + +

P gain for speed controller (AEROM_SPD_P)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

I gain for speed controller (AEROM_SPD_I)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

Roll control time constant (AEROM_ROL_COR_TC)

+ +

This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections

+ + + +

Time constant for correction of our distance along the path (AEROM_TIME_COR_P)

+ +

This is the time constant for correcting path position errors

+ + + +

P gain for path error corrections (AEROM_ERR_COR_P)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

D gain for path error corrections (AEROM_ERR_COR_D)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

The roll rate to use when entering a roll maneuver (AEROM_ENTRY_RATE)

+ +

This controls how rapidly we roll into a new orientation

+ + + +

The lookahead for throttle control (AEROM_THR_LKAHD)

+ +

This controls how far ahead we look in time along the path for the target throttle

+ + + +

Debug control (AEROM_DEBUG)

+ +

This controls the printing of extra debug information on paths

+ + + +

Minimum Throttle (AEROM_THR_MIN)

+ +

Lowest throttle used during maneuvers

+ + + +

Throttle boost (AEROM_THR_BOOST)

+ +

This is the extra throttle added in schedule elements marked as needing a throttle boost

+ + + +

Yaw acceleration (AEROM_YAW_ACCEL)

+ +

This is maximum yaw acceleration to use

+ + + +

Lookahead (AEROM_LKAHD)

+ +

This is how much time to look ahead in the path for calculating path rates

+ + + +

Path Scale (AEROM_PATH_SCALE)

+ +

Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.

+ + + +

Box Width (AEROM_BOX_WIDTH)

+ +

Length of aerobatic "box"

+ + + +

Stall turn throttle (AEROM_STALL_THR)

+ +

Amount of throttle to reduce to for a stall turn

+ + + +

Stall turn pitch threshold (AEROM_STALL_PIT)

+ +

Pitch threashold for moving to final stage of stall turn

+ + + +

KnifeEdge Rudder (AEROM_KE_RUDD)

+ +

Percent of rudder normally uses to sustain knife-edge at trick speed

+ + + +

KnifeEdge Rudder lookahead (AEROM_KE_RUDD_LK)

+ +

Time to look ahead in the path to calculate rudder correction for bank angle

+ + + +

Altitude Abort (AEROM_ALT_ABORT)

+ +

Maximum allowable loss in altitude during a trick or sequence from its starting altitude.

+ + + +

Timesync P gain (AEROM_TS_P)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync I gain (AEROM_TS_I)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync speed max (AEROM_TS_SPDMAX)

+ +

This sets the maximum speed adjustment for time sync between aircraft

+ + + +

Timesync rate of send of NAMED_VALUE_FLOAT data (AEROM_TS_RATE)

+ +

This sets the rate we send data for time sync between aircraft

+ + + +

Mission angle (AEROM_MIS_ANGLE)

+ +

When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used

+ + + +

Aerobatic options (AEROM_OPTIONS)

+ +

Options to control aerobatic behavior

+ + + +

Tricks on Switch Enable (TRIK_ENABLE)

+ +

Enables Tricks on Switch. TRIK params hidden until enabled

+ + + +

Trik Selection Scripting Function (TRIK_SEL_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick selection

+ + + +

Trik Action Scripting Function (TRIK_ACT_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

+ + + +

Trik Count (TRIK_COUNT)

+ +

Number of tricks which can be selected over the range of the trik selection RC channel

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+ +

Camera selection when switch is in high position

+ + + +

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

+ +

ViewPro Zoom Speed. Higher numbers result in faster zooming

+ + + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

EFI INF-Inject options (EFI_INF_OPTIONS)

+ +

EFI INF driver options

+ + + +

EFI INF-Inject throttle rate (EFI_INF_THR_HZ)

+ +

EFI INF throttle output rate

+ + + +

EFI INF-Inject ignition aux function (EFI_INF_IGN_AUX)

+ +

EFI INF throttle ignition aux function

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

Enable ANX battery support (BATT_ANX_ENABLE)

+ +

Enable ANX battery support

+ + + +

Set ANX CAN driver (BATT_ANX_CANDRV)

+ +

Set ANX CAN driver

+ + + +

ANX CAN battery index (BATT_ANX_INDEX)

+ +

ANX CAN battery index

+ + + +

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+ +

ANX CAN battery options

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

+ + + +

Hobbywing ESC Enable (ESC_HW_ENABLE)

+ +

Enable Hobbywing ESC telemetry

+ + + +

Hobbywing ESC motor poles (ESC_HW_POLES)

+ +

Number of motor poles for eRPM scaling

+ + + +

Hobbywing ESC motor offset (ESC_HW_OFS)

+ +

Motor number offset of first ESC

+ + + +

Enable NMEA 2000 EFI driver (EFI_2K_ENABLE)

+ +

Enable NMEA 2000 EFI driver

+ + + +

NMEA 2000 CAN driver (EFI_2K_CANDRV)

+ +

NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

NMEA 2000 options (EFI_2K_OPTIONS)

+ +

NMEA 2000 driver options

+ + + +

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+ +

Enable DJIRS2 debug

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

Enable SkyPower EFI support (EFI_SP_ENABLE)

+ +

Enable SkyPower EFI support

+ + + +

Set SkyPower EFI CAN driver (EFI_SP_CANDRV)

+ +

Set SkyPower EFI CAN driver

+ + + +

SkyPower EFI update rate (EFI_SP_UPDATE_HZ)

Note: This parameter is for advanced users
+ +

SkyPower EFI update rate

+ + + +

SkyPower EFI throttle function (EFI_SP_THR_FN)

+ +

SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control

+ + + +

SkyPower EFI throttle rate (EFI_SP_THR_RATE)

Note: This parameter is for advanced users
+ +

SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine

+ + + +

SkyPower EFI start function (EFI_SP_START_FN)

+ +

SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start

+ + + +

SkyPower EFI generator control function (EFI_SP_GEN_FN)

+ +

SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop

+ + + +

SkyPower EFI minimum RPM (EFI_SP_MIN_RPM)

Note: This parameter is for advanced users
+ +

SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped

+ + + +

SkyPower EFI telemetry rate (EFI_SP_TLM_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS

+ + + +

SkyPower EFI log rate (EFI_SP_LOG_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed

+ + + +

SkyPower EFI allow start disarmed (EFI_SP_ST_DISARM)

+ +

SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed

+ + + +

SkyPower EFI ECU model (EFI_SP_MODEL)

+ +

SkyPower EFI ECU model

+ + + +

SkyPower EFI enable generator control (EFI_SP_GEN_CTRL)

+ +

SkyPower EFI enable generator control

+ + + +

SkyPower EFI restart time (EFI_SP_RST_TIME)

+ +

SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.

+ + + +

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

+ +

Enable Halo6000 EFI driver

+ + + +

Halo6000 CAN driver (EFI_H6K_CANDRV)

+ +

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+ +

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+ + + +

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

+ +

The rate that additional generator telemetry is sent

+ + + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ + + +

Halo6000 options (EFI_H6K_OPTIONS)

+ +

Halo6000 options

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M Connected (TOFSENSE_NO)

+ +

Number of TOFSENSE-M CAN sensors connected

+ + + +

TOFSENSE-M mode to be used (TOFSENSE_MODE)

+ +

TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode

+ + + +

TOFSENSE-M First Instance (TOFSENSE_INST1)

+ +

First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M First ID (TOFSENSE_ID1)

+ +

First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Second Instance (TOFSENSE_INST2)

+ +

Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Second ID (TOFSENSE_ID2)

+ +

Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Third Instance (TOFSENSE_INST3)

+ +

Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+ +

Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+ + + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+ + + +

ADSB_ Parameters

+ + +

ADSB Type (ADSB_TYPE)

+ +

Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled

+ + + +

ADSB vehicle list size (ADSB_LIST_MAX)

Note: This parameter is for advanced users
+ +

ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.

+ + + +

ADSB vehicle list radius filter (ADSB_LIST_RADIUS)

Note: This parameter is for advanced users
+ +

ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

+ + + +

ICAO_ID vehicle identification number (ADSB_ICAO_ID)

Note: This parameter is for advanced users
+ +

ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.

+ + + +

Emitter type (ADSB_EMIT_TYPE)

Note: This parameter is for advanced users
+ +

ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).

+ + + +

Aircraft length and width (ADSB_LEN_WIDTH)

Note: This parameter is for advanced users
+ +

Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.

+ + + +

GPS antenna lateral offset (ADSB_OFFSET_LAT)

Note: This parameter is for advanced users
+ +

GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.

+ + + +

GPS antenna longitudinal offset (ADSB_OFFSET_LON)

Note: This parameter is for advanced users
+ +

GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor

+ + + +

Transceiver RF selection (ADSB_RF_SELECT)

Note: This parameter is for advanced users
+ +

Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.

+ + + +

Squawk code (ADSB_SQUAWK)

Note: This parameter is for advanced users
+ +

VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.

+ + + +

RF capabilities (ADSB_RF_CAPABLE)

Note: This parameter is for advanced users
+ +

Describes your hardware RF In/Out capabilities.

+ + + +

ADSB vehicle list altitude filter (ADSB_LIST_ALT)

Note: This parameter is for advanced users
+ +

ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

+ + + +

ICAO_ID of special vehicle (ADSB_ICAO_SPECL)

Note: This parameter is for advanced users
+ +

ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.

+ + + +

ADS-B logging (ADSB_LOG)

Note: This parameter is for advanced users
+ +

0: no logging, 1: log only special ID, 2:log all

+ + + +

ADS-B Options (ADSB_OPTIONS)

Note: This parameter is for advanced users
+ +

Options for emergency failsafe codes and device capabilities

+ + + +

AFS_ Parameters

+ + +

Enable Advanced Failsafe (AFS_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect

+ + + +

Manual Pin (AFS_MAN_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Heartbeat Pin (AFS_HB_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Comms Waypoint (AFS_WP_COMMS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on comms loss

+ + + +

GPS Loss Waypoint (AFS_WP_GPS_LOSS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on GPS lock loss

+ + + +

Force Terminate (AFS_TERMINATE)

Note: This parameter is for advanced users
+ +

Can be set in flight to force termination of the heartbeat signal

+ + + +

Terminate action (AFS_TERM_ACTION)

Note: This parameter is for advanced users
+ +

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter

+ + + +

Terminate Pin (AFS_TERM_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

AMSL limit (AFS_AMSL_LIMIT)

Note: This parameter is for advanced users
+ +

This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.

+ + + +

Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

Note: This parameter is for advanced users
+ +

This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.

+ + + +

QNH pressure (AFS_QNH_PRESSURE)

Note: This parameter is for advanced users
+ +

This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.

+ + + +

Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

Note: This parameter is for advanced users
+ +

Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.

+ + + +

Maximum number of comms loss events (AFS_MAX_COM_LOSS)

Note: This parameter is for advanced users
+ +

Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.

+ + + +

Enable geofence Advanced Failsafe (AFS_GEOFENCE)

Note: This parameter is for advanced users
+ +

This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1

+ + + +

Enable RC Advanced Failsafe (AFS_RC)

Note: This parameter is for advanced users
+ +

This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1

+ + + +

Enable RC Termination only in manual control modes (AFS_RC_MAN_ONLY)

Note: This parameter is for advanced users
+ +

If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.

+ + + +

Enable dual loss terminate due to failure of both GCS and GPS simultaneously (AFS_DUAL_LOSS)

Note: This parameter is for advanced users
+ +

This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.

+ + + +

RC failure time (AFS_RC_FAIL_TIME)

Note: This parameter is for advanced users
+ +

This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.

+ + + +

Max allowed range (AFS_MAX_RANGE)

Note: This parameter is for advanced users
+ +

This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.

+ + + +

AFS options (AFS_OPTIONS)

+ +

See description for each bitmask bit description

+ + + +

GCS timeout (AFS_GCS_TIMEOUT)

Note: This parameter is for advanced users
+ +

The time (in seconds) of persistent data link loss before GCS failsafe occurs.

+ + + +

AHRS_ Parameters

+ + +

AHRS GPS gain (AHRS_GPS_GAIN)

Note: This parameter is for advanced users
+ +

This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

+ + + +

AHRS use GPS for DCM navigation and position-down (AHRS_GPS_USE)

Note: This parameter is for advanced users
+ +

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

+ + + +

Yaw P (AHRS_YAW_P)

Note: This parameter is for advanced users
+ +

This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.

+ + + +

AHRS RP_P (AHRS_RP_P)

Note: This parameter is for advanced users
+ +

This controls how fast the accelerometers correct the attitude

+ + + +

Maximum wind (AHRS_WIND_MAX)

Note: This parameter is for advanced users
+ +

This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.

+ + + +

AHRS Trim Roll (AHRS_TRIM_X)

+ +

Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.

+ + + +

AHRS Trim Pitch (AHRS_TRIM_Y)

+ +

Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.

+ + + +

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users
+ +

Not Used

+ + + +

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users
+ +

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

+ + + +

AHRS Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users
+ +

This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.

+ + + +

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users
+ +

Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.

+ + + +

Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_TYPE)

Note: This parameter is for advanced users
+ +

This controls which NavEKF Kalman filter version is used for attitude and position estimation

+ + + +

Board orientation roll offset (AHRS_CUSTOM_ROLL)

Note: This parameter is for advanced users
+ +

Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Board orientation pitch offset (AHRS_CUSTOM_PIT)

Note: This parameter is for advanced users
+ +

Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Board orientation yaw offset (AHRS_CUSTOM_YAW)

Note: This parameter is for advanced users
+ +

Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Optional AHRS behaviour (AHRS_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

+ + + +

AIS_ Parameters

+ + +

AIS receiver type (AIS_TYPE)

+ +

AIS receiver type

+ + + +

AIS vessel list size (AIS_LIST_MAX)

Note: This parameter is for advanced users
+ +

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

+ + + +

AIS vessel time out (AIS_TIME_OUT)

Note: This parameter is for advanced users
+ +

if no updates are received in this time a vessel will be removed from the list

+ + + +

AIS logging options (AIS_LOGGING)

Note: This parameter is for advanced users
+ +

Bitmask of AIS logging options

+ + + +

ARMING_ Parameters

+ + +

Blackbox speed (ARMING_BBOX_SPD)

Note: This parameter is for advanced users
+ +

This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging. WARNING: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle.

+ + + +

Require Arming Motors (ARMING_REQUIRE)

Note: This parameter is for advanced users
+ +

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane.

+ + + +

Accelerometer error threshold (ARMING_ACCTHRESH)

Note: This parameter is for advanced users
+ +

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

+ + + +

Arming with Rudder enable/disable (ARMING_RUDDER)

Note: This parameter is for advanced users
+ +

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

+ + + +

Required mission items (ARMING_MIS_ITEMS)

Note: This parameter is for advanced users
+ +

Bitmask of mission items that are required to be planned in order to arm the aircraft

+ + + +

Arm Checks to Perform (bitmask) (ARMING_CHECK)

+ +

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.

+ + + +

Arming options (ARMING_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change arming behaviour

+ + + +

Compass magnetic field strength error threshold vs earth magnetic model (ARMING_MAGTHRESH)

Note: This parameter is for advanced users
+ +

Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check

+ + + +

Disable CrashDump Arming check (ARMING_CRSDP_IGN)

Note: This parameter is for advanced users
+ +

Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.

+ + + +

ARSPD Parameters

+ + +

Airspeed Enable (ARSPD_ENABLE)

+ +

Enable airspeed sensor support

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDER)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Primary airspeed sensor (ARSPD_PRIMARY)

Note: This parameter is for advanced users
+ +

This selects which airspeed sensor will be the primary if multiple sensors are found

+ + + +

Airspeed options bitmask (ARSPD_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS

+ + + +

Maximum airspeed and ground speed difference (ARSPD_WIND_MAX)

Note: This parameter is for advanced users
+ +

If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.

+ + + +

Airspeed and GPS speed difference that gives a warning (ARSPD_WIND_WARN)

Note: This parameter is for advanced users
+ +

If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.

+ + + +

Re-enable Consistency Check Gate Size (ARSPD_WIND_GATE)

Note: This parameter is for advanced users
+ +

Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.

+ + + +

Maximum offset cal speed error (ARSPD_OFF_PCNT)

Note: This parameter is for advanced users
+ +

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

+ + + +

ARSPD2_ Parameters

+ + +

Airspeed type (ARSPD2_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD2_USE)

+ +

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

+ + + +

Airspeed offset (ARSPD2_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

+ + + +

Airspeed pin (ARSPD2_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Automatic airspeed ratio calibration (ARSPD2_AUTOCAL)

Note: This parameter is for advanced users
+ +

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

+ + + +

Control pitot tube order (ARSPD2_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Skip airspeed offset calibration on startup (ARSPD2_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD2_PSI_RANGE)

Note: This parameter is for advanced users
+ +

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

+ + + +

Airspeed I2C bus (ARSPD2_BUS)

Note: This parameter is for advanced users
+ +

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

+ + + +

Airspeed ID (ARSPD2_DEVID)

Note: This parameter is for advanced users
+ +

Airspeed sensor ID, taking into account its type, bus and instance

+ + + +

ARSPD_ Parameters

+ + +

Airspeed type (ARSPD_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD_USE)

+ +

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

+ + + +

Airspeed offset (ARSPD_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

+ + + +

Airspeed pin (ARSPD_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Automatic airspeed ratio calibration (ARSPD_AUTOCAL)

Note: This parameter is for advanced users
+ +

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Skip airspeed offset calibration on startup (ARSPD_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD_PSI_RANGE)

Note: This parameter is for advanced users
+ +

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

+ + + +

Airspeed I2C bus (ARSPD_BUS)

Note: This parameter is for advanced users
+ +

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

+ + + +

Airspeed ID (ARSPD_DEVID)

Note: This parameter is for advanced users
+ +

Airspeed sensor ID, taking into account its type, bus and instance

+ + + +

AVD_ Parameters

+ + +

Enable Avoidance using ADSB (AVD_ENABLE)

Note: This parameter is for advanced users
+ +

Enable Avoidance using ADSB

+ + + +

Collision Avoidance Behavior (AVD_F_ACTION)

Note: This parameter is for advanced users
+ +

Specifies aircraft behaviour when a collision is imminent

+ + + +

Collision Avoidance Behavior - Warn (AVD_W_ACTION)

Note: This parameter is for advanced users
+ +

Specifies aircraft behaviour when a collision may occur

+ + + +

Recovery behaviour after a fail event (AVD_F_RCVRY)

Note: This parameter is for advanced users
+ +

Determines what the aircraft will do after a fail event is resolved

+ + + +

Maximum number of obstacles to track (AVD_OBS_MAX)

Note: This parameter is for advanced users
+ +

Maximum number of obstacles to track

+ + + +

Time Horizon Warn (AVD_W_TIME)

Note: This parameter is for advanced users
+ +

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)

+ + + +

Time Horizon Fail (AVD_F_TIME)

Note: This parameter is for advanced users
+ +

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken

+ + + +

Distance Warn XY (AVD_W_DIST_XY)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before W_ACTION is undertaken

+ + + +

Distance Fail XY (AVD_F_DIST_XY)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before F_ACTION is undertaken

+ + + +

Distance Warn Z (AVD_W_DIST_Z)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before BEHAVIOUR_W is undertaken

+ + + +

Distance Fail Z (AVD_F_DIST_Z)

Note: This parameter is for advanced users
+ +

Closest allowed projected distance before BEHAVIOUR_F is undertaken

+ + + +

ADS-B avoidance minimum altitude (AVD_F_ALT_MIN)

Note: This parameter is for advanced users
+ +

Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.

+ + + +

BARO Parameters

+ + +

Ground Pressure (BARO1_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

ground temperature (BARO_GND_TEMP)

Note: This parameter is for advanced users
+ +

User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.

+ + + +

altitude offset (BARO_ALT_OFFSET)

Note: This parameter is for advanced users
+ +

altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.

+ + + +

Primary barometer (BARO_PRIMARY)

Note: This parameter is for advanced users
+ +

This selects which barometer will be the primary if multiple barometers are found

+ + + +

External baro bus (BARO_EXT_BUS)

Note: This parameter is for advanced users
+ +

This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.

+ + + +

Ground Pressure (BARO2_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Absolute Pressure (BARO3_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Range in which sample is accepted (BARO_FLTR_RNG)

+ +

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

+ + + +

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter is for advanced users
+ +

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

+ + + +

Baro ID (BARO1_DEVID)

Note: This parameter is for advanced users
+ +

Barometer sensor ID, taking into account its type, bus and instance

+ + + +

Baro ID2 (BARO2_DEVID)

Note: This parameter is for advanced users
+ +

Barometer2 sensor ID, taking into account its type, bus and instance

+ + + +

Baro ID3 (BARO3_DEVID)

Note: This parameter is for advanced users
+ +

Barometer3 sensor ID, taking into account its type, bus and instance

+ + + +

field elevation (BARO_FIELD_ELV)

Note: This parameter is for advanced users
+ +

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

+ + + +

Altitude error maximum (BARO_ALTERR_MAX)

Note: This parameter is for advanced users
+ +

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

+ + + +

Barometer options (BARO_OPTIONS)

Note: This parameter is for advanced users
+ +

Barometer options

+ + + +

BARO1_WCF_ Parameters

+ + +

Wind coefficient enable (BARO1_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO1_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO1_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO1_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO1_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO1_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO1_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BARO2_WCF_ Parameters

+ + +

Wind coefficient enable (BARO2_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO2_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO2_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO2_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO2_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO2_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO2_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BARO3_WCF_ Parameters

+ + +

Wind coefficient enable (BARO3_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO3_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO3_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO3_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO3_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO3_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO3_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BATT2_ Parameters

+ + +

Battery monitoring (BATT2_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT2_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT2_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT2_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT2_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT2_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT2_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT2_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT2_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT2_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT2_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT2_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT2_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT2_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT2_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT2_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT2_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT2_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT2_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT2_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT2_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT2_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT2_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT2_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT2_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT2_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT2_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT2_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT2_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT2_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT2_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT2_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT2_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT2_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT2_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT3_ Parameters

+ + +

Battery monitoring (BATT3_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT3_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT3_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT3_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT3_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT3_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT3_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT3_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT3_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT3_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT3_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT3_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT3_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT3_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT3_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT3_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT3_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT3_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT3_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT3_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT3_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT3_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT3_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT3_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT3_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT3_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT3_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT3_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT3_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT3_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT3_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT3_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT3_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT3_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT3_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT4_ Parameters

+ + +

Battery monitoring (BATT4_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT4_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT4_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT4_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT4_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT4_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT4_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT4_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT4_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT4_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT4_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT4_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT4_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT4_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT4_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT4_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT4_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT4_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT4_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT4_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT4_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT4_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT4_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT4_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT4_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT4_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT4_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT4_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT4_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT4_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT4_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT4_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT4_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT4_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT4_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT5_ Parameters

+ + +

Battery monitoring (BATT5_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT5_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT5_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT5_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT5_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT5_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT5_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT5_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT5_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT5_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT5_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT5_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT5_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT5_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT5_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT5_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT5_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT5_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT5_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT5_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT5_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT5_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT5_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT5_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT5_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT5_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT5_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT5_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT5_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT5_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT5_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT5_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT5_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT5_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT5_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT5_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT6_ Parameters

+ + +

Battery monitoring (BATT6_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT6_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT6_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT6_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT6_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT6_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT6_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT6_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT6_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT6_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT6_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT6_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT6_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT6_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT6_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT6_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT6_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT6_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT6_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT6_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT6_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT6_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT6_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT6_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT6_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT6_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT6_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT6_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT6_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT6_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT6_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT6_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT6_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT6_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT6_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT6_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT7_ Parameters

+ + +

Battery monitoring (BATT7_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT7_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT7_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT7_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT7_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT7_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT7_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT7_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT7_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT7_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT7_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT7_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT7_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT7_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT7_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT7_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT7_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT7_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT7_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT7_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT7_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT7_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT7_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT7_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT7_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT7_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT7_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT7_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT7_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT7_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT7_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT7_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT7_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT7_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT7_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT7_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT8_ Parameters

+ + +

Battery monitoring (BATT8_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT8_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT8_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT8_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT8_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT8_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT8_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT8_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT8_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT8_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT8_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT8_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT8_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT8_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT8_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT8_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT8_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT8_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT8_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT8_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT8_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT8_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT8_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT8_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT8_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT8_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT8_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT8_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT8_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT8_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT8_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT8_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT8_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT8_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT8_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT8_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT9_ Parameters

+ + +

Battery monitoring (BATT9_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT9_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT9_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT9_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT9_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT9_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT9_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT9_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT9_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT9_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT9_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT9_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT9_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT9_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT9_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT9_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT9_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT9_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT9_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT9_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT9_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT9_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT9_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT9_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT9_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT9_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT9_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT9_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT9_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT9_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT9_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT9_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT9_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT9_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT9_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT9_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTA_ Parameters

+ + +

Battery monitoring (BATTA_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTA_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTA_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTA_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTA_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTA_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTA_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTA_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTA_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTA_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTA_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTA_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTA_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTA_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTA_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTA_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTA_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTA_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTA_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTA_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTA_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTA_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTA_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTA_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTA_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTA_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTA_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTA_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTA_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTA_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTA_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTA_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTA_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTA_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTA_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTA_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTB_ Parameters

+ + +

Battery monitoring (BATTB_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTB_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTB_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTB_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTB_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTB_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTB_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTB_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTB_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTB_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTB_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTB_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTB_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTB_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTB_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTB_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTB_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTB_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTB_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTB_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTB_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTB_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTB_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTB_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTB_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTB_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTB_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTB_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTB_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTB_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTB_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTB_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTB_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTB_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTB_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTB_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTC_ Parameters

+ + +

Battery monitoring (BATTC_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTC_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTC_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTC_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTC_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTC_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTC_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTC_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTC_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTC_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTC_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTC_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTC_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTC_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTC_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTC_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTC_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTC_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTC_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTC_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTC_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTC_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTC_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTC_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTC_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTC_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTC_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTC_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTC_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTC_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTC_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTC_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTC_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTC_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTC_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTC_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTD_ Parameters

+ + +

Battery monitoring (BATTD_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTD_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTD_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTD_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTD_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTD_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTD_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTD_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTD_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTD_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTD_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTD_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTD_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTD_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTD_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTD_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTD_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTD_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTD_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTD_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTD_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTD_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTD_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTD_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTD_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTD_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTD_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTD_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTD_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTD_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTD_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTD_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTD_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTD_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTD_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTD_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTE_ Parameters

+ + +

Battery monitoring (BATTE_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTE_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTE_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTE_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTE_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTE_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTE_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTE_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTE_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTE_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTE_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTE_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTE_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTE_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTE_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTE_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTE_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTE_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTE_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTE_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTE_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTE_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTE_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTE_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTE_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTE_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTE_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTE_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTE_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTE_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTE_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTE_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTE_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTE_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTE_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTE_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTF_ Parameters

+ + +

Battery monitoring (BATTF_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTF_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTF_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTF_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTF_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTF_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTF_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTF_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTF_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTF_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTF_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTF_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTF_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTF_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTF_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTF_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTF_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTF_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTF_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTF_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTF_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTF_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTF_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTF_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTF_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTF_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTF_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTF_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTF_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTF_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTF_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTF_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTF_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTF_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTF_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTF_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTG_ Parameters

+ + +

Battery monitoring (BATTG_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTG_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATTG_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATTG_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTG_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTG_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTG_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTG_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTG_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTG_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTG_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTG_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTG_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTG_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTG_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTG_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTG_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTG_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTG_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTG_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTG_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTG_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTG_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTG_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTG_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTG_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTG_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTG_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTG_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTG_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTG_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTG_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTG_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTG_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTG_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTG_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT_ Parameters

+ + +

Battery monitoring (BATT_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Maximum allowed power (Watts) (BATT_WATT_MAX)

Note: This parameter is for advanced users
+ +

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

+ + + +

Battery serial number (BATT_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BRD_ Parameters

+ + +

Serial 1 flow control (BRD_SER1_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.

+ + + +

Serial 2 flow control (BRD_SER2_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 3 flow control (BRD_SER3_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 4 flow control (BRD_SER4_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 5 flow control (BRD_SER5_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Sets default state of the safety switch (BRD_SAFETY_DEFLT)

+ +

This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.

+ + + +

SBUS output rate (BRD_SBUS_OUT)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz

+ + + +

User-defined serial number (BRD_SERIAL_NUM)

+ +

User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot

+ + + +

Outputs which ignore the safety switch state (BRD_SAFETY_MASK)

Note: This parameter is for advanced users
+ +

A bitmask which controls what outputs can move while the safety switch has not been pressed

+ + + +

Board heater temperature target (BRD_HEAT_TARG)

Note: This parameter is for advanced users
+ +

Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.

+ + + +

Board type (BRD_TYPE)

Note: This parameter is for advanced users
+ +

This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)

+ + + +

Enable IO co-processor (BRD_IO_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

+ + + +

Options for safety button behavior (BRD_SAFETYOPTION)

+ +

This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed

+ + + +

Autopilot board voltage requirement (BRD_VBUS_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

Servo voltage requirement (BRD_VSERVO_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

microSD slowdown (BRD_SD_SLOWDOWN)

Note: This parameter is for advanced users
+ +

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

+ + + +

Set PWM Out Voltage (BRD_PWM_VOLT_SEL)

Note: This parameter is for advanced users
+ +

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

+ + + +

Board options (BRD_OPTIONS)

Note: This parameter is for advanced users
+ +

Board specific option flags

+ + + +

Boot delay (BRD_BOOT_DELAY)

Note: This parameter is for advanced users
+ +

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

+ + + +

Board Heater P gain (BRD_HEAT_P)

Note: This parameter is for advanced users
+ +

Board Heater P gain

+ + + +

Board Heater I gain (BRD_HEAT_I)

Note: This parameter is for advanced users
+ +

Board Heater integrator gain

+ + + +

Board Heater IMAX (BRD_HEAT_IMAX)

Note: This parameter is for advanced users
+ +

Board Heater integrator maximum

+ + + +

Alternative HW config (BRD_ALT_CONFIG)

Note: This parameter is for advanced users
+ +

Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.

+ + + +

Board heater temp lower margin (BRD_HEAT_LOWMGN)

Note: This parameter is for advanced users
+ +

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

+ + + +

SDCard Mission size (BRD_SD_MISSION)

Note: This parameter is for advanced users
+ +

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

+ + + +

SDCard Fence size (BRD_SD_FENCE)

Note: This parameter is for advanced users
+ +

This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.

+ + + +

Load DShot FW on IO (BRD_IO_DSHOT)

Note: This parameter is for advanced users
+ +

This loads the DShot firmware on the IO co-processor

+ + + +

BRD_RADIO Parameters

+ + +

Set type of direct attached radio (BRD_RADIO_TYPE)

+ +

This enables support for direct attached radio receivers

+ + + +

protocol (BRD_RADIO_PROT)

Note: This parameter is for advanced users
+ +

Select air protocol

+ + + +

debug level (BRD_RADIO_DEBUG)

Note: This parameter is for advanced users
+ +

radio debug level

+ + + +

disable receive CRC (BRD_RADIO_DISCRC)

Note: This parameter is for advanced users
+ +

disable receive CRC (for debug)

+ + + +

RSSI signal strength (BRD_RADIO_SIGCH)

Note: This parameter is for advanced users
+ +

Channel to show receive RSSI signal strength, or zero for disabled

+ + + +

Packet rate channel (BRD_RADIO_PPSCH)

Note: This parameter is for advanced users
+ +

Channel to show received packet-per-second rate, or zero for disabled

+ + + +

Enable telemetry (BRD_RADIO_TELEM)

Note: This parameter is for advanced users
+ +

If this is non-zero then telemetry packets will be sent over DSM

+ + + +

Telemetry Transmit power (BRD_RADIO_TXPOW)

Note: This parameter is for advanced users
+ +

Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX

+ + + +

Put radio into FCC test mode (BRD_RADIO_FCCTST)

Note: This parameter is for advanced users
+ +

If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled

+ + + +

Stick input mode (BRD_RADIO_STKMD)

Note: This parameter is for advanced users
+ +

This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.

+ + + +

Set radio to factory test channel (BRD_RADIO_TESTCH)

Note: This parameter is for advanced users
+ +

This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.

+ + + +

RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH)

Note: This parameter is for advanced users
+ +

Channel to show telemetry RSSI value as received by TX

+ + + +

Telemetry PPS channel (BRD_RADIO_TPPSCH)

Note: This parameter is for advanced users
+ +

Channel to show telemetry packets-per-second value, as received at TX

+ + + +

Transmitter transmit power (BRD_RADIO_TXMAX)

Note: This parameter is for advanced users
+ +

Set transmitter maximum transmit power (from 1 to 8)

+ + + +

Transmitter buzzer adjustment (BRD_RADIO_BZOFS)

Note: This parameter is for advanced users
+ +

Set transmitter buzzer note adjustment (adjust frequency up)

+ + + +

Auto-bind time (BRD_RADIO_ABTIME)

Note: This parameter is for advanced users
+ +

When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.

+ + + +

Auto-bind level (BRD_RADIO_ABLVL)

Note: This parameter is for advanced users
+ +

This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially

+ + + +

BRD_RTC Parameters

+ + +

Allowed sources of RTC time (BRD_RTC_TYPES)

Note: This parameter is for advanced users
+ +

Specifies which sources of UTC time will be accepted

+ + + +

Timezone offset from UTC (BRD_RTC_TZ_MIN)

Note: This parameter is for advanced users
+ +

Adds offset in +- minutes from UTC to calculate local time

+ + + +

BTN_ Parameters

+ + +

Enable button reporting (BTN_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

+ + + +

First button Pin (BTN_PIN1)

+ +

Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Second button Pin (BTN_PIN2)

+ +

Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Third button Pin (BTN_PIN3)

+ +

Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Fourth button Pin (BTN_PIN4)

+ +

Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Report send time (BTN_REPORT_SEND)

+ +

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

+ + + +

Button Pin 1 Options (BTN_OPTIONS1)

+ +

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 2 Options (BTN_OPTIONS2)

+ +

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 3 Options (BTN_OPTIONS3)

+ +

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 4 Options (BTN_OPTIONS4)

+ +

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 1 RC Channel function (BTN_FUNC1)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 2 RC Channel function (BTN_FUNC2)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 3 RC Channel function (BTN_FUNC3)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 4 RC Channel function (BTN_FUNC4)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

CAM Parameters

+ + +

Maximum photo roll angle. (CAM_MAX_ROLL)

+ +

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

+ + + +

Distance-trigging in AUTO mode only (CAM_AUTO_ONLY)

+ +

When enabled, trigging by distance is done in AUTO mode only.

+ + + +

CAM1 Parameters

+ + +

Camera shutter (trigger) type (CAM1_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM1_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM1_SERVO_ON)

+ +

PWM value in microseconds to move servo to when shutter is activated

+ + + +

Camera servo OFF PWM value (CAM1_SERVO_OFF)

+ +

PWM value in microseconds to move servo to when shutter is deactivated

+ + + +

Camera trigger distance (CAM1_TRIGG_DIST)

+ +

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

+ + + +

Camera relay ON value (CAM1_RELAY_ON)

+ +

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

+ + + +

Camera minimum time interval between photos (CAM1_INTRVAL_MIN)

+ +

Postpone shooting if previous picture was taken less than this many seconds ago

+ + + +

Camera feedback pin (CAM1_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM1_FEEDBAK_POL)

+ +

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

+ + + +

Camera options (CAM1_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM1_MNT_INST)

+ +

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

+ + + +

Camera horizontal field of view (CAM1_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM1_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM2 Parameters

+ + +

Camera shutter (trigger) type (CAM2_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM2_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM2_SERVO_ON)

+ +

PWM value in microseconds to move servo to when shutter is activated

+ + + +

Camera servo OFF PWM value (CAM2_SERVO_OFF)

+ +

PWM value in microseconds to move servo to when shutter is deactivated

+ + + +

Camera trigger distance (CAM2_TRIGG_DIST)

+ +

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

+ + + +

Camera relay ON value (CAM2_RELAY_ON)

+ +

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

+ + + +

Camera minimum time interval between photos (CAM2_INTRVAL_MIN)

+ +

Postpone shooting if previous picture was taken less than this many seconds ago

+ + + +

Camera feedback pin (CAM2_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM2_FEEDBAK_POL)

+ +

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

+ + + +

Camera options (CAM2_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM2_MNT_INST)

+ +

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

+ + + +

Camera horizontal field of view (CAM2_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM2_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM_RC_ Parameters

+ + +

RunCam device type (CAM_RC_TYPE)

+ +

RunCam device type used to determine OSD menu structure and shutter options.

+ + + +

RunCam features available (CAM_RC_FEATURES)

Note: This parameter is for advanced users
+ +

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

+ + + +

RunCam boot delay before allowing updates (CAM_RC_BT_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam button delay before allowing further button presses (CAM_RC_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam mode delay before allowing further button presses (CAM_RC_MDE_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

+ + + +

RunCam control option (CAM_RC_CONTROL)

Note: This parameter is for advanced users
+ +

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

+ + + +

CAN_ Parameters

+ + +

Loglevel (CAN_LOGLEVEL)

Note: This parameter is for advanced users
+ +

Loglevel for recording initialisation and debug information from CAN Interface

+ + + +

CAN_D1_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D1_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D1_PC_ Parameters

+ + +

ESC channels (CAN_D1_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D1_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D1_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D1_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D1_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D1_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D1_UC_ Parameters

+ + +

Own node ID (CAN_D1_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D1_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D1_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D1_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D1_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D1_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D1_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D1_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D1_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D1_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D1_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D1_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D1_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D1_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D2_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D2_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D2_PC_ Parameters

+ + +

ESC channels (CAN_D2_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D2_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D2_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D2_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D2_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D2_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D2_UC_ Parameters

+ + +

Own node ID (CAN_D2_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D2_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D2_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D2_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D2_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D2_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D2_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D2_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D2_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D2_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D2_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D2_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D2_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D2_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D3_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D3_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D3_PC_ Parameters

+ + +

ESC channels (CAN_D3_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D3_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D3_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D3_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D3_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D3_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D3_UC_ Parameters

+ + +

Own node ID (CAN_D3_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D3_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D3_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D3_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D3_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D3_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D3_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D3_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D3_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D3_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D3_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D3_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D3_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D3_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_P1_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P1_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P1_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P1_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P2_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P2_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P2_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P2_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P3_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P3_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P3_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P3_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_SLCAN_ Parameters

+ + +

SLCAN Route (CAN_SLCAN_CPORT)

+ +

CAN Interface ID to be routed to SLCAN, 0 means no routing

+ + + +

SLCAN Serial Port (CAN_SLCAN_SERNUM)

+ +

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

+ + + +

SLCAN Timeout (CAN_SLCAN_TIMOUT)

+ +

Duration of inactivity after which SLCAN is switched back to original driver in seconds.

+ + + +

SLCAN Start Delay (CAN_SLCAN_SDELAY)

+ +

Duration after which slcan starts after setting SERNUM in seconds.

+ + + +

CHUTE_ Parameters

+ + +

Parachute release enabled or disabled (CHUTE_ENABLED)

+ +

Parachute release enabled or disabled

+ + + +

Parachute release mechanism type (relay or servo) (CHUTE_TYPE)

+ +

Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later.

+ + + +

Parachute Servo ON PWM value (CHUTE_SERVO_ON)

+ +

Parachute Servo PWM value in microseconds when parachute is released

+ + + +

Servo OFF PWM value (CHUTE_SERVO_OFF)

+ +

Parachute Servo PWM value in microseconds when parachute is not released

+ + + +

Parachute min altitude in meters above home (CHUTE_ALT_MIN)

+ +

Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.

+ + + +

Parachute release delay (CHUTE_DELAY_MS)

+ +

Delay in millseconds between motor stop and chute release

+ + + +

Critical sink speed rate in m/s to trigger emergency parachute (CHUTE_CRT_SINK)

+ +

Release parachute when critical sink rate is reached

+ + + +

Parachute options (CHUTE_OPTIONS)

+ +

Optional behaviour for parachute

+ + + +

COMPASS_ Parameters

+ + +

Compass offsets in milligauss on the X axis (COMPASS_OFS_X)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass x-axis values to compensate for metal in the frame

+ + + +

Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass y-axis values to compensate for metal in the frame

+ + + +

Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass z-axis values to compensate for metal in the frame

+ + + +

Compass declination (COMPASS_DEC)

+ +

An angle to compensate between the true north and magnetic north

+ + + +

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users
+ +

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

+ + + +

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users
+ +

Enable or disable the use of the compass (instead of the GPS) for determining heading

+ + + +

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users
+ +

Enable or disable the automatic calculation of the declination based on gps location

+ + + +

Motor interference compensation type (COMPASS_MOTCT)

Note: This parameter is for advanced users
+ +

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

+ + + +

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass orientation (COMPASS_ORIENT)

Note: This parameter is for advanced users
+ +

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass is attached via an external cable (COMPASS_EXTERNAL)

Note: This parameter is for advanced users
+ +

Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's x-axis values to compensate for metal in the frame

+ + + +

Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's y-axis values to compensate for metal in the frame

+ + + +

Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's z-axis values to compensate for metal in the frame

+ + + +

Motor interference compensation to compass2 for body frame X axis (COMPASS_MOT2_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass2 for body frame Y axis (COMPASS_MOT2_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass2 for body frame Z axis (COMPASS_MOT2_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's x-axis values to compensate for metal in the frame

+ + + +

Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's y-axis values to compensate for metal in the frame

+ + + +

Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's z-axis values to compensate for metal in the frame

+ + + +

Motor interference compensation to compass3 for body frame X axis (COMPASS_MOT3_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass3 for body frame Y axis (COMPASS_MOT3_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass3 for body frame Z axis (COMPASS_MOT3_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass device id (COMPASS_DEV_ID)

Note: This parameter is for advanced users
+ +

Compass device id. Automatically detected, do not set manually

+ + + +

Compass2 device id (COMPASS_DEV_ID2)

Note: This parameter is for advanced users
+ +

Second compass's device id. Automatically detected, do not set manually

+ + + +

Compass3 device id (COMPASS_DEV_ID3)

Note: This parameter is for advanced users
+ +

Third compass's device id. Automatically detected, do not set manually

+ + + +

Compass2 used for yaw (COMPASS_USE2)

Note: This parameter is for advanced users
+ +

Enable or disable the secondary compass for determining heading.

+ + + +

Compass2 orientation (COMPASS_ORIENT2)

Note: This parameter is for advanced users
+ +

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass2 is attached via an external cable (COMPASS_EXTERN2)

Note: This parameter is for advanced users
+ +

Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass3 used for yaw (COMPASS_USE3)

Note: This parameter is for advanced users
+ +

Enable or disable the tertiary compass for determining heading.

+ + + +

Compass3 orientation (COMPASS_ORIENT3)

Note: This parameter is for advanced users
+ +

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass3 is attached via an external cable (COMPASS_EXTERN3)

Note: This parameter is for advanced users
+ +

Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass soft-iron diagonal X component (COMPASS_DIA_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron diagonal Y component (COMPASS_DIA_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron diagonal Z component (COMPASS_DIA_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal X component (COMPASS_ODI_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal Y component (COMPASS_ODI_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal Z component (COMPASS_ODI_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal X component (COMPASS_DIA2_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal X component (COMPASS_ODI2_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal Y component (COMPASS_ODI2_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal Z component (COMPASS_ODI2_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal X component (COMPASS_DIA3_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal X component (COMPASS_ODI3_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal Y component (COMPASS_ODI3_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal Z component (COMPASS_ODI3_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass calibration fitness (COMPASS_CAL_FIT)

Note: This parameter is for advanced users
+ +

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

+ + + +

Compass maximum offset (COMPASS_OFFS_MAX)

Note: This parameter is for advanced users
+ +

This sets the maximum allowed compass offset in calibration and arming checks

+ + + +

Compass disable driver type mask (COMPASS_DISBLMSK)

Note: This parameter is for advanced users
+ +

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

+ + + +

Range in which sample is accepted (COMPASS_FLTR_RNG)

+ +

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

+ + + +

Automatically check orientation (COMPASS_AUTO_ROT)

+ +

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

+ + + +

Compass device id with 1st order priority (COMPASS_PRIO1_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 2nd order priority (COMPASS_PRIO2_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 3rd order priority (COMPASS_PRIO3_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

+ + + +

Enable Compass (COMPASS_ENABLE)

+ +

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

+ + + +

Compass1 scale factor (COMPASS_SCALE)

+ +

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass2 scale factor (COMPASS_SCALE2)

+ +

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass3 scale factor (COMPASS_SCALE3)

+ +

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass options (COMPASS_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the compass

+ + + +

Compass4 device id (COMPASS_DEV_ID4)

Note: This parameter is for advanced users
+ +

Extra 4th compass's device id. Automatically detected, do not set manually

+ + + +

Compass5 device id (COMPASS_DEV_ID5)

Note: This parameter is for advanced users
+ +

Extra 5th compass's device id. Automatically detected, do not set manually

+ + + +

Compass6 device id (COMPASS_DEV_ID6)

Note: This parameter is for advanced users
+ +

Extra 6th compass's device id. Automatically detected, do not set manually

+ + + +

Compass7 device id (COMPASS_DEV_ID7)

Note: This parameter is for advanced users
+ +

Extra 7th compass's device id. Automatically detected, do not set manually

+ + + +

Compass8 device id (COMPASS_DEV_ID8)

Note: This parameter is for advanced users
+ +

Extra 8th compass's device id. Automatically detected, do not set manually

+ + + +

Custom orientation roll offset (COMPASS_CUS_ROLL)

Note: This parameter is for advanced users
+ +

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation pitch offset (COMPASS_CUS_PIT)

Note: This parameter is for advanced users
+ +

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation yaw offset (COMPASS_CUS_YAW)

Note: This parameter is for advanced users
+ +

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

COMPASS_PMOT Parameters

+ + +

per-motor compass correction enable (COMPASS_PMOT_EN)

Note: This parameter is for advanced users
+ +

This enables per-motor compass corrections

+ + + +

per-motor exponential correction (COMPASS_PMOT_EXP)

Note: This parameter is for advanced users
+ +

This is the exponential correction for the power output of the motor for per-motor compass correction

+ + + +

Compass per-motor1 X (COMPASS_PMOT1_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor1

+ + + +

Compass per-motor1 Y (COMPASS_PMOT1_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor1

+ + + +

Compass per-motor1 Z (COMPASS_PMOT1_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor1

+ + + +

Compass per-motor2 X (COMPASS_PMOT2_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor2

+ + + +

Compass per-motor2 Y (COMPASS_PMOT2_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor2

+ + + +

Compass per-motor2 Z (COMPASS_PMOT2_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor2

+ + + +

Compass per-motor3 X (COMPASS_PMOT3_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor3

+ + + +

Compass per-motor3 Y (COMPASS_PMOT3_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor3

+ + + +

Compass per-motor3 Z (COMPASS_PMOT3_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor3

+ + + +

Compass per-motor4 X (COMPASS_PMOT4_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor4

+ + + +

Compass per-motor4 Y (COMPASS_PMOT4_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor4

+ + + +

Compass per-motor4 Z (COMPASS_PMOT4_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor4

+ + + +

CUST_ROT Parameters

+ + +

Enable Custom rotations (CUST_ROT_ENABLE)

+ +

This enables custom rotations

+ + + +

CUST_ROT1_ Parameters

+ + +

Custom roll (CUST_ROT1_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT1_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT1_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

CUST_ROT2_ Parameters

+ + +

Custom roll (CUST_ROT2_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT2_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT2_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

DDS Parameters

+ + +

DDS enable (DDS_ENABLE)

Note: This parameter is for advanced users
+ +

Enable DDS subsystem

+ + + +

DDS UDP port (DDS_UDP_PORT)

+ +

UDP port number for DDS

+ + + +

DDS DOMAIN ID (DDS_DOMAIN_ID)

+ +

Set the ROS_DOMAIN_ID

+ + + +

DDS ping timeout (DDS_TIMEOUT_MS)

+ +

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

+ + + +

DDS ping max attempts (DDS_MAX_RETRY)

+ +

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.

+ + + +

DDS_IP Parameters

+ + +

IPv4 Address 1st byte (DDS_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (DDS_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (DDS_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (DDS_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

DID_ Parameters

+ + +

Enable ODID subsystem (DID_ENABLE)

+ +

Enable ODID subsystem

+ + + +

MAVLink serial port (DID_MAVPORT)

+ +

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

+ + + +

DroneCAN driver number (DID_CANDRIVER)

+ +

DroneCAN driver index, 0 to disable DroneCAN

+ + + +

OpenDroneID options (DID_OPTIONS)

+ +

Options for OpenDroneID subsystem

+ + + +

Barometer vertical accuraacy (DID_BARO_ACC)

Note: This parameter is for advanced users
+ +

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

+ + + +

EAHRS Parameters

+ + +

AHRS type (EAHRS_TYPE)

+ +

Type of AHRS device

+ + + +

AHRS data rate (EAHRS_RATE)

+ +

Requested rate for AHRS device

+ + + +

External AHRS options (EAHRS_OPTIONS)

+ +

External AHRS options bitmask

+ + + +

External AHRS sensors (EAHRS_SENSORS)

Note: This parameter is for advanced users
+ +

External AHRS sensors bitmask

+ + + +

AHRS logging rate (EAHRS_LOG_RATE)

+ +

Logging rate for EARHS devices

+ + + +

EFI Parameters

+ + +

EFI communication type (EFI_TYPE)

Note: This parameter is for advanced users
+ +

What method of communication is used for EFI #1

+ + + +

EFI Calibration Coefficient 1 (EFI_COEF1)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

+ + + +

EFI Calibration Coefficient 2 (EFI_COEF2)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

+ + + +

ECU Fuel Density (EFI_FUEL_DENS)

Note: This parameter is for advanced users
+ +

Used to calculate fuel consumption

+ + + +

EFI_THRLIN Parameters

+ + +

Enable throttle linearisation (EFI_THRLIN_EN)

Note: This parameter is for advanced users
+ +

Enable EFI throttle linearisation

+ + + +

Throttle linearisation - First Order (EFI_THRLIN_COEF1)

Note: This parameter is for advanced users
+ +

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

+ + + +

Throttle linearisation - Second Order (EFI_THRLIN_COEF2)

Note: This parameter is for advanced users
+ +

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

+ + + +

Throttle linearisation - Third Order (EFI_THRLIN_COEF3)

Note: This parameter is for advanced users
+ +

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

+ + + +

throttle linearization offset (EFI_THRLIN_OFS)

Note: This parameter is for advanced users
+ +

Offset for throttle linearization

+ + + +

EK2_ Parameters

+ + +

Enable EKF2 (EK2_ENABLE)

Note: This parameter is for advanced users
+ +

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

+ + + +

GPS mode control (EK2_GPS_TYPE)

Note: This parameter is for advanced users
+ +

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

+ + + +

GPS horizontal velocity measurement noise (m/s) (EK2_VELNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

+ + + +

GPS vertical velocity measurement noise (m/s) (EK2_VELD_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

+ + + +

GPS velocity innovation gate size (EK2_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

+ + + +

GPS position measurement gate size (EK2_POS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

GPS glitch radius gate size (m) (EK2_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

+ + + +

Primary altitude sensor source (EK2_ALT_SOURCE)

Note: This parameter is for advanced users
+ +

Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).

+ + + +

Altitude measurement noise (m) (EK2_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

+ + + +

Height measurement gate size (EK2_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Height measurement delay (msec) (EK2_HGT_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the Height measurements lag behind the inertial measurements.

+ + + +

Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Magnetometer default fusion mode (EK2_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

+ + + +

Magnetometer measurement gate size (EK2_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Equivalent airspeed measurement noise (m/s) (EK2_EAS_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

+ + + +

Airspeed measurement gate size (EK2_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range finder measurement noise (m) (EK2_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range finder measurement gate size (EK2_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Maximum valid optical flow rate (EK2_MAX_FLOW)

Note: This parameter is for advanced users
+ +

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

+ + + +

Optical flow measurement noise (rad/s) (EK2_FLOW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Optical Flow measurement gate size (EK2_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Optical Flow measurement delay (msec) (EK2_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Rate gyro noise (rad/s) (EK2_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

+ + + +

Accelerometer noise (m/s^2) (EK2_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

+ + + +

Rate gyro bias stability (rad/s/s) (EK2_GBIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

+ + + +

Rate gyro scale factor stability (1/s) (EK2_GSCL_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

+ + + +

Accelerometer bias stability (m/s^3) (EK2_ABIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

+ + + +

Wind velocity process noise (m/s^2) (EK2_WIND_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

+ + + +

Height rate to wind process noise scaler (EK2_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

+ + + +

GPS preflight check (EK2_GPS_CHECK)

Note: This parameter is for advanced users
+ +

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

+ + + +

Bitmask of active IMUs (EK2_IMU_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

+ + + +

GPS accuracy check scaler (%) (EK2_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

+ + + +

Non-GPS operation position uncertainty (m) (EK2_NOAID_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

+ + + +

Yaw measurement noise (rad) (EK2_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

+ + + +

Yaw measurement gate size (EK2_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Output complementary filter time constant (centi-sec) (EK2_TAU_OUTPUT)

Note: This parameter is for advanced users
+ +

Sets the time constant of the output complementary filter/predictor in centi-seconds.

+ + + +

Earth magnetic field process noise (gauss/s) (EK2_MAGE_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

+ + + +

Body magnetic field process noise (gauss/s) (EK2_MAGB_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

+ + + +

Range finder switch height percentage (EK2_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK2_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

+ + + +

Range beacon measurement noise (m) (EK2_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range beacon measurement gate size (EK2_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range beacon measurement delay (msec) (EK2_BCN_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Range finder max ground speed (EK2_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

+ + + +

Bitmask of active EKF cores that will always use heading fusion (EK2_MAG_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

+ + + +

Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

+ + + +

Optical flow use bitmask (EK2_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

EarthField error limit (EK2_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Height rate filter crossover frequency (EK2_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK2_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK2_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK2_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.

+ + + +

Optional EKF behaviour (EK2_OPTIONS)

Note: This parameter is for advanced users
+ +

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

+ + + +

EK3_ Parameters

+ + +

Enable EKF3 (EK3_ENABLE)

Note: This parameter is for advanced users
+ +

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

+ + + +

GPS horizontal velocity measurement noise (m/s) (EK3_VELNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

+ + + +

GPS vertical velocity measurement noise (m/s) (EK3_VELD_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

+ + + +

GPS velocity innovation gate size (EK3_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

+ + + +

GPS position measurement gate size (EK3_POS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS glitch radius gate size (m) (EK3_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

+ + + +

Altitude measurement noise (m) (EK3_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

+ + + +

Height measurement gate size (EK3_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

+ + + +

Height measurement delay (msec) (EK3_HGT_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the Height measurements lag behind the inertial measurements.

+ + + +

Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Magnetometer default fusion mode (EK3_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.

+ + + +

Magnetometer measurement gate size (EK3_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Equivalent airspeed measurement noise (m/s) (EK3_EAS_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

+ + + +

Airspeed measurement gate size (EK3_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range finder measurement noise (m) (EK3_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range finder measurement gate size (EK3_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Maximum valid optical flow rate (EK3_MAX_FLOW)

Note: This parameter is for advanced users
+ +

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

+ + + +

Optical flow measurement noise (rad/s) (EK3_FLOW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Optical Flow measurement gate size (EK3_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Optical Flow measurement delay (msec) (EK3_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Rate gyro noise (rad/s) (EK3_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

+ + + +

Accelerometer noise (m/s^2) (EK3_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

+ + + +

Rate gyro bias stability (rad/s/s) (EK3_GBIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

+ + + +

Accelerometer bias stability (m/s^3) (EK3_ABIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

+ + + +

Wind velocity process noise (m/s^2) (EK3_WIND_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

+ + + +

Height rate to wind process noise scaler (EK3_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

+ + + +

GPS preflight check (EK3_GPS_CHECK)

Note: This parameter is for advanced users
+ +

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

+ + + +

Bitmask of active IMUs (EK3_IMU_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

+ + + +

GPS accuracy check scaler (%) (EK3_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

+ + + +

Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

+ + + +

Bitmask controlling sidelip angle fusion (EK3_BETA_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.

+ + + +

Yaw measurement noise (rad) (EK3_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

+ + + +

Yaw measurement gate size (EK3_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT)

Note: This parameter is for advanced users
+ +

Sets the time constant of the output complementary filter/predictor in centi-seconds.

+ + + +

Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

+ + + +

Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

+ + + +

Range finder switch height percentage (EK3_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK3_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

+ + + +

Range beacon measurement noise (m) (EK3_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range beacon measurement gate size (EK3_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range beacon measurement delay (msec) (EK3_BCN_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

+ + + +

Range finder max ground speed (EK3_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

+ + + +

Accelerometer bias limit (EK3_ACC_BIAS_LIM)

Note: This parameter is for advanced users
+ +

The accelerometer bias state will be limited to +- this value

+ + + +

Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

+ + + +

Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

+ + + +

Visual odometry minimum velocity error (EK3_VIS_VERR_MIN)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Visual odometry maximum velocity error (EK3_VIS_VERR_MAX)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Wheel odometry velocity error (EK3_WENC_VERR)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

+ + + +

Optical flow use bitmask (EK3_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

Height rate filter crossover frequency (EK3_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

EarthField error limit (EK3_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK3_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK3_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK3_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.

+ + + +

EKF3 Lane Relative Error Sensitivity Threshold (EK3_ERR_THRESH)

Note: This parameter is for advanced users
+ +

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

+ + + +

EKF3 Sensor Affinity Options (EK3_AFFINITY)

Note: This parameter is for advanced users
+ +

These options control the affinity between sensor instances and EKF cores

+ + + +

Ballistic coefficient for X axis drag (EK3_DRAG_BCOEF_X)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Ballistic coefficient for Y axis drag (EK3_DRAG_BCOEF_Y)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Observation noise for drag acceleration (EK3_DRAG_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

+ + + +

Momentum coefficient for propeller drag (EK3_DRAG_MCOEF)

Note: This parameter is for advanced users
+ +

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

+ + + +

On ground not moving test scale factor (EK3_OGNM_TEST_SF)

Note: This parameter is for advanced users
+ +

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

+ + + +

Baro height ground effect dead zone (EK3_GND_EFF_DZ)

Note: This parameter is for advanced users
+ +

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

+ + + +

Primary core number (EK3_PRIMARY)

Note: This parameter is for advanced users
+ +

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

+ + + +

Logging Level (EK3_LOG_LEVEL)

Note: This parameter is for advanced users
+ +

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

+ + + +

GPS vertical accuracy threshold (EK3_GPS_VACC_MAX)

Note: This parameter is for advanced users
+ +

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

+ + + +

Optional EKF behaviour (EK3_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad

+ + + +

EK3_SRC Parameters

+ + +

Position Horizontal Source (Primary) (EK3_SRC1_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Primary)

+ + + +

Velocity Horizontal Source (EK3_SRC1_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source

+ + + +

Position Vertical Source (EK3_SRC1_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source

+ + + +

Velocity Vertical Source (EK3_SRC1_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source

+ + + +

Yaw Source (EK3_SRC1_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source

+ + + +

Position Horizontal Source (Secondary) (EK3_SRC2_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Secondary)

+ + + +

Velocity Horizontal Source (Secondary) (EK3_SRC2_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Secondary)

+ + + +

Position Vertical Source (Secondary) (EK3_SRC2_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Secondary)

+ + + +

Velocity Vertical Source (Secondary) (EK3_SRC2_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Secondary)

+ + + +

Yaw Source (Secondary) (EK3_SRC2_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Secondary)

+ + + +

Position Horizontal Source (Tertiary) (EK3_SRC3_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Tertiary)

+ + + +

Velocity Horizontal Source (Tertiary) (EK3_SRC3_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Tertiary)

+ + + +

Position Vertical Source (Tertiary) (EK3_SRC3_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Tertiary)

+ + + +

Velocity Vertical Source (Tertiary) (EK3_SRC3_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Tertiary)

+ + + +

Yaw Source (Tertiary) (EK3_SRC3_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Tertiary)

+ + + +

EKF Source Options (EK3_SRC_OPTIONS)

Note: This parameter is for advanced users
+ +

EKF Source Options

+ + + +

ESC_TLM Parameters

+ + +

ESC Telemetry mavlink offset (ESC_TLM_MAV_OFS)

+ +

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

+ + + +

FENCE_ Parameters

+ + +

Fence enable/disable (FENCE_ENABLE)

+ +

Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.

+ + + +

Fence Type (FENCE_TYPE)

+ +

Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.

+ + + +

Fence Action (FENCE_ACTION)

+ +

What action should be taken when fence is breached

+ + + +

Fence Maximum Altitude (FENCE_ALT_MAX)

+ +

Maximum altitude allowed before geofence triggers

+ + + +

Circular Fence Radius (FENCE_RADIUS)

+ +

Circle fence radius which when breached will cause an RTL

+ + + +

Fence Margin (FENCE_MARGIN)

+ +

Distance that autopilot's should maintain from the fence to avoid a breach

+ + + +

Fence polygon point total (FENCE_TOTAL)

+ +

Number of polygon points saved in eeprom (do not update manually)

+ + + +

Fence Minimum Altitude (FENCE_ALT_MIN)

+ +

Minimum altitude allowed before geofence triggers

+ + + +

Fence Return to Rally (FENCE_RET_RALLY)

+ +

Should the vehicle return to fence return point or rally point

+ + + +

Fence Return Altitude (FENCE_RET_ALT)

+ +

Altitude the vehicle will transit to when a fence breach occurs

+ + + +

Fence Auto-Enable (FENCE_AUTOENABLE)

+ +

Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.

+ + + +

Fence options (FENCE_OPTIONS)

+ +

When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.

+ + + +

FFT_ Parameters

+ + +

Enable (FFT_ENABLE)

Note: This parameter is for advanced users
+ +

Enable Gyro FFT analyser

+ + + +

Minimum Frequency (FFT_MINHZ)

Note: This parameter is for advanced users
+ +

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

+ + + +

Maximum Frequency (FFT_MAXHZ)

Note: This parameter is for advanced users
+ +

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

+ + + +

Sample Mode (FFT_SAMPLE_MODE)

Note: This parameter is for advanced users
+ +

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

+ + + +

FFT window size (FFT_WINDOW_SIZE)

Note: This parameter is for advanced users
+ +

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

+ + + +

FFT window overlap (FFT_WINDOW_OLAP)

Note: This parameter is for advanced users
+ +

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

+ + + +

FFT learned hover frequency (FFT_FREQ_HOVER)

Note: This parameter is for advanced users
+ +

The learned hover noise frequency

+ + + +

FFT learned thrust reference (FFT_THR_REF)

Note: This parameter is for advanced users
+ +

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

+ + + +

FFT SNR reference threshold (FFT_SNR_REF)

Note: This parameter is for advanced users
+ +

FFT SNR reference threshold in dB at which a signal is determined to be present.

+ + + +

FFT attenuation for bandwidth calculation (FFT_ATT_REF)

Note: This parameter is for advanced users
+ +

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

+ + + +

FFT learned bandwidth at hover (FFT_BW_HOVER)

Note: This parameter is for advanced users
+ +

FFT learned bandwidth at hover for the attenuation frequencies.

+ + + +

FFT harmonic fit frequency threshold (FFT_HMNC_FIT)

Note: This parameter is for advanced users
+ +

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

+ + + +

FFT harmonic peak target (FFT_HMNC_PEAK)

Note: This parameter is for advanced users
+ +

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

+ + + +

FFT output frames to retain and average (FFT_NUM_FRAMES)

Note: This parameter is for advanced users
+ +

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

+ + + +

FFT options (FFT_OPTIONS)

Note: This parameter is for advanced users
+ +

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

+ + + +

FILT1_ Parameters

+ + +

Filter Type (FILT1_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT1_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT1_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT1_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT2_ Parameters

+ + +

Filter Type (FILT2_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT2_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT2_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT2_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT3_ Parameters

+ + +

Filter Type (FILT3_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT3_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT3_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT3_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT4_ Parameters

+ + +

Filter Type (FILT4_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT4_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT4_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT4_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT5_ Parameters

+ + +

Filter Type (FILT5_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT5_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT5_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT5_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT6_ Parameters

+ + +

Filter Type (FILT6_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT6_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT6_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT6_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT7_ Parameters

+ + +

Filter Type (FILT7_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT7_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT7_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT7_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT8_ Parameters

+ + +

Filter Type (FILT8_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT8_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT8_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT8_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FLOW Parameters

+ + +

Optical flow sensor type (FLOW_TYPE)

+ +

Optical flow sensor type

+ + + +

X axis optical flow scale factor correction (FLOW_FXSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Y axis optical flow scale factor correction (FLOW_FYSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Flow sensor yaw alignment (FLOW_ORIENT_YAW)

+ +

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

+ + + +

X position offset (FLOW_POS_X)

Note: This parameter is for advanced users
+ +

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

+ + + +

Y position offset (FLOW_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

+ + + +

Z position offset (FLOW_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

+ + + +

Address on the bus (FLOW_ADDR)

Note: This parameter is for advanced users
+ +

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

+ + + +

Height override of sensor above ground (FLOW_HGT_OVR)

Note: This parameter is for advanced users
+ +

This is used in rover vehicles, where the sensor is a fixed height above the ground

+ + + +

FOLL Parameters

+ + +

Follow enable/disable (FOLL_ENABLE)

+ +

Enabled/disable following a target

+ + + +

Follow target's mavlink system id (FOLL_SYSID)

+ +

Follow target's mavlink system id

+ + + +

Follow distance maximum (FOLL_DIST_MAX)

+ +

Follow distance maximum. targets further than this will be ignored

+ + + +

Follow offset type (FOLL_OFS_TYPE)

+ +

Follow offset type

+ + + +

Follow offsets in meters north/forward (FOLL_OFS_X)

+ +

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters east/right (FOLL_OFS_Y)

+ +

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters down (FOLL_OFS_Z)

+ +

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

+ + + +

Follow yaw behaviour (FOLL_YAW_BEHAVE)

+ +

Follow yaw behaviour

+ + + +

Follow position error P gain (FOLL_POS_P)

+ +

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

+ + + +

Follow altitude type (FOLL_ALT_TYPE)

+ +

Follow altitude type

+ + + +

Follow options (FOLL_OPTIONS)

+ +

Follow options bitmask

+ + + +

FRSKY_ Parameters

+ + +

Uplink sensor id (FRSKY_UPLINK_ID)

Note: This parameter is for advanced users
+ +

Change the uplink sensor id (SPort only)

+ + + +

First downlink sensor id (FRSKY_DNLINK1_ID)

Note: This parameter is for advanced users
+ +

Change the first extra downlink sensor id (SPort only)

+ + + +

Second downlink sensor id (FRSKY_DNLINK2_ID)

Note: This parameter is for advanced users
+ +

Change the second extra downlink sensor id (SPort only)

+ + + +

Default downlink sensor id (FRSKY_DNLINK_ID)

Note: This parameter is for advanced users
+ +

Change the default downlink sensor id (SPort only)

+ + + +

FRSky Telemetry Options (FRSKY_OPTIONS)

+ +

A bitmask to set some FRSky Telemetry specific options

+ + + +

GEN_ Parameters

+ + +

Generator type (GEN_TYPE)

+ +

Generator type

+ + + +

Generator Options (GEN_OPTIONS)

+ +

Bitmask of options for generators

+ + + +

GPS Parameters

+ + +

Navigation filter setting (GPS_NAVFILTER)

Note: This parameter is for advanced users
+ +

Navigation filter engine setting

+ + + +

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users
+ +

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary

+ + + +

SBAS Mode (GPS_SBAS_MODE)

Note: This parameter is for advanced users
+ +

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

+ + + +

Minimum elevation (GPS_MIN_ELEV)

Note: This parameter is for advanced users
+ +

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

+ + + +

Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO)

Note: This parameter is for advanced users
+ +

The GGS can send raw serial packets to inject data to multiple GPSes.

+ + + +

Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK)

Note: This parameter is for advanced users
+ +

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

+ + + +

Raw data logging (GPS_RAW_DATA)

Note: This parameter is for advanced users
+ +

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

+ + + +

Save GPS configuration (GPS_SAVE_CFG)

Note: This parameter is for advanced users
+ +

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

+ + + +

Automatic GPS configuration (GPS_AUTO_CONFIG)

Note: This parameter is for advanced users
+ +

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

+ + + +

Multi GPS Blending Mask (GPS_BLEND_MASK)

Note: This parameter is for advanced users
+ +

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

+ + + +

driver options (GPS_DRV_OPTIONS)

Note: This parameter is for advanced users
+ +

Additional backend specific options

+ + + +

Primary GPS (GPS_PRIMARY)

Note: This parameter is for advanced users
+ +

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

+ + + +

1st GPS type (GPS_TYPE)

Note: This parameter is for advanced users
+ +

GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE

+ + + +

2nd GPS type.Renamed in 4.6 to GPS2_TYPE (GPS_TYPE2)

Note: This parameter is for advanced users
+ +

GPS type of 2nd GPS

+ + + +

GNSS system configuration (GPS_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.

+ + + +

GNSS system configuration. (GPS_GNSS_MODE2)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE

+ + + +

GPS update rate in milliseconds (GPS_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS

+ + + +

GPS 2 update rate in milliseconds (GPS_RATE_MS2)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS

+ + + +

Antenna X position offset (GPS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.

+ + + +

Antenna Y position offset (GPS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.

+ + + +

Antenna X position offset (GPS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.

+ + + +

Antenna Y position offset (GPS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.

+ + + +

GPS delay in milliseconds (GPS_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.

+ + + +

GPS 2 delay in milliseconds (GPS_DELAY_MS2)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.

+ + + +

GPS physical COM port (GPS_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS physical COM port (GPS_COM_PORT2)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS Node ID 1 (GPS_CAN_NODEID1)

Note: This parameter is for advanced users
+ +

GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.

+ + + +

GPS Node ID 2 (GPS_CAN_NODEID2)

Note: This parameter is for advanced users
+ +

GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.

+ + + +

GPS1_ Parameters

+ + +

GPS type (GPS1_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS1_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS1_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS1_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS1_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS1_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS1_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS1_MB_ Parameters

+ + +

Moving base type (GPS1_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS1_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS1_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS1_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS2_ Parameters

+ + +

GPS type (GPS2_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS2_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS2_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS2_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS2_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS2_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS2_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS2_MB_ Parameters

+ + +

Moving base type (GPS2_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS2_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS2_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS2_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB1_ Parameters

+ + +

Moving base type (GPS_MB1_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB1_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB1_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB1_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB2_ Parameters

+ + +

Moving base type (GPS_MB2_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB2_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB2_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB2_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GRIP_ Parameters

+ + +

Gripper Enable/Disable (GRIP_ENABLE)

+ +

Gripper enable/disable

+ + + +

Gripper Type (GRIP_TYPE)

+ +

Gripper enable/disable

+ + + +

Gripper Grab PWM (GRIP_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (GRIP_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Neutral PWM (GRIP_NEUTRAL)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to grabber when not grabbing or releasing

+ + + +

EPM Gripper Regrab interval (GRIP_REGRAB)

Note: This parameter is for advanced users
+ +

Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

+ + + +

EPM UAVCAN Hardpoint ID (GRIP_CAN_ID)

+ +

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

+ + + +

Gripper Autoclose time (GRIP_AUTOCLOSE)

Note: This parameter is for advanced users
+ +

Time in seconds that gripper close the gripper after opening; 0 to disable

+ + + +

GUIDED_ Parameters

+ + +

PID Proportional Gain (GUIDED_P)

+ +

P Gain which produces an output value that is proportional to the current error value

+ + + +

PID Integral Gain (GUIDED_I)

+ +

I Gain which produces an output that is proportional to both the magnitude and the duration of the error

+ + + +

PID Derivative Gain (GUIDED_D)

+ +

D Gain which produces an output that is proportional to the rate of change of the error

+ + + +

FF FeedForward Gain (GUIDED_FF)

+ +

FF Gain which produces an output value that is proportional to the demanded input

+ + + +

PID Integral Maximum (GUIDED_IMAX)

+ +

The maximum/minimum value that the I term can output

+ + + +

PID Target filter frequency in Hz (GUIDED_FLTT)

+ +

Target filter frequency in Hz

+ + + +

PID Error filter frequency in Hz (GUIDED_FLTE)

+ +

Error filter frequency in Hz

+ + + +

PID Derivative term filter frequency in Hz (GUIDED_FLTD)

+ +

Derivative filter frequency in Hz

+ + + +

Slew rate limit (GUIDED_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

PD sum maximum (GUIDED_PDMX)

Note: This parameter is for advanced users
+ +

The maximum/minimum value that the sum of the P and D term can output

+ + + +

PID Derivative FeedForward Gain (GUIDED_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

PID Target notch filter index (GUIDED_NTF)

Note: This parameter is for advanced users
+ +

PID Target notch filter index

+ + + +

PID Error notch filter index (GUIDED_NEF)

Note: This parameter is for advanced users
+ +

PID Error notch filter index

+ + + +

ICE_ Parameters

+ + +

Enable ICEngine control (ICE_ENABLE)

Note: This parameter is for advanced users
+ +

This enables internal combustion engine control

+ + + +

Input channel for engine start (ICE_START_CHAN)

+ +

This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.

+ + + +

Time to run starter (ICE_STARTER_TIME)

+ +

This is the number of seconds to run the starter when trying to start the engine

+ + + +

Time to wait between starts (ICE_START_DELAY)

+ +

Delay between start attempts

+ + + +

RPM threshold (ICE_RPM_THRESH)

+ +

This is the measured RPM above which the engine is considered to be running

+ + + +

PWM value for ignition on (ICE_PWM_IGN_ON)

+ +

This is the value sent to the ignition channel when on

+ + + +

PWM value for ignition off (ICE_PWM_IGN_OFF)

+ +

This is the value sent to the ignition channel when off

+ + + +

PWM value for starter on (ICE_PWM_STRT_ON)

+ +

This is the value sent to the starter channel when on

+ + + +

PWM value for starter off (ICE_PWM_STRT_OFF)

+ +

This is the value sent to the starter channel when off

+ + + +

RPM instance channel to use (ICE_RPM_CHAN)

+ +

This is which of the RPM instances to use for detecting the RPM of the engine

+ + + +

Throttle percentage for engine start (ICE_START_PCT)

+ +

This is the percentage throttle output for engine start

+ + + +

Throttle percentage for engine idle (ICE_IDLE_PCT)

+ +

This is the minimum percentage throttle output while running, this includes being disarmed, but not safe

+ + + +

RPM Setpoint for Idle Governor (ICE_IDLE_RPM)

Note: This parameter is for advanced users
+ +

This configures the RPM that will be commanded by the idle governor. Set to -1 to disable

+ + + +

Deadband for Idle Governor (ICE_IDLE_DB)

+ +

This configures the deadband that is tolerated before adjusting the idle setpoint

+ + + +

Slew Rate for idle control (ICE_IDLE_SLEW)

+ +

This configures the slewrate used to adjust the idle setpoint in percentage points per second

+ + + +

ICE options (ICE_OPTIONS)

+ +

Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.

+ + + +

Input channel for engine start minimum PWM (ICE_STARTCHN_MIN)

+ +

This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM above 800 and below 1300 triggers an engine stop. To stop the engine start channel must above the larger of this value and 800 and below 1300.

+ + + +

RPM of the redline limit for the engine (ICE_REDLINE_RPM)

Note: This parameter is for advanced users
+ +

Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor.

+ + + +

Maximum number of retries (ICE_STRT_MX_RTRY)

+ +

If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.

+ + + +

INS Parameters

+ + +

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of X axis (INS_GYR2OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Y axis (INS_GYR2OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Z axis (INS_GYR2OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of X axis (INS_GYR3OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Y axis (INS_GYR3OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Z axis (INS_GYR3OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 scaling of X axis (INS_ACC2SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 offsets of X axis (INS_ACC2OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 scaling of X axis (INS_ACC3SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 offsets of X axis (INS_ACC3OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Gyro filter cutoff frequency (INS_GYRO_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Accel filter cutoff frequency (INS_ACCEL_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Use first IMU for attitude, velocity and position estimates (INS_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Use second IMU for attitude, velocity and position estimates (INS_USE2)

Note: This parameter is for advanced users
+ +

Use second IMU for attitude, velocity and position estimates

+ + + +

Use third IMU for attitude, velocity and position estimates (INS_USE3)

Note: This parameter is for advanced users
+ +

Use third IMU for attitude, velocity and position estimates

+ + + +

Stillness threshold for detecting if we are moving (INS_STILL_THRESH)

Note: This parameter is for advanced users
+ +

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

+ + + +

Gyro Calibration scheme (INS_GYR_CAL)

Note: This parameter is for advanced users
+ +

Conrols when automatic gyro calibration is performed

+ + + +

Accel cal trim option (INS_TRIM_OPTION)

Note: This parameter is for advanced users
+ +

Specifies how the accel cal routine determines the trims

+ + + +

Body-fixed accelerometer (INS_ACC_BODYFIX)

Note: This parameter is for advanced users
+ +

The body-fixed accelerometer to be used for trim calculation

+ + + +

IMU accelerometer X position (INS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS3_X)

Note: This parameter is for advanced users
+ +

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS3_Y)

Note: This parameter is for advanced users
+ +

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS3_Z)

Note: This parameter is for advanced users
+ +

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Gyro ID (INS_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro2 ID (INS_GYR2_ID)

Note: This parameter is for advanced users
+ +

Gyro2 sensor ID, taking into account its type, bus and instance

+ + + +

Gyro3 ID (INS_GYR3_ID)

Note: This parameter is for advanced users
+ +

Gyro3 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer ID (INS_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer2 ID (INS_ACC2_ID)

Note: This parameter is for advanced users
+ +

Accelerometer2 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer3 ID (INS_ACC3_ID)

Note: This parameter is for advanced users
+ +

Accelerometer3 sensor ID, taking into account its type, bus and instance

+ + + +

Fast sampling mask (INS_FAST_SAMPLE)

Note: This parameter is for advanced users
+ +

Mask of IMUs to enable fast sampling on, if available

+ + + +

IMU enable mask (INS_ENABLE_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

+ + + +

Gyro rate for IMUs with Fast Sampling enabled (INS_GYRO_RATE)

Note: This parameter is for advanced users
+ +

Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

+ + + +

Calibration temperature for 1st accelerometer (INS_ACC1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st accelerometer was calibrated at

+ + + +

Calibration temperature for 1st gyroscope (INS_GYR1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st gyroscope was calibrated at

+ + + +

Calibration temperature for 2nd accelerometer (INS_ACC2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd accelerometer was calibrated at

+ + + +

Calibration temperature for 2nd gyroscope (INS_GYR2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd gyroscope was calibrated at

+ + + +

Calibration temperature for 3rd accelerometer (INS_ACC3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd accelerometer was calibrated at

+ + + +

Calibration temperature for 3rd gyroscope (INS_GYR3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd gyroscope was calibrated at

+ + + +

Options for temperature calibration (INS_TCAL_OPTIONS)

Note: This parameter is for advanced users
+ +

This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

+ + + +

Raw logging options (INS_RAW_LOG_OPT)

Note: This parameter is for advanced users
+ +

Raw logging options bitmask

+ + + +

INS4_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS4_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS4_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS4_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS4_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS4_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS4_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS4_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS4_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS4_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS4_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS4_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS4_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS4_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS4_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS4_TCAL_ Parameters

+ + +

Enable temperature calibration (INS4_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS4_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS4_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS4_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS4_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS4_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS4_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS4_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS4_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS4_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS4_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS4_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS4_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS4_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS4_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS4_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS4_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS4_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS4_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS4_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS4_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS5_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS5_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS5_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS5_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS5_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS5_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS5_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS5_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS5_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS5_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS5_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS5_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS5_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS5_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS5_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS5_TCAL_ Parameters

+ + +

Enable temperature calibration (INS5_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS5_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS5_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS5_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS5_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS5_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS5_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS5_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS5_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS5_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS5_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS5_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS5_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS5_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS5_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS5_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS5_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS5_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS5_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS5_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS5_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_HNTC2_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTC2_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTC2_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTC2_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTC2_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTC2_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTC2_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTC2_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTC2_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTC2_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_HNTCH_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTCH_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTCH_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTCH_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTCH_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTCH_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTCH_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTCH_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTCH_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTCH_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_LOG_ Parameters

+ + +

sample count per batch (INS_LOG_BAT_CNT)

Note: This parameter is for advanced users
+ +

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

+ + + +

Sensor Bitmask (INS_LOG_BAT_MASK)

Note: This parameter is for advanced users
+ +

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

+ + + +

Batch Logging Options Mask (INS_LOG_BAT_OPT)

Note: This parameter is for advanced users
+ +

Options for the BatchSampler.

+ + + +

logging interval (INS_LOG_BAT_LGIN)

+ +

Interval between pushing samples to the AP_Logger log

+ + + +

logging count (INS_LOG_BAT_LGCT)

+ +

Number of samples to push to count every INS_LOG_BAT_LGIN

+ + + +

INS_TCAL1_ Parameters

+ + +

Enable temperature calibration (INS_TCAL1_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL1_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL1_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL1_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL1_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL1_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL1_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL1_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL1_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL1_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL1_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL1_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL1_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL1_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL1_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL1_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL1_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL1_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL1_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL1_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL1_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL2_ Parameters

+ + +

Enable temperature calibration (INS_TCAL2_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL2_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL2_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL2_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL2_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL2_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL2_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL2_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL2_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL2_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL2_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL2_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL2_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL2_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL2_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL2_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL2_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL2_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL2_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL2_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL2_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL3_ Parameters

+ + +

Enable temperature calibration (INS_TCAL3_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL3_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL3_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL3_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL3_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL3_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL3_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL3_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL3_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL3_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL3_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL3_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL3_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL3_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL3_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL3_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL3_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL3_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL3_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL3_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL3_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

KDE_ Parameters

+ + +

Number of motor poles (KDE_NPOLE)

+ +

Sets the number of motor poles to calculate the correct RPM value

+ + + +

LAND_ Parameters

+ + +

Landing slope re-calc threshold (LAND_SLOPE_RCALC)

Note: This parameter is for advanced users
+ +

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.

+ + + +

Landing auto-abort slope threshold (LAND_ABORT_DEG)

Note: This parameter is for advanced users
+ +

This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.

+ + + +

Landing Pitch (LAND_PITCH_DEG)

Note: This parameter is for advanced users
+ +

Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.

+ + + +

Landing flare altitude (LAND_FLARE_ALT)

Note: This parameter is for advanced users
+ +

Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.

+ + + +

Landing flare time (LAND_FLARE_SEC)

Note: This parameter is for advanced users
+ +

Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT).

+ + + +

Landing pre-flare altitude (LAND_PF_ALT)

Note: This parameter is for advanced users
+ +

Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0.

+ + + +

Landing pre-flare time (LAND_PF_SEC)

Note: This parameter is for advanced users
+ +

Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.

+ + + +

Landing pre-flare airspeed (LAND_PF_ARSPD)

Note: This parameter is for advanced users
+ +

Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable.

+ + + +

Landing throttle slew rate (LAND_THR_SLEW)

+ +

This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.

+ + + +

Landing disarm delay (LAND_DISARMDELAY)

Note: This parameter is for advanced users
+ +

After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.

+ + + +

Set servos to neutral after landing (LAND_THEN_NEUTRL)

Note: This parameter is for advanced users
+ +

When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.

+ + + +

Landing abort using throttle (LAND_ABORT_THR)

Note: This parameter is for advanced users
+ +

Allow a landing abort to trigger with an input throttle >= 90%. This works with or without stick-mixing enabled.

+ + + +

Landing flap percentage (LAND_FLAP_PERCNT)

Note: This parameter is for advanced users
+ +

The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing

+ + + +

Landing options bitmask (LAND_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of options to use with landing.

+ + + +

Flare aim point adjustment percentage. (LAND_FLARE_AIM)

Note: This parameter is for advanced users
+ +

This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre. When set to 100% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS_LAND_SINK. when set to 0%, no aim point adjustment is made. If the plane consistently touches down short of the aim point reduce the parameter and vice verse.

+ + + +

Headwind Compensation when Landing (LAND_WIND_COMP)

Note: This parameter is for advanced users
+ +

This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to AIRSPEED_MAX.

+ + + +

Auto-landing type (LAND_TYPE)

+ +

Specifies the auto-landing type to use

+ + + +

LAND_DS_ Parameters

+ + +

Deepstall forward velocity (LAND_DS_V_FWD)

Note: This parameter is for advanced users
+ +

The forward velocity of the aircraft while stalled

+ + + +

Deepstall slope a (LAND_DS_SLOPE_A)

Note: This parameter is for advanced users
+ +

The a component of distance = a*wind + b

+ + + +

Deepstall slope b (LAND_DS_SLOPE_B)

Note: This parameter is for advanced users
+ +

The a component of distance = a*wind + b

+ + + +

Deepstall approach extension (LAND_DS_APP_EXT)

Note: This parameter is for advanced users
+ +

The horizontal distance from which the aircraft will approach before the stall

+ + + +

Deepstall velocity down (LAND_DS_V_DWN)

Note: This parameter is for advanced users
+ +

The downward velocity of the aircraft while stalled

+ + + +

Deepstall slew speed (LAND_DS_SLEW_SPD)

Note: This parameter is for advanced users
+ +

The speed at which the elevator slews to deepstall

+ + + +

Deepstall elevator PWM (LAND_DS_ELEV_PWM)

Note: This parameter is for advanced users
+ +

The PWM value in microseconds for the elevator at full deflection in deepstall

+ + + +

Deepstall enabled airspeed (LAND_DS_ARSP_MAX)

Note: This parameter is for advanced users
+ +

The maximum aispeed where the deepstall steering controller is allowed to have control

+ + + +

Deepstall minimum derating airspeed (LAND_DS_ARSP_MIN)

Note: This parameter is for advanced users
+ +

Deepstall lowest airspeed where the deepstall controller isn't allowed full control

+ + + +

Deepstall L1 period (LAND_DS_L1)

Note: This parameter is for advanced users
+ +

Deepstall L1 navigational controller period

+ + + +

Deepstall L1 I gain (LAND_DS_L1_I)

Note: This parameter is for advanced users
+ +

Deepstall L1 integratior gain

+ + + +

Deepstall yaw rate limit (LAND_DS_YAW_LIM)

Note: This parameter is for advanced users
+ +

The yaw rate limit while navigating in deepstall

+ + + +

Deepstall L1 time constant (LAND_DS_L1_TCON)

Note: This parameter is for advanced users
+ +

Time constant for deepstall L1 control

+ + + +

P gain (LAND_DS_P)

+ +

P gain

+ + + +

I gain (LAND_DS_I)

+ +

I gain

+ + + +

D gain (LAND_DS_D)

+ +

D gain

+ + + +

IMax (LAND_DS_IMAX)

+ +

Maximum integrator value

+ + + +

Deepstall minimum abort altitude (LAND_DS_ABORTALT)

Note: This parameter is for advanced users
+ +

The minimum altitude which the aircraft must be above to abort a deepstall landing

+ + + +

Aileron landing gain scalaing (LAND_DS_AIL_SCL)

Note: This parameter is for advanced users
+ +

A scalar to reduce or increase the aileron control

+ + + +

LGR_ Parameters

+ + +

Enable landing gear (LGR_ENABLE)

+ +

Enable landing gear control

+ + + +

Landing Gear Startup position (LGR_STARTUP)

+ +

Landing Gear Startup behaviour control

+ + + +

Chassis deployment feedback pin (LGR_DEPLOY_PIN)

+ +

Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Chassis deployment feedback pin polarity (LGR_DEPLOY_POL)

+ +

Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.

+ + + +

Weight on wheels feedback pin (LGR_WOW_PIN)

+ +

Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Weight on wheels feedback pin polarity (LGR_WOW_POL)

+ +

Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.

+ + + +

Landing gear deployment altitude (LGR_DEPLOY_ALT)

+ +

Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.

+ + + +

Landing gear retract altitude (LGR_RETRACT_ALT)

+ +

Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.

+ + + +

Landing gear auto retract/deploy options (LGR_OPTIONS)

+ +

Options to retract or deploy landing gear in Auto or Guided mode

+ + + +

LOG Parameters

+ + +

AP_Logger Backend Storage type (LOG_BACKEND_TYPE)

+ +

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

+ + + +

Maximum AP_Logger File and Block Backend buffer size (in kilobytes) (LOG_FILE_BUFSIZE)

+ +

The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

+ + + +

Enable logging while disarmed (LOG_DISARMED)

+ +

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

+ + + +

Enable logging of information needed for Replay (LOG_REPLAY)

+ +

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

+ + + +

Stop logging to current file on disarm (LOG_FILE_DSRMROT)

+ +

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

+ + + +

Maximum AP_Logger MAVLink Backend buffer size (LOG_MAV_BUFSIZE)

Note: This parameter is for advanced users
+ +

Maximum amount of memory to allocate to AP_Logger-over-mavlink

+ + + +

Timeout before giving up on file writes (LOG_FILE_TIMEOUT)

+ +

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

+ + + +

Old logs on the SD card will be deleted to maintain this amount of free space (LOG_FILE_MB_FREE)

+ +

Set this such that the free space is larger than your largest typical flight log

+ + + +

Maximum logging rate for file backend (LOG_FILE_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for mavlink backend (LOG_MAV_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for block backend (LOG_BLK_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate when disarmed (LOG_DARM_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

+ + + +

Maximum number of log files (LOG_MAX_FILES)

Note: This parameter is for advanced users
+ +

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

+ + + +

MIS_ Parameters

+ + +

Total mission commands (MIS_TOTAL)

Note: This parameter is for advanced users
+ +

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

+ + + +

Mission Restart when entering Auto mode (MIS_RESTART)

Note: This parameter is for advanced users
+ +

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

+ + + +

Mission options bitmask (MIS_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of what options to use in missions.

+ + + +

MNT1 Parameters

+ + +

Mount Type (MNT1_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT1_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT1_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT1_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT1_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT1_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT1_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT1_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT1_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT1_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT1_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT1_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT1_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT1_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT1_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT1_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT1_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT1_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT1_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT1_OPTIONS)

+ +

Mount options bitmask

+ + + +

MNT2 Parameters

+ + +

Mount Type (MNT2_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT2_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT2_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT2_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT2_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT2_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT2_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT2_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT2_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT2_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT2_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT2_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT2_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT2_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT2_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT2_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT2_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT2_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT2_OPTIONS)

+ +

Mount options bitmask

+ + + +

MSP Parameters

+ + +

Cell count override (MSP_OSD_NCELLS)

+ +

Used for average cell voltage calculation

+ + + +

MSP OSD Options (MSP_OPTIONS)

+ +

A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.

+ + + +

NAVL1_ Parameters

+ + +

L1 control period (NAVL1_PERIOD)

+ +

Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.

+ + + +

L1 control damping ratio (NAVL1_DAMPING)

Note: This parameter is for advanced users
+ +

Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.

+ + + +

L1 control crosstrack integrator gain (NAVL1_XTRACK_I)

Note: This parameter is for advanced users
+ +

Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.

+ + + +

Loiter Radius Bank Angle Limit (NAVL1_LIM_BANK)

Note: This parameter is for advanced users
+ +

The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly

+ + + +

NET_ Parameters

+ + +

Networking Enable (NET_ENABLE)

Note: This parameter is for advanced users
+ +

Networking Enable

+ + + +

IP Subnet mask (NET_NETMASK)

Note: This parameter is for advanced users
+ +

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

+ + + +

DHCP client (NET_DHCP)

Note: This parameter is for advanced users
+ +

Enable/Disable DHCP client

+ + + +

Test enable flags (NET_TESTS)

Note: This parameter is for advanced users
+ +

Enable/Disable networking tests

+ + + +

Networking options (NET_OPTIONS)

Note: This parameter is for advanced users
+ +

Networking options

+ + + +

NET_GWADDR Parameters

+ + +

IPv4 Address 1st byte (NET_GWADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_GWADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_GWADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_GWADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_IPADDR Parameters

+ + +

IPv4 Address 1st byte (NET_IPADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_IPADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_IPADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_IPADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_MACADDR Parameters

+ + +

MAC Address 1st byte (NET_MACADDR0)

Note: This parameter is for advanced users
+ +

MAC address 1st byte

+ + + +

MAC Address 2nd byte (NET_MACADDR1)

Note: This parameter is for advanced users
+ +

MAC address 2nd byte

+ + + +

MAC Address 3rd byte (NET_MACADDR2)

Note: This parameter is for advanced users
+ +

MAC address 3rd byte

+ + + +

MAC Address 4th byte (NET_MACADDR3)

Note: This parameter is for advanced users
+ +

MAC address 4th byte

+ + + +

MAC Address 5th byte (NET_MACADDR4)

Note: This parameter is for advanced users
+ +

MAC address 5th byte

+ + + +

MAC Address 6th byte (NET_MACADDR5)

Note: This parameter is for advanced users
+ +

MAC address 6th byte

+ + + +

NET_P1_ Parameters

+ + +

Port type (NET_P1_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P1_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P1_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P1_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P1_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P1_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P1_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P1_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P2_ Parameters

+ + +

Port type (NET_P2_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P2_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P2_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P2_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P2_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P2_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P2_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P2_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P3_ Parameters

+ + +

Port type (NET_P3_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P3_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P3_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P3_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P3_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P3_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P3_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P3_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P4_ Parameters

+ + +

Port type (NET_P4_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P4_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P4_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P4_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P4_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P4_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P4_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P4_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_REMPPP_IP Parameters

+ + +

IPv4 Address 1st byte (NET_REMPPP_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_REMPPP_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_REMPPP_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_REMPPP_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_TEST_IP Parameters

+ + +

IPv4 Address 1st byte (NET_TEST_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_TEST_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_TEST_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_TEST_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NMEA_ Parameters

+ + +

NMEA Output rate (NMEA_RATE_MS)

+ +

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

+ + + +

Messages Enable bitmask (NMEA_MSG_EN)

+ +

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

+ + + +

NTF_ Parameters

+ + +

LED Brightness (NTF_LED_BRIGHT)

Note: This parameter is for advanced users
+ +

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

+ + + +

Buzzer Driver Types (NTF_BUZZ_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of Buzzer will be enabled

+ + + +

Specifies colour source for the RGBLed (NTF_LED_OVERRIDE)

Note: This parameter is for advanced users
+ +

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

+ + + +

Type of on-board I2C display (NTF_DISPLAY_TYPE)

Note: This parameter is for advanced users
+ +

This sets up the type of on-board I2C display. Disabled by default.

+ + + +

OreoLED Theme (NTF_OREO_THEME)

Note: This parameter is for advanced users
+ +

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

+ + + +

Buzzer pin (NTF_BUZZ_PIN)

Note: This parameter is for advanced users
+ +

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

LED Driver Types (NTF_LED_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of LEDs will be enabled

+ + + +

Buzzer-on pin logic level (NTF_BUZZ_ON_LVL)

Note: This parameter is for advanced users
+ +

Specifies pin level that indicates buzzer should play

+ + + +

Buzzer volume (NTF_BUZZ_VOLUME)

+ +

Control the volume of the buzzer

+ + + +

Serial LED String Length (NTF_LED_LEN)

Note: This parameter is for advanced users
+ +

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

+ + + +

OSD Parameters

+ + +

OSD type (OSD_TYPE)

+ +

OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

Screen switch transmitter channel (OSD_CHAN)

+ +

This sets the channel used to switch different OSD screens.

+ + + +

Screen switch method (OSD_SW_METHOD)

+ +

This sets the method used to switch different OSD screens.

+ + + +

OSD Options (OSD_OPTIONS)

+ +

This sets options that change the display

+ + + +

OSD Font (OSD_FONT)

+ +

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

+ + + +

OSD vertical offset (OSD_V_OFFSET)

+ +

Sets vertical offset of the osd inside image

+ + + +

OSD horizontal offset (OSD_H_OFFSET)

+ +

Sets horizontal offset of the osd inside image

+ + + +

RSSI warn level (in %) (OSD_W_RSSI)

+ +

Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.

+ + + +

NSAT warn level (OSD_W_NSAT)

+ +

Set level at which NSAT item will flash

+ + + +

BAT_VOLT warn level (OSD_W_BATVOLT)

+ +

Set level at which BAT_VOLT item will flash

+ + + +

Display Units (OSD_UNITS)

+ +

Sets the units to use in displaying items

+ + + +

Message display duration in seconds (OSD_MSG_TIME)

+ +

Sets message duration seconds

+ + + +

Arm screen (OSD_ARM_SCR)

+ +

Screen to be shown on Arm event. Zero to disable the feature.

+ + + +

Disarm screen (OSD_DSARM_SCR)

+ +

Screen to be shown on disarm event. Zero to disable the feature.

+ + + +

Failsafe screen (OSD_FS_SCR)

+ +

Screen to be shown on failsafe event. Zero to disable the feature.

+ + + +

Button delay (OSD_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Debounce time in ms for stick commanded parameter navigation.

+ + + +

Terrain warn level (OSD_W_TERR)

+ +

Set level below which TER_HGT item will flash. -1 disables.

+ + + +

AVGCELLV warn level (OSD_W_AVGCELLV)

+ +

Set level at which AVGCELLV item will flash

+ + + +

Battery cell count (OSD_CELL_COUNT)

Note: This parameter is for advanced users
+ +

Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.

+ + + +

RESTVOLT warn level (OSD_W_RESTVOLT)

+ +

Set level at which RESTVOLT item will flash

+ + + +

Avg Cell Resting Volt warn level (OSD_W_ACRVOLT)

+ +

Set level at which ACRVOLT item will flash

+ + + +

RC link quality warn level (in %) (OSD_W_LQ)

+ +

Set level at which RC_LQ item will flash (%)

+ + + +

RC link SNR warn level (in %) (OSD_W_SNR)

+ +

Set level at which RC_SNR item will flash (in db)

+ + + +

Sidebar horizontal offset (OSD_SB_H_OFS)

+ +

Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.

+ + + +

Sidebar vertical extension (OSD_SB_V_EXT)

+ +

Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.

+ + + +

OSD type 2 (OSD_TYPE2)

+ +

OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

OSD1_ Parameters

+ + +

Enable screen (OSD1_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD1_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD1_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD1_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD1_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD1_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD1_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD1_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD1_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD1_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD1_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD1_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD1_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD1_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD1_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD1_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD1_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD1_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD1_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD1_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD1_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD1_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD1_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD1_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD1_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD1_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD1_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD1_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD1_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD1_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD1_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD1_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD1_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD1_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD1_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD1_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD1_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD1_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD1_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD1_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD1_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD1_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD1_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD1_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD1_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD1_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD1_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD1_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD1_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD1_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD1_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD1_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD1_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD1_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD1_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD1_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD1_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD1_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD1_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD1_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD1_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD1_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD1_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD1_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD1_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD1_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD1_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD1_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD1_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD1_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD1_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD1_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD1_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD1_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD1_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD1_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD1_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD1_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD1_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD1_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD1_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD1_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD1_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD1_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD1_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD1_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD1_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD1_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD1_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD1_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD1_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD1_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD1_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD1_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD1_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD1_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD1_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD1_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD1_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD1_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD1_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD1_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD1_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD1_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD1_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD1_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD1_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD1_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD1_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD1_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD1_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD1_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD1_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD1_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD1_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD1_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD1_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD1_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD1_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD1_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD1_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD1_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD1_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD1_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD1_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD1_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD1_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD1_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD1_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD1_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD1_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD1_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD1_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD1_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD1_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD1_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD1_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD1_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD1_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD1_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD1_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD1_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD1_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD1_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD1_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD1_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD1_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD1_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD1_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD1_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD1_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD1_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD1_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD1_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD1_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD1_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD1_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD1_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD1_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD1_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD1_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD1_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD1_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD1_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD1_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD1_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD1_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD1_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD1_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD1_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD1_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD1_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD1_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD1_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD1_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD1_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD1_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD1_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD1_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD1_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD1_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD1_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD1_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD1_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD1_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD1_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD1_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD1_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD1_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD1_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD1_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD1_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD1_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD1_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD1_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD1_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD1_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD1_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD1_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD1_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD1_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD2_ Parameters

+ + +

Enable screen (OSD2_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD2_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD2_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD2_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD2_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD2_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD2_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD2_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD2_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD2_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD2_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD2_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD2_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD2_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD2_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD2_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD2_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD2_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD2_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD2_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD2_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD2_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD2_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD2_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD2_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD2_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD2_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD2_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD2_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD2_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD2_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD2_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD2_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD2_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD2_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD2_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD2_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD2_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD2_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD2_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD2_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD2_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD2_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD2_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD2_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD2_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD2_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD2_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD2_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD2_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD2_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD2_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD2_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD2_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD2_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD2_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD2_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD2_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD2_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD2_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD2_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD2_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD2_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD2_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD2_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD2_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD2_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD2_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD2_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD2_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD2_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD2_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD2_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD2_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD2_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD2_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD2_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD2_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD2_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD2_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD2_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD2_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD2_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD2_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD2_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD2_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD2_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD2_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD2_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD2_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD2_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD2_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD2_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD2_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD2_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD2_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD2_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD2_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD2_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD2_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD2_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD2_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD2_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD2_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD2_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD2_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD2_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD2_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD2_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD2_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD2_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD2_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD2_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD2_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD2_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD2_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD2_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD2_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD2_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD2_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD2_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD2_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD2_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD2_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD2_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD2_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD2_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD2_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD2_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD2_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD2_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD2_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD2_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD2_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD2_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD2_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD2_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD2_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD2_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD2_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD2_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD2_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD2_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD2_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD2_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD2_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD2_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD2_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD2_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD2_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD2_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD2_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD2_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD2_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD2_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD2_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD2_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD2_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD2_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD2_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD2_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD2_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD2_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD2_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD2_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD2_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD2_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD2_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD2_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD2_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD2_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD2_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD2_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD2_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD2_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD2_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD2_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD2_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD2_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD2_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD2_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD2_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD2_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD2_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD2_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD2_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD2_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD2_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD2_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD2_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD2_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD2_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD2_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD2_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD2_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD2_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD2_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD2_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD2_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD2_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD2_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD3_ Parameters

+ + +

Enable screen (OSD3_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD3_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD3_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD3_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD3_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD3_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD3_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD3_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD3_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD3_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD3_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD3_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD3_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD3_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD3_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD3_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD3_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD3_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD3_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD3_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD3_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD3_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD3_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD3_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD3_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD3_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD3_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD3_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD3_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD3_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD3_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD3_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD3_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD3_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD3_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD3_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD3_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD3_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD3_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD3_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD3_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD3_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD3_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD3_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD3_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD3_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD3_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD3_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD3_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD3_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD3_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD3_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD3_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD3_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD3_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD3_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD3_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD3_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD3_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD3_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD3_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD3_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD3_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD3_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD3_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD3_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD3_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD3_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD3_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD3_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD3_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD3_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD3_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD3_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD3_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD3_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD3_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD3_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD3_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD3_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD3_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD3_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD3_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD3_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD3_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD3_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD3_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD3_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD3_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD3_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD3_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD3_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD3_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD3_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD3_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD3_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD3_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD3_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD3_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD3_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD3_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD3_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD3_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD3_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD3_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD3_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD3_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD3_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD3_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD3_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD3_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD3_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD3_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD3_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD3_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD3_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD3_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD3_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD3_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD3_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD3_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD3_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD3_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD3_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD3_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD3_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD3_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD3_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD3_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD3_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD3_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD3_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD3_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD3_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD3_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD3_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD3_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD3_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD3_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD3_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD3_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD3_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD3_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD3_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD3_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD3_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD3_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD3_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD3_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD3_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD3_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD3_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD3_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD3_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD3_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD3_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD3_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD3_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD3_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD3_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD3_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD3_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD3_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD3_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD3_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD3_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD3_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD3_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD3_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD3_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD3_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD3_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD3_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD3_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD3_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD3_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD3_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD3_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD3_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD3_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD3_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD3_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD3_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD3_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD3_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD3_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD3_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD3_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD3_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD3_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD3_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD3_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD3_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD3_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD3_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD3_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD3_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD3_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD3_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD3_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD3_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD4_ Parameters

+ + +

Enable screen (OSD4_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD4_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD4_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD4_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD4_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD4_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD4_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD4_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD4_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD4_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD4_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD4_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD4_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD4_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD4_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD4_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD4_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD4_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD4_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD4_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD4_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD4_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD4_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD4_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD4_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD4_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD4_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD4_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD4_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD4_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD4_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD4_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD4_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD4_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD4_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD4_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD4_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD4_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD4_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD4_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD4_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD4_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD4_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD4_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD4_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD4_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD4_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD4_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD4_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD4_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD4_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD4_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD4_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD4_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD4_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD4_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD4_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD4_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD4_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD4_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD4_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD4_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD4_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD4_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD4_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD4_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD4_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD4_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD4_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD4_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD4_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD4_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD4_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD4_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD4_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD4_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD4_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD4_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD4_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD4_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD4_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD4_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD4_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD4_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD4_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD4_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD4_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD4_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD4_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD4_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD4_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD4_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD4_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD4_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD4_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD4_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD4_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD4_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD4_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD4_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD4_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD4_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD4_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD4_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD4_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD4_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD4_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD4_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD4_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD4_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD4_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD4_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD4_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD4_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD4_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD4_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD4_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD4_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD4_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD4_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD4_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD4_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD4_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD4_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD4_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD4_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD4_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD4_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD4_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD4_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD4_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD4_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD4_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD4_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD4_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD4_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD4_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD4_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD4_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD4_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD4_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD4_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD4_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD4_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD4_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD4_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD4_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD4_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD4_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD4_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD4_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD4_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD4_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD4_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD4_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD4_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD4_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD4_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD4_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD4_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD4_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD4_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD4_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD4_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD4_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD4_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD4_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD4_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD4_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD4_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD4_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD4_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD4_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD4_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD4_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD4_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD4_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD4_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD4_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD4_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD4_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD4_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD4_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD4_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD4_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD4_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD4_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD4_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD4_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD4_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD4_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD4_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD4_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD4_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD4_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD4_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD4_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD4_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD4_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD4_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD4_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD5_ Parameters

+ + +

Enable screen (OSD5_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD5_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD5_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD5_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD5_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD5_PARAM1 Parameters

+ + +

Enable (OSD5_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM2 Parameters

+ + +

Enable (OSD5_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM3 Parameters

+ + +

Enable (OSD5_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM4 Parameters

+ + +

Enable (OSD5_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM5 Parameters

+ + +

Enable (OSD5_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM6 Parameters

+ + +

Enable (OSD5_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM7 Parameters

+ + +

Enable (OSD5_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM8 Parameters

+ + +

Enable (OSD5_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM9 Parameters

+ + +

Enable (OSD5_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_ Parameters

+ + +

Enable screen (OSD6_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD6_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD6_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD6_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD6_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD6_PARAM1 Parameters

+ + +

Enable (OSD6_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM2 Parameters

+ + +

Enable (OSD6_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM3 Parameters

+ + +

Enable (OSD6_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM4 Parameters

+ + +

Enable (OSD6_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM5 Parameters

+ + +

Enable (OSD6_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM6 Parameters

+ + +

Enable (OSD6_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM7 Parameters

+ + +

Enable (OSD6_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM8 Parameters

+ + +

Enable (OSD6_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM9 Parameters

+ + +

Enable (OSD6_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

PLND_ Parameters

+ + +

Precision Land enabled/disabled (PLND_ENABLED)

Note: This parameter is for advanced users
+ +

Precision Land enabled/disabled

+ + + +

Precision Land Type (PLND_TYPE)

Note: This parameter is for advanced users
+ +

Precision Land Type

+ + + +

Sensor yaw alignment (PLND_YAW_ALIGN)

Note: This parameter is for advanced users
+ +

Yaw angle from body x-axis to sensor x-axis.

+ + + +

Land offset forward (PLND_LAND_OFS_X)

Note: This parameter is for advanced users
+ +

Desired landing position of the camera forward of the target in vehicle body frame

+ + + +

Land offset right (PLND_LAND_OFS_Y)

Note: This parameter is for advanced users
+ +

desired landing position of the camera right of the target in vehicle body frame

+ + + +

Precision Land Estimator Type (PLND_EST_TYPE)

Note: This parameter is for advanced users
+ +

Specifies the estimation method to be used

+ + + +

Kalman Filter Accelerometer Noise (PLND_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

+ + + +

Camera X position offset (PLND_CAM_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Camera Y position offset (PLND_CAM_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Camera Z position offset (PLND_CAM_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Sensor Bus (PLND_BUS)

Note: This parameter is for advanced users
+ +

Precland sensor bus for I2C sensors.

+ + + +

Precision Landing sensor lag (PLND_LAG)

Note: This parameter is for advanced users
+ +

Precision Landing sensor lag, to cope with variable landing_target latency

+ + + +

Precision Landing maximum distance to target before descending (PLND_XY_DIST_MAX)

Note: This parameter is for advanced users
+ +

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

+ + + +

PrecLand strictness (PLND_STRICT)

+ +

How strictly should the vehicle land on the target if target is lost

+ + + +

PrecLand Maximum number of retires for a failed landing (PLND_RET_MAX)

+ +

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

+ + + +

PrecLand retry timeout (PLND_TIMEOUT)

+ +

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

+ + + +

PrecLand retry behaviour (PLND_RET_BEHAVE)

+ +

Prec Land will do the action selected by this parameter if a retry to a landing is needed

+ + + +

PrecLand minimum alt for retry (PLND_ALT_MIN)

+ +

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

PrecLand maximum alt for retry (PLND_ALT_MAX)

+ +

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

Precision Landing Extra Options (PLND_OPTIONS)

Note: This parameter is for advanced users
+ +

Precision Landing Extra Options

+ + + +

Camera Orientation (PLND_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of camera/sensor on body

+ + + +

PTCH Parameters

+ + +

Pitch Time Constant (PTCH2SRV_TCONST)

Note: This parameter is for advanced users
+ +

Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.

+ + + +

Pitch up max rate (PTCH2SRV_RMAX_UP)

Note: This parameter is for advanced users
+ +

This sets the maximum nose up pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.

+ + + +

Pitch down max rate (PTCH2SRV_RMAX_DN)

Note: This parameter is for advanced users
+ +

This sets the maximum nose down pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.

+ + + +

Roll compensation (PTCH2SRV_RLL)

+ +

Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain.

+ + + +

Pitch axis rate controller P gain (PTCH_RATE_P)

+ +

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate

+ + + +

Pitch axis rate controller I gain (PTCH_RATE_I)

+ +

Pitch axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

+ + + +

Pitch axis rate controller I gain maximum (PTCH_RATE_IMAX)

+ +

Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Pitch axis rate controller D gain (PTCH_RATE_D)

+ +

Pitch axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

+ + + +

Pitch axis rate controller feed forward (PTCH_RATE_FF)

+ +

Pitch axis rate controller feed forward

+ + + +

Pitch axis rate controller target frequency in Hz (PTCH_RATE_FLTT)

+ +

Pitch axis rate controller target frequency in Hz

+ + + +

Pitch axis rate controller error frequency in Hz (PTCH_RATE_FLTE)

+ +

Pitch axis rate controller error frequency in Hz

+ + + +

Pitch axis rate controller derivative frequency in Hz (PTCH_RATE_FLTD)

+ +

Pitch axis rate controller derivative frequency in Hz

+ + + +

Pitch slew rate limit (PTCH_RATE_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Pitch axis rate controller PD sum maximum (PTCH_RATE_PDMX)

+ +

Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Pitch Derivative FeedForward Gain (PTCH_RATE_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Pitch Target notch filter index (PTCH_RATE_NTF)

Note: This parameter is for advanced users
+ +

Pitch Target notch filter index

+ + + +

Pitch Error notch filter index (PTCH_RATE_NEF)

Note: This parameter is for advanced users
+ +

Pitch Error notch filter index

+ + + +

PUP_ Parameters

+ + +

Enable pullup after altitude wait (PUP_ENABLE)

Note: This parameter is for advanced users
+ +

Enable pullup after altitude wait

+ + + +

Elevator deflection used before starting pullup (PUP_ELEV_OFS)

Note: This parameter is for advanced users
+ +

Elevator deflection offset from -1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup.

+ + + +

Maximum normal load factor during pullup (PUP_NG_LIM)

Note: This parameter is for advanced users
+ +

This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup.

+ + + +

Maximum normal load factor rate of change during pullup (PUP_NG_JERK_LIM)

Note: This parameter is for advanced users
+ +

The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP_NG_LIM at the rate of change set by this parameter. The parameter value specified will be scaled internally by 1/EAS2TAS.

+ + + +

Target pitch angle during pullup (PUP_PITCH)

Note: This parameter is for advanced users
+ +

The vehicle will attempt achieve this pitch angle during the pull-up maneouvre.

+ + + +

Pullup target airspeed (PUP_ARSPD_START)

Note: This parameter is for advanced users
+ +

Target airspeed for initial airspeed wait

+ + + +

Pullup target pitch (PUP_PITCH_START)

Note: This parameter is for advanced users
+ +

Target pitch for initial pullup

+ + + +

Q_ Parameters

+ + +

Enable QuadPlane (Q_ENABLE)

+ +

This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.

+ + + +

Angle Max (Q_ANGLE_MAX)

Note: This parameter is for advanced users
+ +

Maximum lean angle in all VTOL flight modes

+ + + +

Transition time (Q_TRANSITION_MS)

Note: This parameter is for advanced users
+ +

Transition time in milliseconds after minimum airspeed is reached

+ + + +

Pilot maximum vertical speed up (Q_PILOT_SPD_UP)

+ +

The maximum ascending vertical velocity the pilot may request in m/s

+ + + +

Pilot maximum vertical speed down (Q_PILOT_SPD_DN)

+ +

The maximum vertical velocity the pilot may request in m/s going down. If 0, uses Q_PILOT_SPD_UP value.

+ + + +

Pilot vertical acceleration (Q_PILOT_ACCEL_Z)

+ +

The vertical acceleration used when pilot is controlling the altitude

+ + + +

RC output speed in Hz (Q_RC_SPEED)

+ +

This is the PWM refresh rate in Hz for QuadPlane quad motors

+ + + +

Quadplane assistance speed (Q_ASSIST_SPEED)

+ +

This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. The default value of 0 disables assistance but will generate a pre-arm failure to encourage users to set this parameter to -1, or a positive, non-zero value. If this is set to -1 then all Q_ASSIST features are disabled except during transitions. A high non-zero,positive value will lead to more false positives which can waste battery. A lower value will result in less false positive, but will result in assistance taking longer to trigger. If unsure then set to 3 m/s below the minimum airspeed you will fly at. If you don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly at.

+ + + +

Maximum yaw rate (Q_YAW_RATE_MAX)

+ +

This is the maximum yaw rate for pilot input on rudder stick in degrees/second

+ + + +

Land final speed (Q_LAND_FINAL_SPD)

+ +

The descent speed for the final stage of landing in m/s

+ + + +

Land final altitude (Q_LAND_FINAL_ALT)

+ +

The altitude at which we should switch to Q_LAND_SPEED descent rate

+ + + +

Transition max pitch (Q_TRAN_PIT_MAX)

+ +

Maximum pitch during transition to auto fixed wing flight

+ + + +

Frame Class (Q_FRAME_CLASS)

+ +

Controls major frame class for multicopter component

+ + + +

Frame Type (+, X or V) (Q_FRAME_TYPE)

+ +

Controls motor mixing for multicopter component

+ + + +

Forward velocity hold gain (Q_VFWD_GAIN)

+ +

The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q_FWD_THR_USE parameter. This Q_VFD_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller. Set to 0 to disable this function. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use with QLOITER for position hold with the forward motor.

+ + + +

QRTL return altitude (Q_RTL_ALT)

+ +

The altitude which QRTL mode heads to initially

+ + + +

VTOL RTL mode (Q_RTL_MODE)

+ +

If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RTL_ALT and then transition into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL

+ + + +

Enable VTOL in GUIDED mode (Q_GUIDED_MODE)

+ +

This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.

+ + + +

ESC Calibration (Q_ESC_CAL)

+ +

This is used to calibrate the throttle range of the VTOL motors. Please read https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.

+ + + +

Forward velocity alt cutoff (Q_VFWD_ALT)

+ +

Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.

+ + + +

Cut IC engine on landing (Q_LAND_ICE_CUT)

+ +

This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.

+ + + +

Quadplane assistance angle (Q_ASSIST_ANGLE)

+ +

This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also positive and non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to zero to disable angle assistance.

+ + + +

MAVLink type identifier (Q_MAV_TYPE)

+ +

This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.

+ + + +

quadplane options (Q_OPTIONS)

+ +

See description for each bitmask bit description

+ + + +

Transition deceleration (Q_TRANS_DECEL)

+ +

This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight.

+ + + +

Quadplane AHRS trim pitch (Q_TRIM_PITCH)

Note: This parameter is for advanced users
+ +

This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.

+ + + +

Quadplane fixed wing landing approach radius (Q_FW_LND_APR_RAD)

Note: This parameter is for advanced users
+ +

This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected.

+ + + +

Quadplane transition failure time (Q_TRANS_FAIL)

Note: This parameter is for advanced users
+ +

Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit.

+ + + +

Throttle expo strength (Q_THROTTLE_EXPO)

Note: This parameter is for advanced users
+ +

Amount of curvature in throttle curve: 0 is linear, 1 is cubic

+ + + +

QACRO mode roll rate (Q_ACRO_RLL_RATE)

+ +

The maximum roll rate at full stick deflection in QACRO mode

+ + + +

QACRO mode pitch rate (Q_ACRO_PIT_RATE)

+ +

The maximum pitch rate at full stick deflection in QACRO mode

+ + + +

QACRO mode yaw rate (Q_ACRO_YAW_RATE)

+ +

The maximum yaw rate at full stick deflection in QACRO mode

+ + + +

Takeoff time failure scalar (Q_TKOFF_FAIL_SCL)

Note: This parameter is for advanced users
+ +

Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND. If set to 0 there is no limit on takeoff time.

+ + + +

Takeoff airspeed limit (Q_TKOFF_ARSP_LIM)

Note: This parameter is for advanced users
+ +

Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle will switch to QLAND. This is useful for ensuring that you don't takeoff into excessively strong wind. If set to 0 there is no limit on airspeed during takeoff.

+ + + +

Quadplane assistance altitude (Q_ASSIST_ALT)

+ +

This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.

+ + + +

Quadplane assistance delay (Q_ASSIST_DELAY)

+ +

This is delay between the assistance thresholds being met and the assistance starting.

+ + + +

VTOL manual forward throttle max percent (Q_FWD_MANTHR_MAX)

+ +

Maximum value for manual forward throttle; used with RC option FWD_THR (209)

+ + + +

SLT and Tiltrotor back transition pitch limit duration (Q_BACKTRANS_MS)

+ +

Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a postion control mode. 0 Disables.

+ + + +

Quadplane transition failure action (Q_TRANS_FAIL_ACT)

+ +

This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set. See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL

+ + + +

Land detection altitude change threshold (Q_LAND_ALTCHG)

+ +

The maximum altitude change allowed during land detection. You can raise this value if you find that landing detection takes a long time to complete. It is the maximum change in altitude over a period of 4 seconds for landing to be detected

+ + + +

Minimum navigation altitude (Q_NAVALT_MIN)

Note: This parameter is for advanced users
+ +

This is the altitude in meters above which navigation begins in auto takeoff. Below this altitude the target roll and pitch will be zero. A value of zero disables the feature

+ + + +

Pilot controlled yaw rate (Q_PLT_Y_RATE)

+ +

Pilot controlled yaw rate max. Used in all pilot controlled modes except QAcro

+ + + +

Pilot controlled yaw expo (Q_PLT_Y_EXPO)

Note: This parameter is for advanced users
+ +

Pilot controlled yaw expo to allow faster rotation when stick at edges

+ + + +

Pilot yaw rate control input time constant (Q_PLT_Y_RATE_TC)

+ +

Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response.

+ + + +

QRTL minimum altitude (Q_RTL_ALT_MIN)

+ +

If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home. If outside 150% the larger of WP_LOITER_RAD and RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT and Q_RTL_ALT

+ + + +

Q mode fwd throttle gain (Q_FWD_THR_GAIN)

+ +

This parameter sets the gain from forward accel/tilt to forward throttle in certain Q modes. The Q modes this feature operates in is controlled by the Q_FWD_THR_USE parameter. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors) with a value of 2 being typical. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter.

+ + + +

Q mode forward pitch limit (Q_FWD_PIT_LIM)

+ +

When forward throttle is being controlled by the Q_FWD_THR_GAIN parameter in Q modes, the vehicle forward (nose down) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor(s) or tilting of moveable rotors. Larger values allow the vehicle to pitch more nose down. Set initially to the amount of nose down pitch required to remove wing lift.

+ + + +

Q mode forward throttle use (Q_FWD_THR_USE)

+ +

This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.

+ + + +

Q mode rearward pitch limit (Q_BCK_PIT_LIM)

+ +

This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.

+ + + +

Q mode approach distance (Q_APPROACH_DIST)

+ +

The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach.

+ + + +

Q_AUTOTUNE_ Parameters

+ + +

Autotune axis bitmask (Q_AUTOTUNE_AXES)

+ +

1-byte bitmap of axes to autotune

+ + + +

Autotune aggressiveness (Q_AUTOTUNE_AGGR)

+ +

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

+ + + +

AutoTune minimum D (Q_AUTOTUNE_MIN_D)

+ +

Defines the minimum D gain

+ + + +

Q_A_ Parameters

+ + +

Yaw target slew rate (Q_A_SLEW_YAW)

Note: This parameter is for advanced users
+ +

Maximum rate the yaw target can be updated in RTL and Auto flight modes

+ + + +

Acceleration Max for Yaw (Q_A_ACCEL_Y_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in yaw axis

+ + + +

Rate Feedforward Enable (Q_A_RATE_FF_ENAB)

Note: This parameter is for advanced users
+ +

Controls whether body-frame rate feedforward is enabled or disabled

+ + + +

Acceleration Max for Roll (Q_A_ACCEL_R_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in roll axis

+ + + +

Acceleration Max for Pitch (Q_A_ACCEL_P_MAX)

Note: This parameter is for advanced users
+ +

Maximum acceleration in pitch axis

+ + + +

Angle Boost (Q_A_ANGLE_BOOST)

Note: This parameter is for advanced users
+ +

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

+ + + +

Roll axis angle controller P gain (Q_A_ANG_RLL_P)

+ +

Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

+ + + +

Pitch axis angle controller P gain (Q_A_ANG_PIT_P)

+ +

Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

+ + + +

Yaw axis angle controller P gain (Q_A_ANG_YAW_P)

+ +

Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

+ + + +

Angle Limit (to maintain altitude) Time Constant (Q_A_ANG_LIM_TC)

Note: This parameter is for advanced users
+ +

Angle Limit (to maintain altitude) Time Constant

+ + + +

Angular Velocity Max for Roll (Q_A_RATE_R_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in roll axis

+ + + +

Angular Velocity Max for Pitch (Q_A_RATE_P_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in pitch axis

+ + + +

Angular Velocity Max for Yaw (Q_A_RATE_Y_MAX)

Note: This parameter is for advanced users
+ +

Maximum angular velocity in yaw axis

+ + + +

Attitude control input time constant (Q_A_INPUT_TC)

+ +

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

+ + + +

Landed roll gain multiplier (Q_A_LAND_R_MULT)

Note: This parameter is for advanced users
+ +

Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis.

+ + + +

Landed pitch gain multiplier (Q_A_LAND_P_MULT)

Note: This parameter is for advanced users
+ +

Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis.

+ + + +

Landed yaw gain multiplier (Q_A_LAND_Y_MULT)

Note: This parameter is for advanced users
+ +

Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis.

+ + + +

Roll axis rate controller P gain (Q_A_RAT_RLL_P)

+ +

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain (Q_A_RAT_RLL_I)

+ +

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain maximum (Q_A_RAT_RLL_IMAX)

+ +

Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Roll axis rate controller D gain (Q_A_RAT_RLL_D)

+ +

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller feed forward (Q_A_RAT_RLL_FF)

+ +

Roll axis rate controller feed forward

+ + + +

Roll axis rate controller target frequency in Hz (Q_A_RAT_RLL_FLTT)

+ +

Roll axis rate controller target frequency in Hz

+ + + +

Roll axis rate controller error frequency in Hz (Q_A_RAT_RLL_FLTE)

+ +

Roll axis rate controller error frequency in Hz

+ + + +

Roll axis rate controller derivative frequency in Hz (Q_A_RAT_RLL_FLTD)

+ +

Roll axis rate controller derivative frequency in Hz

+ + + +

Roll slew rate limit (Q_A_RAT_RLL_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Roll axis rate controller PD sum maximum (Q_A_RAT_RLL_PDMX)

+ +

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Roll Derivative FeedForward Gain (Q_A_RAT_RLL_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Roll Target notch filter index (Q_A_RAT_RLL_NTF)

Note: This parameter is for advanced users
+ +

Roll Target notch filter index

+ + + +

Roll Error notch filter index (Q_A_RAT_RLL_NEF)

Note: This parameter is for advanced users
+ +

Roll Error notch filter index

+ + + +

Pitch axis rate controller P gain (Q_A_RAT_PIT_P)

+ +

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output

+ + + +

Pitch axis rate controller I gain (Q_A_RAT_PIT_I)

+ +

Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate

+ + + +

Pitch axis rate controller I gain maximum (Q_A_RAT_PIT_IMAX)

+ +

Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Pitch axis rate controller D gain (Q_A_RAT_PIT_D)

+ +

Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate

+ + + +

Pitch axis rate controller feed forward (Q_A_RAT_PIT_FF)

+ +

Pitch axis rate controller feed forward

+ + + +

Pitch axis rate controller target frequency in Hz (Q_A_RAT_PIT_FLTT)

+ +

Pitch axis rate controller target frequency in Hz

+ + + +

Pitch axis rate controller error frequency in Hz (Q_A_RAT_PIT_FLTE)

+ +

Pitch axis rate controller error frequency in Hz

+ + + +

Pitch axis rate controller derivative frequency in Hz (Q_A_RAT_PIT_FLTD)

+ +

Pitch axis rate controller derivative frequency in Hz

+ + + +

Pitch slew rate limit (Q_A_RAT_PIT_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Pitch axis rate controller PD sum maximum (Q_A_RAT_PIT_PDMX)

+ +

Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Pitch Derivative FeedForward Gain (Q_A_RAT_PIT_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Pitch Target notch filter index (Q_A_RAT_PIT_NTF)

Note: This parameter is for advanced users
+ +

Pitch Target notch filter index

+ + + +

Pitch Error notch filter index (Q_A_RAT_PIT_NEF)

Note: This parameter is for advanced users
+ +

Pitch Error notch filter index

+ + + +

Yaw axis rate controller P gain (Q_A_RAT_YAW_P)

+ +

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain (Q_A_RAT_YAW_I)

+ +

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain maximum (Q_A_RAT_YAW_IMAX)

+ +

Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Yaw axis rate controller D gain (Q_A_RAT_YAW_D)

+ +

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller feed forward (Q_A_RAT_YAW_FF)

+ +

Yaw axis rate controller feed forward

+ + + +

Yaw axis rate controller target frequency in Hz (Q_A_RAT_YAW_FLTT)

+ +

Yaw axis rate controller target frequency in Hz

+ + + +

Yaw axis rate controller error frequency in Hz (Q_A_RAT_YAW_FLTE)

+ +

Yaw axis rate controller error frequency in Hz

+ + + +

Yaw axis rate controller derivative frequency in Hz (Q_A_RAT_YAW_FLTD)

+ +

Yaw axis rate controller derivative frequency in Hz

+ + + +

Yaw slew rate limit (Q_A_RAT_YAW_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Yaw axis rate controller PD sum maximum (Q_A_RAT_YAW_PDMX)

+ +

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Yaw Derivative FeedForward Gain (Q_A_RAT_YAW_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Yaw Target notch filter index (Q_A_RAT_YAW_NTF)

Note: This parameter is for advanced users
+ +

Yaw Target notch filter index

+ + + +

Yaw Error notch filter index (Q_A_RAT_YAW_NEF)

Note: This parameter is for advanced users
+ +

Yaw Error notch filter index

+ + + +

Throttle Mix Minimum (Q_A_THR_MIX_MIN)

Note: This parameter is for advanced users
+ +

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

+ + + +

Throttle Mix Maximum (Q_A_THR_MIX_MAX)

Note: This parameter is for advanced users
+ +

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

+ + + +

Throttle Mix Manual (Q_A_THR_MIX_MAN)

Note: This parameter is for advanced users
+ +

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

+ + + +

Throttle-gain boost (Q_A_THR_G_BOOST)

Note: This parameter is for advanced users
+ +

Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.

+ + + +

Q_LOIT_ Parameters

+ + +

Loiter pilot angle max (Q_LOIT_ANG_MAX)

Note: This parameter is for advanced users
+ +

Loiter maximum pilot requested lean angle. Set to zero for 2/3 of Q_P_ANGLE_MAX/Q_ANGLE_MAX. The maximum vehicle lean angle is still limited by Q_P_ANGLE_MAX/Q_ANGLE_MAX

+ + + +

Loiter Horizontal Maximum Speed (Q_LOIT_SPEED)

+ +

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

+ + + +

Loiter maximum correction acceleration (Q_LOIT_ACC_MAX)

Note: This parameter is for advanced users
+ +

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

+ + + +

Loiter braking acceleration (Q_LOIT_BRK_ACCEL)

Note: This parameter is for advanced users
+ +

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

+ + + +

Loiter braking jerk (Q_LOIT_BRK_JERK)

Note: This parameter is for advanced users
+ +

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

+ + + +

Loiter brake start delay (in seconds) (Q_LOIT_BRK_DELAY)

Note: This parameter is for advanced users
+ +

Loiter brake start delay (in seconds)

+ + + +

Q_M_ Parameters

+ + +

Matrix Yaw Min (Q_M_YAW_HEADROOM)

Note: This parameter is for advanced users
+ +

Yaw control is given at least this pwm in microseconds range

+ + + +

Thrust Curve Expo (Q_M_THST_EXPO)

Note: This parameter is for advanced users
+ +

Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

+ + + +

Motor Spin maximum (Q_M_SPIN_MAX)

Note: This parameter is for advanced users
+ +

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

+ + + +

Battery voltage compensation maximum voltage (Q_M_BAT_VOLT_MAX)

Note: This parameter is for advanced users
+ +

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

+ + + +

Battery voltage compensation minimum voltage (Q_M_BAT_VOLT_MIN)

Note: This parameter is for advanced users
+ +

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

+ + + +

Motor Current Max (Q_M_BAT_CURR_MAX)

Note: This parameter is for advanced users
+ +

Maximum current over which maximum throttle is limited (0 = Disabled)

+ + + +

Output PWM type (Q_M_PWM_TYPE)

Note: This parameter is for advanced users
+ +

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.

+ + + +

PWM output minimum (Q_M_PWM_MIN)

Note: This parameter is for advanced users
+ +

This sets the min PWM output value in microseconds that will ever be output to the motors

+ + + +

PWM output maximum (Q_M_PWM_MAX)

Note: This parameter is for advanced users
+ +

This sets the max PWM value in microseconds that will ever be output to the motors

+ + + +

Motor Spin minimum (Q_M_SPIN_MIN)

Note: This parameter is for advanced users
+ +

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

+ + + +

Motor Spin armed (Q_M_SPIN_ARM)

Note: This parameter is for advanced users
+ +

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

+ + + +

Motor Current Max Time Constant (Q_M_BAT_CURR_TC)

Note: This parameter is for advanced users
+ +

Time constant used to limit the maximum current

+ + + +

Thrust Hover Value (Q_M_THST_HOVER)

Note: This parameter is for advanced users
+ +

Motor thrust needed to hover expressed as a number from 0 to 1

+ + + +

Hover Value Learning (Q_M_HOVER_LEARN)

Note: This parameter is for advanced users
+ +

Enable/Disable automatic learning of hover throttle

+ + + +

Motor PWM output disabled when disarmed (Q_M_SAFE_DISARM)

Note: This parameter is for advanced users
+ +

Disables motor PWM output when disarmed

+ + + +

Yaw Servo Max Lean Angle (Q_M_YAW_SV_ANGLE)

+ +

Yaw servo's maximum lean angle (Tricopter only)

+ + + +

Spool up time (Q_M_SPOOL_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to spool up the motors from zero to min throttle.

+ + + +

Motor boost scale (Q_M_BOOST_SCALE)

Note: This parameter is for advanced users
+ +

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

+ + + +

Battery compensation index (Q_M_BAT_IDX)

Note: This parameter is for advanced users
+ +

Which battery monitor should be used for doing compensation

+ + + +

Output slew time for increasing throttle (Q_M_SLEW_UP_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

+ + + +

Output slew time for decreasing throttle (Q_M_SLEW_DN_TIME)

Note: This parameter is for advanced users
+ +

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

+ + + +

Time taken to disable and enable the motor PWM output when disarmed and armed. (Q_M_SAFE_TIME)

Note: This parameter is for advanced users
+ +

Time taken to disable and enable the motor PWM output when disarmed and armed.

+ + + +

Motor options (Q_M_OPTIONS)

Note: This parameter is for advanced users
+ +

Motor options

+ + + +

Spool down time (Q_M_SPOOL_TIM_DN)

Note: This parameter is for advanced users
+ +

Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.

+ + + +

Q_P Parameters

+ + +

XY Acceleration filter cutoff frequency (Q_P_ACC_XY_FILT)

Note: This parameter is for advanced users
+ +

Lower values will slow the response of the navigation controller and reduce twitchiness

+ + + +

Position (vertical) controller P gain (Q_P_POSZ_P)

+ +

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

+ + + +

Velocity (vertical) controller P gain (Q_P_VELZ_P)

+ +

Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

+ + + +

Velocity (vertical) controller I gain (Q_P_VELZ_I)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration

+ + + +

Velocity (vertical) controller I gain maximum (Q_P_VELZ_IMAX)

+ +

Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output

+ + + +

Velocity (vertical) controller D gain (Q_P_VELZ_D)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller D gain. Corrects short-term changes in velocity

+ + + +

Velocity (vertical) controller Feed Forward gain (Q_P_VELZ_FF)

Note: This parameter is for advanced users
+ +

Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target

+ + + +

Velocity (vertical) error filter (Q_P_VELZ_FLTE)

Note: This parameter is for advanced users
+ +

Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms

+ + + +

Velocity (vertical) input filter for D term (Q_P_VELZ_FLTD)

Note: This parameter is for advanced users
+ +

Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms

+ + + +

Acceleration (vertical) controller P gain (Q_P_ACCZ_P)

+ +

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

+ + + +

Acceleration (vertical) controller I gain (Q_P_ACCZ_I)

+ +

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

+ + + +

Acceleration (vertical) controller I gain maximum (Q_P_ACCZ_IMAX)

+ +

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

+ + + +

Acceleration (vertical) controller D gain (Q_P_ACCZ_D)

+ +

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

+ + + +

Acceleration (vertical) controller feed forward (Q_P_ACCZ_FF)

+ +

Acceleration (vertical) controller feed forward

+ + + +

Acceleration (vertical) controller target frequency in Hz (Q_P_ACCZ_FLTT)

+ +

Acceleration (vertical) controller target frequency in Hz

+ + + +

Acceleration (vertical) controller error frequency in Hz (Q_P_ACCZ_FLTE)

+ +

Acceleration (vertical) controller error frequency in Hz

+ + + +

Acceleration (vertical) controller derivative frequency in Hz (Q_P_ACCZ_FLTD)

+ +

Acceleration (vertical) controller derivative frequency in Hz

+ + + +

Accel (vertical) slew rate limit (Q_P_ACCZ_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Acceleration (vertical) controller PD sum maximum (Q_P_ACCZ_PDMX)

+ +

Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Accel (vertical) Derivative FeedForward Gain (Q_P_ACCZ_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Accel (vertical) Target notch filter index (Q_P_ACCZ_NTF)

Note: This parameter is for advanced users
+ +

Accel (vertical) Target notch filter index

+ + + +

Accel (vertical) Error notch filter index (Q_P_ACCZ_NEF)

Note: This parameter is for advanced users
+ +

Accel (vertical) Error notch filter index

+ + + +

Position (horizontal) controller P gain (Q_P_POSXY_P)

+ +

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

+ + + +

Velocity (horizontal) P gain (Q_P_VELXY_P)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) I gain (Q_P_VELXY_I)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) D gain (Q_P_VELXY_D)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) D gain. Corrects short-term changes in velocity

+ + + +

Velocity (horizontal) integrator maximum (Q_P_VELXY_IMAX)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

+ + + +

Velocity (horizontal) input filter (Q_P_VELXY_FLTE)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

+ + + +

Velocity (horizontal) input filter (Q_P_VELXY_FLTD)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

+ + + +

Velocity (horizontal) feed forward gain (Q_P_VELXY_FF)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

+ + + +

Position Control Angle Max (Q_P_ANGLE_MAX)

Note: This parameter is for advanced users
+ +

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

+ + + +

Jerk limit for the horizontal kinematic input shaping (Q_P_JERK_XY)

Note: This parameter is for advanced users
+ +

Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target

+ + + +

Jerk limit for the vertical kinematic input shaping (Q_P_JERK_Z)

Note: This parameter is for advanced users
+ +

Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target

+ + + +

Q_TAILSIT_ Parameters

+ + +

Enable Tailsitter (Q_TAILSIT_ENABLE)

+ +

This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist"

+ + + +

Tailsitter fixed wing transition angle (Q_TAILSIT_ANGLE)

+ +

This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control.

+ + + +

Tailsitter VTOL transition angle (Q_TAILSIT_ANG_VT)

+ +

This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control, if zero Q_TAILSIT_ANGLE will be used

+ + + +

Tailsitter input type bitmask (Q_TAILSIT_INPUT)

+ +

This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level.

+ + + +

Tailsitter vector thrust gain in forward flight (Q_TAILSIT_VFGAIN)

+ +

This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter

+ + + +

Tailsitter vector thrust gain in hover (Q_TAILSIT_VHGAIN)

+ +

This controls the amount of vectored thrust control used in hover for a vectored tailsitter

+ + + +

Tailsitter vector thrust gain power (Q_TAILSIT_VHPOW)

+ +

This controls the amount of extra pitch given to the vectored control when at high pitch errors

+ + + +

Maximum tailsitter gain scaling (Q_TAILSIT_GSCMAX)

+ +

Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options

+ + + +

Maximum Roll angle (Q_TAILSIT_RLL_MX)

+ +

Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used.

+ + + +

Tailsitter motor mask (Q_TAILSIT_MOTMX)

+ +

Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters.

+ + + +

Tailsitter gain scaling mask (Q_TAILSIT_GSCMSK)

+ +

Bitmask of gain scaling methods to be applied: Throttle: scale gains with throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set, 3:Altitude correction, scale with air density

+ + + +

Minimum tailsitter gain scaling (Q_TAILSIT_GSCMIN)

+ +

Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options

+ + + +

Tailsitter disk loading (Q_TAILSIT_DSKLD)

+ +

This is the vehicle weight in kg divided by the total disk area of all propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4

+ + + +

Tailsitter VTOL to forward flight transition rate (Q_TAILSIT_RAT_FW)

+ +

The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight

+ + + +

Tailsitter forward flight to VTOL transition rate (Q_TAILSIT_RAT_VT)

+ +

The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL

+ + + +

Tailsitter forward flight to VTOL transition throttle (Q_TAILSIT_THR_VT)

+ +

Throttle used during FW->VTOL transition, -1 uses hover throttle

+ + + +

Tailsitter VTOL control surface roll gain (Q_TAILSIT_VT_R_P)

+ +

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

+ + + +

Tailsitter VTOL control surface pitch gain (Q_TAILSIT_VT_P_P)

+ +

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

+ + + +

Tailsitter VTOL control surface yaw gain (Q_TAILSIT_VT_Y_P)

+ +

Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains

+ + + +

Tailsitter Disk loading minimum outflow speed (Q_TAILSIT_MIN_VO)

+ +

Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify minumum airspeed over control surfaces, this will be used to boost throttle, when descending for example, 0 disables

+ + + +

Q_TILT_ Parameters

+ + +

Enable Tiltrotor functionality (Q_TILT_ENABLE)

+ +

This enables Tiltrotor functionality

+ + + +

Tiltrotor mask (Q_TILT_MASK)

+ +

This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.

+ + + +

Tiltrotor upwards tilt rate (Q_TILT_RATE_UP)

+ +

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover

+ + + +

Tiltrotor maximum VTOL angle (Q_TILT_MAX)

+ +

This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE

+ + + +

Tiltrotor type (Q_TILT_TYPE)

+ +

This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the tailsitter frame class (10)

+ + + +

Tiltrotor downwards tilt rate (Q_TILT_RATE_DN)

+ +

This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.

+ + + +

Tilt minimum angle for vectored yaw (Q_TILT_YAW_ANGLE)

+ +

This is the angle of the tilt servos when in VTOL mode and at minimum output (fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable vectored control for yaw in tilt quadplanes. This is also used to limit the forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes.

+ + + +

Fixed wing tiltrotor angle (Q_TILT_FIX_ANGLE)

+ +

This is the angle the motors tilt down when at maximum output for forward flight. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on tilt-vectored aircraft

+ + + +

Fixed wing tiltrotor gain (Q_TILT_FIX_GAIN)

+ +

This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes

+ + + +

Tiltrotor tilt angle that will be used as flap (Q_TILT_WING_FLAP)

+ +

For use on tilt wings, the wing will tilt up to this angle for flap, transition will be complete when the wing reaches this angle from the forward fight position, 0 disables

+ + + +

Q_WP_ Parameters

+ + +

Waypoint Horizontal Speed Target (Q_WP_SPEED)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

+ + + +

Waypoint Radius (Q_WP_RADIUS)

+ +

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

+ + + +

Waypoint Climb Speed Target (Q_WP_SPEED_UP)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

+ + + +

Waypoint Descent Speed Target (Q_WP_SPEED_DN)

+ +

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

+ + + +

Waypoint Acceleration (Q_WP_ACCEL)

+ +

Defines the horizontal acceleration in cm/s/s used during missions

+ + + +

Waypoint Vertical Acceleration (Q_WP_ACCEL_Z)

+ +

Defines the vertical acceleration in cm/s/s used during missions

+ + + +

Waypoint missions use rangefinder for terrain following (Q_WP_RFND_USE)

Note: This parameter is for advanced users
+ +

This controls if waypoint missions use rangefinder for terrain following

+ + + +

Waypoint Jerk (Q_WP_JERK)

+ +

Defines the horizontal jerk in m/s/s used during missions

+ + + +

Waypoint Terrain following altitude margin (Q_WP_TER_MARGIN)

Note: This parameter is for advanced users
+ +

Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)

+ + + +

Waypoint Cornering Acceleration (Q_WP_ACCEL_C)

+ +

Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.

+ + + +

Q_WVANE_ Parameters

+ + +

Enable (Q_WVANE_ENABLE)

+ +

Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.

+ + + +

Weathervaning gain (Q_WVANE_GAIN)

+ +

This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.

+ + + +

Weathervaning min angle (Q_WVANE_ANG_MIN)

+ +

The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.

+ + + +

Weathervaning min height (Q_WVANE_HGT_MIN)

+ +

Above this height weathervaning is permitted. If RNGFND_LANDING is enabled or terrain is enabled then this parameter sets height AGL. Otherwise this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning

+ + + +

Weathervaning max ground speed (Q_WVANE_SPD_MAX)

+ +

Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.

+ + + +

Weathervaning max vertical speed (Q_WVANE_VELZ_MAX)

+ +

The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.

+ + + +

Takeoff override (Q_WVANE_TAKEOFF)

+ +

Override the weather vaning behaviour when in takeoffs

+ + + +

Landing override (Q_WVANE_LAND)

+ +

Override the weather vaning behaviour when in landing

+ + + +

Weathervaning options (Q_WVANE_OPTIONS)

+ +

Options impacting weathervaning behaviour

+ + + +

RALLY_ Parameters

+ + +

Rally Total (RALLY_TOTAL)

Note: This parameter is for advanced users
+ +

Number of rally points currently loaded

+ + + +

Rally Limit (RALLY_LIMIT_KM)

Note: This parameter is for advanced users
+ +

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

+ + + +

Rally Include Home (RALLY_INCL_HOME)

+ +

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

+ + + +

RC Parameters

+ + +

RC override timeout (RC_OVERRIDE_TIME)

Note: This parameter is for advanced users
+ +

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

+ + + +

RC options (RC_OPTIONS)

Note: This parameter is for advanced users
+ +

RC input options

+ + + +

RC protocols enabled (RC_PROTOCOLS)

Note: This parameter is for advanced users
+ +

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

+ + + +

RC Failsafe timeout (RC_FS_TIMEOUT)

+ +

RC failsafe will trigger this many seconds after loss of RC

+ + + +

RC10_ Parameters

+ + +

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC10_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC10_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC11_ Parameters

+ + +

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC11_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC11_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC12_ Parameters

+ + +

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC12_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC12_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC13_ Parameters

+ + +

RC min PWM (RC13_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC13_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC13_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC13_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC13_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC13_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC14_ Parameters

+ + +

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC14_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC14_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC14_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC14_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC14_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC15_ Parameters

+ + +

RC min PWM (RC15_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC15_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC15_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC15_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC15_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC15_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC16_ Parameters

+ + +

RC min PWM (RC16_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC16_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC16_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC16_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC16_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC16_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC1_ Parameters

+ + +

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC1_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC1_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC2_ Parameters

+ + +

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC2_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC2_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC3_ Parameters

+ + +

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC3_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC3_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC4_ Parameters

+ + +

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC4_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC4_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC5_ Parameters

+ + +

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC5_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC5_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC6_ Parameters

+ + +

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC6_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC6_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC7_ Parameters

+ + +

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC7_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC7_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC8_ Parameters

+ + +

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC8_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC8_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC9_ Parameters

+ + +

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC9_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC9_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RCMAP_ Parameters

+ + +

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users
+ +

Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Pitch channel (RCMAP_PITCH)

Note: This parameter is for advanced users
+ +

Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Throttle channel (RCMAP_THROTTLE)

Note: This parameter is for advanced users
+ +

Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Yaw channel (RCMAP_YAW)

Note: This parameter is for advanced users
+ +

Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

RELAY10_ Parameters

+ + +

Relay function (RELAY10_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY10_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY10_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY10_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY11_ Parameters

+ + +

Relay function (RELAY11_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY11_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY11_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY11_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY12_ Parameters

+ + +

Relay function (RELAY12_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY12_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY12_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY12_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY13_ Parameters

+ + +

Relay function (RELAY13_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY13_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY13_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY13_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY14_ Parameters

+ + +

Relay function (RELAY14_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY14_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY14_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY14_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY15_ Parameters

+ + +

Relay function (RELAY15_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY15_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY15_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY15_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY16_ Parameters

+ + +

Relay function (RELAY16_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY16_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY16_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY16_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY1_ Parameters

+ + +

Relay function (RELAY1_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY1_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY1_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY1_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY2_ Parameters

+ + +

Relay function (RELAY2_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY2_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY2_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY2_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY3_ Parameters

+ + +

Relay function (RELAY3_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY3_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY3_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY3_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY4_ Parameters

+ + +

Relay function (RELAY4_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY4_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY4_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY4_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY5_ Parameters

+ + +

Relay function (RELAY5_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY5_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY5_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY5_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY6_ Parameters

+ + +

Relay function (RELAY6_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY6_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY6_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY6_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY7_ Parameters

+ + +

Relay function (RELAY7_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY7_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY7_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY7_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY8_ Parameters

+ + +

Relay function (RELAY8_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY8_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY8_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY8_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY9_ Parameters

+ + +

Relay function (RELAY9_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY9_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY9_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY9_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RLL Parameters

+ + +

Roll Time Constant (RLL2SRV_TCONST)

Note: This parameter is for advanced users
+ +

Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.

+ + + +

Maximum Roll Rate (RLL2SRV_RMAX)

Note: This parameter is for advanced users
+ +

This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables this limit.

+ + + +

Roll axis rate controller P gain (RLL_RATE_P)

+ +

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain (RLL_RATE_I)

+ +

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller I gain maximum (RLL_RATE_IMAX)

+ +

Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Roll axis rate controller D gain (RLL_RATE_D)

+ +

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

+ + + +

Roll axis rate controller feed forward (RLL_RATE_FF)

+ +

Roll axis rate controller feed forward

+ + + +

Roll axis rate controller target frequency in Hz (RLL_RATE_FLTT)

+ +

Roll axis rate controller target frequency in Hz

+ + + +

Roll axis rate controller error frequency in Hz (RLL_RATE_FLTE)

+ +

Roll axis rate controller error frequency in Hz

+ + + +

Roll axis rate controller derivative frequency in Hz (RLL_RATE_FLTD)

+ +

Roll axis rate controller derivative frequency in Hz

+ + + +

Roll slew rate limit (RLL_RATE_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Roll axis rate controller PD sum maximum (RLL_RATE_PDMX)

+ +

Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Roll Derivative FeedForward Gain (RLL_RATE_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Roll Target notch filter index (RLL_RATE_NTF)

Note: This parameter is for advanced users
+ +

Roll Target notch filter index

+ + + +

Roll Error notch filter index (RLL_RATE_NEF)

Note: This parameter is for advanced users
+ +

Roll Error notch filter index

+ + + +

RNGFND1_ Parameters

+ + +

Rangefinder type (RNGFND1_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND1_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND1_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND1_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND1_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND1_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND1_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND1_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND1_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND1_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND1_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND1_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND1_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND1_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND1_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND1_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND1_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND1_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND1_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND1_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND1_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND2_ Parameters

+ + +

Rangefinder type (RNGFND2_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND2_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND2_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND2_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND2_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND2_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND2_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND2_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND2_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND2_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND2_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND2_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND2_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND2_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND2_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND2_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND2_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND2_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND2_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND2_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND2_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND3_ Parameters

+ + +

Rangefinder type (RNGFND3_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND3_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND3_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND3_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND3_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND3_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND3_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND3_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND3_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND3_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND3_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND3_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND3_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND3_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND3_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND3_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND3_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND3_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND3_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND3_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND3_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND3_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND3_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND3_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND4_ Parameters

+ + +

Rangefinder type (RNGFND4_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND4_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND4_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND4_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND4_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND4_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND4_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND4_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND4_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND4_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND4_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND4_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND4_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND4_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND4_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND4_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND4_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND4_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND4_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND4_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND4_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND5_ Parameters

+ + +

Rangefinder type (RNGFND5_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND5_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND5_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND5_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND5_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND5_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND5_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND5_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND5_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND5_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND5_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND5_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND5_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND5_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND5_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND5_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND5_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND5_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND5_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND5_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND5_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND6_ Parameters

+ + +

Rangefinder type (RNGFND6_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND6_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND6_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND6_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND6_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND6_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND6_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND6_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND6_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND6_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND6_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND6_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND6_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND6_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND6_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND6_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND6_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND6_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND6_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND6_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND6_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND6_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND6_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND6_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND7_ Parameters

+ + +

Rangefinder type (RNGFND7_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND7_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND7_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND7_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND7_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND7_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND7_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND7_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND7_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND7_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND7_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND7_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND7_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND7_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND7_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND7_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND7_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND7_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND7_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND7_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND7_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND7_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND7_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND7_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND8_ Parameters

+ + +

Rangefinder type (RNGFND8_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND8_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND8_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND8_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND8_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND8_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND8_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND8_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND8_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND8_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND8_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND8_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND8_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND8_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND8_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND8_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND8_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND8_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND8_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND8_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND8_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND8_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND8_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND8_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND9_ Parameters

+ + +

Rangefinder type (RNGFND9_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND9_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND9_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND9_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND9_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND9_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND9_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND9_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND9_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND9_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND9_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND9_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND9_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND9_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND9_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND9_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND9_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND9_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND9_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND9_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND9_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND9_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND9_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND9_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFNDA_ Parameters

+ + +

Rangefinder type (RNGFNDA_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFNDA_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFNDA_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFNDA_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFNDA_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFNDA_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFNDA_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFNDA_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFNDA_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFNDA_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFNDA_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFNDA_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFNDA_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFNDA_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFNDA_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFNDA_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFNDA_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFNDA_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFNDA_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFNDA_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFNDA_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFNDA_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFNDA_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFNDA_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RPM1_ Parameters

+ + +

RPM type (RPM1_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM1_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM1_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM1_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM1_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM1_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM1_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM1_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM1_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM2_ Parameters

+ + +

RPM type (RPM2_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM2_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM2_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM2_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM2_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM2_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM2_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM2_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM3_ Parameters

+ + +

RPM type (RPM3_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM3_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM3_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM3_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM3_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM3_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM3_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM3_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM4_ Parameters

+ + +

RPM type (RPM4_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM4_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM4_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM4_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM4_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM4_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM4_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM4_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RSSI_ Parameters

+ + +

RSSI Type (RSSI_TYPE)

+ +

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

+ + + +

Receiver RSSI sensing pin (RSSI_ANA_PIN)

+ +

Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

RSSI pin's lowest voltage (RSSI_PIN_LOW)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

RSSI pin's highest voltage (RSSI_PIN_HIGH)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

Receiver RSSI channel number (RSSI_CHANNEL)

+ +

The channel number where RSSI will be output by the radio receiver (5 and above).

+ + + +

RSSI PWM low value (RSSI_CHAN_LOW)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

+ + + +

Receiver RSSI PWM high value (RSSI_CHAN_HIGH)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

+ + + +

SCHED_ Parameters

+ + +

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users
+ +

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

+ + + +

Scheduling main loop rate (SCHED_LOOP_RATE)

Note: This parameter is for advanced users
+ +

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

+ + + +

Scheduling options (SCHED_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional aspects of the scheduler.

+ + + +

SCR_ Parameters

+ + +

Enable Scripting (SCR_ENABLE)

Note: This parameter is for advanced users
+ +

Controls if scripting is enabled

+ + + +

Scripting Virtual Machine Instruction Count (SCR_VM_I_COUNT)

Note: This parameter is for advanced users
+ +

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

+ + + +

Scripting Heap Size (SCR_HEAP_SIZE)

Note: This parameter is for advanced users
+ +

Amount of memory available for scripting

+ + + +

Scripting Debug Level (SCR_DEBUG_OPTS)

Note: This parameter is for advanced users
+ +

Debugging options

+ + + +

Scripting User Parameter1 (SCR_USER1)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter2 (SCR_USER2)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter3 (SCR_USER3)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter4 (SCR_USER4)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter5 (SCR_USER5)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter6 (SCR_USER6)

+ +

General purpose user variable input for scripts

+ + + +

Directory disable (SCR_DIR_DISABLE)

Note: This parameter is for advanced users
+ +

This will stop scripts being loaded from the given locations

+ + + +

Loaded script checksum (SCR_LD_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

+ + + +

Running script checksum (SCR_RUN_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

+ + + +

Scripting thread priority (SCR_THD_PRIORITY)

Note: This parameter is for advanced users
+ +

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

+ + + +

Scripting serial device enable (SCR_SDEV_EN)

Note: This parameter is for advanced users
+ +

Enable scripting serial devices

+ + + +

Serial protocol of scripting serial device (SCR_SDEV1_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV2_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV3_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

SERIAL Parameters

+ + +

Serial0 baud rate (SERIAL0_BAUD)

+ +

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Console protocol selection (SERIAL0_PROTOCOL)

+ +

Control what protocol to use on the console.

+ + + +

Telem1 protocol selection (SERIAL1_PROTOCOL)

+ +

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telem1 Baud Rate (SERIAL1_BAUD)

+ +

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

+ +

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telemetry 2 Baud Rate (SERIAL2_BAUD)

+ +

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)

+ +

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

+ +

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial4 protocol selection (SERIAL4_PROTOCOL)

+ +

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 4 Baud Rate (SERIAL4_BAUD)

+ +

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial5 protocol selection (SERIAL5_PROTOCOL)

+ +

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 5 Baud Rate (SERIAL5_BAUD)

+ +

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial6 protocol selection (SERIAL6_PROTOCOL)

+ +

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 6 Baud Rate (SERIAL6_BAUD)

+ +

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telem1 options (SERIAL1_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Telem2 options (SERIAL2_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial3 options (SERIAL3_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial4 options (SERIAL4_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial5 options (SERIAL5_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial6 options (SERIAL6_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial passthru first port (SERIAL_PASS1)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru second port (SERIAL_PASS2)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru timeout (SERIAL_PASSTIMO)

Note: This parameter is for advanced users
+ +

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

+ + + +

Serial7 protocol selection (SERIAL7_PROTOCOL)

+ +

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 7 Baud Rate (SERIAL7_BAUD)

+ +

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial7 options (SERIAL7_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial8 protocol selection (SERIAL8_PROTOCOL)

+ +

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 8 Baud Rate (SERIAL8_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial8 options (SERIAL8_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial9 protocol selection (SERIAL9_PROTOCOL)

+ +

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 9 Baud Rate (SERIAL9_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial9 options (SERIAL9_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

SERVO Parameters

+ + +

Automatic servo trim (SERVO_AUTO_TRIM)

Note: This parameter is for advanced users
+ +

This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim.

+ + + +

Servo default output rate (SERVO_RATE)

Note: This parameter is for advanced users
+ +

Default output rate in Hz for all PWM outputs.

+ + + +

Servo DShot output rate (SERVO_DSHOT_RATE)

Note: This parameter is for advanced users
+ +

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

+ + + +

Servo DShot ESC type (SERVO_DSHOT_ESC)

Note: This parameter is for advanced users
+ +

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

+ + + +

Servo GPIO mask (SERVO_GPIO_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

+ + + +

Servo RC Failsafe Mask (SERVO_RC_FS_MSK)

Note: This parameter is for advanced users
+ +

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

+ + + +

Enable outputs 17 to 31 (SERVO_32_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for up to 32 outputs, enabling parameters for outputs above 16

+ + + +

SERVO10_ Parameters

+ + +

Minimum PWM (SERVO10_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO10_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO10_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO10_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO10_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO11_ Parameters

+ + +

Minimum PWM (SERVO11_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO11_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO11_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO11_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO11_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO12_ Parameters

+ + +

Minimum PWM (SERVO12_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO12_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO12_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO12_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO12_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO13_ Parameters

+ + +

Minimum PWM (SERVO13_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO13_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO13_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO13_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO13_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO14_ Parameters

+ + +

Minimum PWM (SERVO14_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO14_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO14_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO14_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO14_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO15_ Parameters

+ + +

Minimum PWM (SERVO15_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO15_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO15_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO15_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO15_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO16_ Parameters

+ + +

Minimum PWM (SERVO16_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO16_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO16_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO16_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO16_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO17_ Parameters

+ + +

Minimum PWM (SERVO17_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO17_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO17_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO17_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO17_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO18_ Parameters

+ + +

Minimum PWM (SERVO18_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO18_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO18_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO18_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO18_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO19_ Parameters

+ + +

Minimum PWM (SERVO19_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO19_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO19_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO19_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO19_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO1_ Parameters

+ + +

Minimum PWM (SERVO1_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO1_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO1_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO1_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO1_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO20_ Parameters

+ + +

Minimum PWM (SERVO20_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO20_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO20_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO20_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO20_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO21_ Parameters

+ + +

Minimum PWM (SERVO21_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO21_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO21_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO21_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO21_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO22_ Parameters

+ + +

Minimum PWM (SERVO22_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO22_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO22_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO22_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO22_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO23_ Parameters

+ + +

Minimum PWM (SERVO23_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO23_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO23_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO23_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO23_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO24_ Parameters

+ + +

Minimum PWM (SERVO24_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO24_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO24_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO24_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO24_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO25_ Parameters

+ + +

Minimum PWM (SERVO25_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO25_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO25_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO25_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO25_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO26_ Parameters

+ + +

Minimum PWM (SERVO26_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO26_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO26_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO26_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO26_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO27_ Parameters

+ + +

Minimum PWM (SERVO27_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO27_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO27_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO27_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO27_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO28_ Parameters

+ + +

Minimum PWM (SERVO28_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO28_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO28_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO28_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO28_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO29_ Parameters

+ + +

Minimum PWM (SERVO29_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO29_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO29_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO29_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO29_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO2_ Parameters

+ + +

Minimum PWM (SERVO2_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO2_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO2_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO2_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO2_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO30_ Parameters

+ + +

Minimum PWM (SERVO30_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO30_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO30_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO30_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO30_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO31_ Parameters

+ + +

Minimum PWM (SERVO31_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO31_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO31_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO31_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO31_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO32_ Parameters

+ + +

Minimum PWM (SERVO32_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO32_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO32_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO32_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO32_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO3_ Parameters

+ + +

Minimum PWM (SERVO3_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO3_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO3_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO3_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO3_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO4_ Parameters

+ + +

Minimum PWM (SERVO4_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO4_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO4_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO4_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO4_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO5_ Parameters

+ + +

Minimum PWM (SERVO5_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO5_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO5_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO5_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO5_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO6_ Parameters

+ + +

Minimum PWM (SERVO6_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO6_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO6_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO6_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO6_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO7_ Parameters

+ + +

Minimum PWM (SERVO7_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO7_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO7_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO7_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO7_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO8_ Parameters

+ + +

Minimum PWM (SERVO8_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO8_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO8_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO8_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO8_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO9_ Parameters

+ + +

Minimum PWM (SERVO9_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO9_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO9_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO9_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO9_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO_BLH_ Parameters

+ + +

BLHeli Channel Bitmask (SERVO_BLH_MASK)

Note: This parameter is for advanced users
+ +

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

+ + + +

BLHeli pass-thru auto-enable for multicopter motors (SERVO_BLH_AUTO)

+ +

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

+ + + +

BLHeli internal interface test (SERVO_BLH_TEST)

Note: This parameter is for advanced users
+ +

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

+ + + +

BLHeli protocol timeout (SERVO_BLH_TMOUT)

+ +

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

+ + + +

BLHeli telemetry rate (SERVO_BLH_TRATE)

+ +

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

+ + + +

BLHeli debug level (SERVO_BLH_DEBUG)

+ +

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

+ + + +

BLHeli output type override (SERVO_BLH_OTYPE)

Note: This parameter is for advanced users
+ +

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

+ + + +

Control port (SERVO_BLH_PORT)

Note: This parameter is for advanced users
+ +

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

+ + + +

BLHeli Motor Poles (SERVO_BLH_POLES)

Note: This parameter is for advanced users
+ +

This allows calculation of true RPM from ESC's eRPM. The default is 14.

+ + + +

BLHeli bitmask of 3D channels (SERVO_BLH_3DMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.

+ + + +

BLHeli bitmask of bi-directional dshot channels (SERVO_BLH_BDMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

+ + + +

BLHeli bitmask of reversed channels (SERVO_BLH_RVMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.

+ + + +

SERVO_FTW_ Parameters

+ + +

Servo channel output bitmask (SERVO_FTW_MASK)

+ +

Servo channel mask specifying FETtec ESC output.

+ + + +

Servo channel reverse rotation bitmask (SERVO_FTW_RVMASK)

+ +

Servo channel mask to reverse rotation of FETtec ESC outputs.

+ + + +

Nr. electrical poles (SERVO_FTW_POLES)

+ +

Number of motor electrical poles

+ + + +

SERVO_ROB_ Parameters

+ + +

Robotis servo position min (SERVO_ROB_POSMIN)

+ +

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

Robotis servo position max (SERVO_ROB_POSMAX)

+ +

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

SERVO_SBUS_ Parameters

+ + +

SBUS default output rate (SERVO_SBUS_RATE)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz.

+ + + +

SERVO_VOLZ_ Parameters

+ + +

Channel Bitmask (SERVO_VOLZ_MASK)

+ +

Enable of volz servo protocol to specific channels

+ + + +

Range of travel (SERVO_VOLZ_RANGE)

+ +

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

+ + + +

SIM_ Parameters

+ + +

Gyro drift speed (SIM_DRIFT_SPEED)

+ +

Gyro drift rate of change in degrees/second/minute

+ + + +

Gyro drift time (SIM_DRIFT_TIME)

+ +

Gyro drift duration of one full drift cycle (period in minutes)

+ + + +

Engine failure thrust scaler (SIM_ENGINE_MUL)

+ +

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

+ + + +

Simulated Wind speed (SIM_WIND_SPD)

Note: This parameter is for advanced users
+ +

Allows you to emulate wind in sim

+ + + +

Direction simulated wind is coming from (SIM_WIND_DIR)

Note: This parameter is for advanced users
+ +

Allows you to set wind direction (true deg) in sim

+ + + +

Simulated Wind variation (SIM_WIND_TURB)

Note: This parameter is for advanced users
+ +

Allows you to emulate random wind variations in sim

+ + + +

Wind variation time constant (SIM_WIND_TC)

Note: This parameter is for advanced users
+ +

this controls the time over which wind changes take effect

+ + + +

Sonar rotation (SIM_SONAR_ROT)

+ +

Sonar rotation from rotations enumeration

+ + + +

Simulated battery voltage (SIM_BATT_VOLTAGE)

Note: This parameter is for advanced users
+ +

Simulated battery (constant) voltage

+ + + +

Simulated battery capacity (SIM_BATT_CAP_AH)

Note: This parameter is for advanced users
+ +

Simulated battery capacity

+ + + +

Sonar glitch probablility (SIM_SONAR_GLITCH)

Note: This parameter is for advanced users
+ +

Probablility a sonar glitch would happen

+ + + +

Sonar noise factor (SIM_SONAR_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated sonar noise

+ + + +

Simulated RC signal failure (SIM_RC_FAIL)

Note: This parameter is for advanced users
+ +

Allows you to emulate rc failures in sim

+ + + +

Generate floating point exceptions (SIM_FLOAT_EXCEPT)

Note: This parameter is for advanced users
+ +

If set, if a numerical error occurs SITL will die with a floating point exception.

+ + + +

Mask of CAN servos/ESCs (SIM_CAN_SRV_MSK)

Note: This parameter is for advanced users
+ +

The set of actuators controlled externally by CAN SITL AP_Periph

+ + + +

transport type for first CAN interface (SIM_CAN_TYPE1)

Note: This parameter is for advanced users
+ +

transport type for first CAN interface

+ + + +

transport type for second CAN interface (SIM_CAN_TYPE2)

Note: This parameter is for advanced users
+ +

transport type for second CAN interface

+ + + +

Sonar conversion scale (SIM_SONAR_SCALE)

+ +

Sonar conversion scale from distance to voltage

+ + + +

Opflow Enable (SIM_FLOW_ENABLE)

+ +

Enable simulated Optical Flow sensor

+ + + +

Terrain Enable (SIM_TERRAIN)

+ +

Enable using terrain for height

+ + + +

Opflow Rate (SIM_FLOW_RATE)

+ +

Opflow Data Rate

+ + + +

Opflow Delay (SIM_FLOW_DELAY)

+ +

Opflow data delay

+ + + +

Number of ADSB aircrafts (SIM_ADSB_COUNT)

+ +

Total number of ADSB simulated aircraft

+ + + +

ADSB radius stddev of another aircraft (SIM_ADSB_RADIUS)

+ +

Simulated standard deviation of radius in ADSB of another aircraft

+ + + +

ADSB altitude of another aircraft (SIM_ADSB_ALT)

+ +

Simulated ADSB altitude of another aircraft

+ + + +

GPIO emulation (SIM_PIN_MASK)

+ +

SITL GPIO emulation

+ + + +

ADSB transmit enable (SIM_ADSB_TX)

+ +

ADSB transceiever enable and disable

+ + + +

Sim Speedup (SIM_SPEEDUP)

+ +

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

+ + + +

IMU Offsets (SIM_IMU_POS_X)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Y)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Z)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_X)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Y)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Z)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

+ + + +

Engine Fail Mask (SIM_ENGINE_FAIL)

+ +

mask of motors which SIM_ENGINE_MUL will be applied to

+ + + +

Start temperature (SIM_TEMP_START)

Note: This parameter is for advanced users
+ +

Baro start temperature

+ + + +

Baro temperature offset (SIM_TEMP_BRD_OFF)

Note: This parameter is for advanced users
+ +

Barometer board temperature offset from atmospheric temperature

+ + + +

Warmup time constant (SIM_TEMP_TCONST)

Note: This parameter is for advanced users
+ +

Barometer warmup temperature time constant

+ + + +

Baro temperature factor (SIM_TEMP_BFACTOR)

Note: This parameter is for advanced users
+ +

A pressure change with temperature that closely matches what has been observed with a ICM-20789

+ + + +

Simulated wind vertical direction (SIM_WIND_DIR_Z)

Note: This parameter is for advanced users
+ +

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

+ + + +

Wind Profile Type (SIM_WIND_T)

+ +

Selects how wind varies from surface to WIND_T_ALT

+ + + +

Full Wind Altitude (SIM_WIND_T_ALT)

Note: This parameter is for advanced users
+ +

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

+ + + +

Linear Wind Curve Coeff (SIM_WIND_T_COEF)

Note: This parameter is for advanced users
+ +

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

+ + + +

RC channel count (SIM_RC_CHANCOUNT)

+ +

SITL RC channel count

+ + + +

Weight on Wheels Pin (SIM_WOW_PIN)

Note: This parameter is for advanced users
+ +

SITL set this simulated pin to true if vehicle is on ground

+ + + +

Telemetry bandwidth limitting (SIM_BAUDLIMIT_EN)

+ +

SITL enable bandwidth limitting on telemetry ports with non-zero values

+ + + +

Acceleration of shove x (SIM_SHOVE_X)

+ +

Acceleration of shove to vehicle in x axis

+ + + +

Acceleration of shove y (SIM_SHOVE_Y)

+ +

Acceleration of shove to vehicle in y axis

+ + + +

Acceleration of shove z (SIM_SHOVE_Z)

+ +

Acceleration of shove to vehicle in z axis

+ + + +

Time length for shove (SIM_SHOVE_TIME)

+ +

Force to the vehicle over a period of time

+ + + +

Opflow noise (SIM_FLOW_RND)

+ +

Optical Flow sensor measurement noise

+ + + +

Twist x (SIM_TWIST_X)

+ +

Rotational acceleration of twist x axis

+ + + +

Twist y (SIM_TWIST_Y)

+ +

Rotational acceleration of twist y axis

+ + + +

Twist z (SIM_TWIST_Z)

+ +

Rotational acceleration of twist z axis

+ + + +

Twist time (SIM_TWIST_TIME)

+ +

Time that twist is applied on the vehicle

+ + + +

Ground behavior (SIM_GND_BEHAV)

+ +

Ground behavior of aircraft (tailsitter, no movement, forward only)

+ + + +

Wave enable (SIM_WAVE_ENABLE)

+ +

Wave enable and modes

+ + + +

Wave length (SIM_WAVE_LENGTH)

+ +

Wave length in SITL

+ + + +

Wave amplitude (SIM_WAVE_AMP)

+ +

Wave amplitude in SITL

+ + + +

Wave direction (SIM_WAVE_DIR)

+ +

Direction wave is coming from

+ + + +

Wave speed (SIM_WAVE_SPEED)

+ +

Wave speed in SITL

+ + + +

Tide direction (SIM_TIDE_DIR)

+ +

Tide direction wave is coming from

+ + + +

Tide speed (SIM_TIDE_SPEED)

+ +

Tide speed in simulation

+ + + +

Original Position (Latitude) (SIM_OPOS_LAT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup latitude

+ + + +

Original Position (Longitude) (SIM_OPOS_LNG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup longitude

+ + + +

Original Position (Altitude) (SIM_OPOS_ALT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup altitude (AMSL)

+ + + +

Original Position (Heading) (SIM_OPOS_HDG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup heading (0-360)

+ + + +

Extra delay per main loop (SIM_LOOP_DELAY)

+ +

Extra time delay per main loop

+ + + +

Type of Electronic Fuel Injection (SIM_EFI_TYPE)

+ +

Different types of Electronic Fuel Injection (EFI) systems

+ + + +

Motor harmonics (SIM_VIB_MOT_HMNC)

+ +

Motor harmonics generated in SITL

+ + + +

Motor mask (SIM_VIB_MOT_MASK)

+ +

Motor mask, allowing external simulators to mark motors

+ + + +

Max motor vibration frequency (SIM_VIB_MOT_MAX)

+ +

Max frequency to use as baseline for adding motor noise for the gyros and accels

+ + + +

Minimum throttle INS noise (SIM_INS_THR_MIN)

+ +

Minimum throttle for simulated ins noise

+ + + +

Vibration motor scale (SIM_VIB_MOT_MULT)

+ +

Amplitude scaling of motor noise relative to gyro/accel noise

+ + + +

Odometry enable (SIM_ODOM_ENABLE)

+ +

SITL odometry enabl

+ + + +

LED layout (SIM_LED_LAYOUT)

+ +

LED layout config value

+ + + +

Thermal scenarios (SIM_THML_SCENARI)

+ +

Scenario for thermalling simulation, for soaring

+ + + +

SITL vicon position on vehicle in Forward direction (SIM_VICON_POS_X)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Forward direction

+ + + +

SITL vicon position on vehicle in Right direction (SIM_VICON_POS_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Right direction

+ + + +

SITL vicon position on vehicle in Down direction (SIM_VICON_POS_Z)

+ +

SITL vicon position on vehicle in Down direction

+ + + +

SITL vicon position glitch North (SIM_VICON_GLIT_X)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch North

+ + + +

SITL vicon position glitch East (SIM_VICON_GLIT_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch East

+ + + +

SITL vicon position glitch Down (SIM_VICON_GLIT_Z)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch Down

+ + + +

SITL vicon failure (SIM_VICON_FAIL)

Note: This parameter is for advanced users
+ +

SITL vicon failure

+ + + +

SITL vicon yaw angle in earth frame (SIM_VICON_YAW)

Note: This parameter is for advanced users
+ +

SITL vicon yaw angle in earth frame

+ + + +

SITL vicon yaw error (SIM_VICON_YAWERR)

Note: This parameter is for advanced users
+ +

SITL vicon yaw added to reported yaw sent to vehicle

+ + + +

SITL vicon type mask (SIM_VICON_TMASK)

Note: This parameter is for advanced users
+ +

SITL vicon messages sent

+ + + +

SITL vicon velocity glitch North (SIM_VICON_VGLI_X)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch North

+ + + +

SITL vicon velocity glitch East (SIM_VICON_VGLI_Y)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch East

+ + + +

SITL vicon velocity glitch Down (SIM_VICON_VGLI_Z)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch Down

+ + + +

Loop rate (SIM_RATE_HZ)

+ +

SITL Loop rate

+ + + +

IMU count (SIM_IMU_COUNT)

+ +

Number of simulated IMUs to create

+ + + +

Baro count (SIM_BARO_COUNT)

+ +

Number of simulated baros to create in SITL

+ + + +

Loop time jitter (SIM_TIME_JITTER)

Note: This parameter is for advanced users
+ +

Upper limit of random jitter in loop time

+ + + +

Simulated ESC Telemetry (SIM_ESC_TELEM)

Note: This parameter is for advanced users
+ +

enable perfect simulated ESC telemetry

+ + + +

ESC RPM when armed (SIM_ESC_ARM_RPM)

Note: This parameter is for advanced users
+ +

Simulated RPM when motors are armed

+ + + +

UART byte loss percentage (SIM_UART_LOSS)

Note: This parameter is for advanced users
+ +

Sets percentage of outgoing byte loss on UARTs

+ + + +

Simulated ADSB Type mask (SIM_ADSB_TYPES)

Note: This parameter is for advanced users
+ +

specifies which simulated ADSB types are active

+ + + +

Simulated OSD number of text columns (SIM_OSD_COLUMNS)

+ +

Simulated OSD number of text columns

+ + + +

Simulated OSD number of text rows (SIM_OSD_ROWS)

+ +

Simulated OSD number of text rows

+ + + +

GPS 1 disable (SIM_GPS_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 1

+ + + +

GPS 1 Lag (SIM_GPS_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 1 lag

+ + + +

GPS 1 type (SIM_GPS_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 1

+ + + +

GPS Byteloss (SIM_GPS_BYTELOSS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 1

+ + + +

GPS 1 Num Satellites (SIM_GPS_NUMSATS)

+ +

Number of satellites GPS 1 has in view

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (X-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Y-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Z-axis)

+ + + +

GPS 1 Hz (SIM_GPS_HZ)

+ +

GPS 1 Update rate

+ + + +

GPS 1 Altitude Drift (SIM_GPS_DRIFTALT)

Note: This parameter is for advanced users
+ +

GPS 1 altitude drift error

+ + + +

GPS 1 Position (SIM_GPS_POS_X)

+ +

GPS 1 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Y)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Z)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 1 Noise (SIM_GPS_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS1 altitude error

+ + + +

GPS 1 Lock Time (SIM_GPS_LOCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS1 acquires lock

+ + + +

GPS 1 Altitude Offset (SIM_GPS_ALT_OFS)

+ +

GPS 1 Altitude Error

+ + + +

GPS 1 Heading (SIM_GPS_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 1 Accuracy (SIM_GPS_ACC)

Note: This parameter is for advanced users
+ +

GPS 1 Accuracy

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Z-axis)

+ + + +

GPS jamming enable (SIM_GPS_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

GPS 2 disable (SIM_GPS2_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 2

+ + + +

GPS 2 Lag (SIM_GPS2_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 2 lag in ms

+ + + +

GPS 2 type (SIM_GPS2_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 2

+ + + +

GPS 2 Byteloss (SIM_GPS2_BYTELOS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 2

+ + + +

GPS 2 Num Satellites (SIM_GPS2_NUMSATS)

+ +

Number of satellites GPS 2 has in view

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (X-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Y-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Z-axis)

+ + + +

GPS 2 Hz (SIM_GPS2_HZ)

+ +

GPS 2 Update rate

+ + + +

GPS 2 Altitude Drift (SIM_GPS2_DRFTALT)

Note: This parameter is for advanced users
+ +

GPS 2 altitude drift error

+ + + +

GPS 2 Position (SIM_GPS2_POS_X)

+ +

GPS 2 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Y)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Z)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 2 Noise (SIM_GPS2_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS2 altitude error

+ + + +

GPS 2 Lock Time (SIM_GPS2_LCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS2 acquires lock

+ + + +

GPS 2 Altitude Offset (SIM_GPS2_ALT_OFS)

+ +

GPS 2 Altitude Error

+ + + +

GPS 2 Heading (SIM_GPS2_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 2 Accuracy (SIM_GPS2_ACC)

Note: This parameter is for advanced users
+ +

GPS 2 Accuracy

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Z-axis)

+ + + +

Initial Latitude Offset (SIM_INIT_LAT_OFS)

+ +

GPS initial lat offset from origin

+ + + +

Initial Longitude Offset (SIM_INIT_LON_OFS)

+ +

GPS initial lon offset from origin

+ + + +

Initial Altitude Offset (SIM_INIT_ALT_OFS)

+ +

GPS initial alt offset from origin

+ + + +

GPS Log Number (SIM_GPS_LOG_NUM)

+ +

Log number for GPS:update_file()

+ + + +

GPS jamming enable (SIM_GPS2_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

Mag motor noise factor (SIM_MAG_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated vibration from motors

+ + + +

Mag measurement delay (SIM_MAG_DELAY)

Note: This parameter is for advanced users
+ +

Magnetometer measurement delay

+ + + +

Magnetic anomaly height (SIM_MAG_ALY_HGT)

Note: This parameter is for advanced users
+ +

Height above ground where anomally strength has decayed to 1/8 of the ground level value

+ + + +

MAG1 Orientation (SIM_MAG1_ORIENT)

Note: This parameter is for advanced users
+ +

MAG1 external compass orientation

+ + + +

MAG1 Scaling factor (SIM_MAG1_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 1 to simulate sensor scale factor errors

+ + + +

MAG1 Device ID (SIM_MAG1_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 1

+ + + +

MAG2 Device ID (SIM_MAG2_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 2

+ + + +

MAG3 Device ID (SIM_MAG3_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 3

+ + + +

MAG2 Device ID (SIM_MAG4_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 4

+ + + +

MAG5 Device ID (SIM_MAG5_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 5

+ + + +

MAG6 Device ID (SIM_MAG6_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 6

+ + + +

MAG7 Device ID (SIM_MAG7_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 7

+ + + +

MAG8 Device ID (SIM_MAG8_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 8

+ + + +

MAG1 Failure (SIM_MAG1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG1

+ + + +

MAG2 Orientation (SIM_MAG2_ORIENT)

Note: This parameter is for advanced users
+ +

MAG2 external compass orientation

+ + + +

MAG2 Failure (SIM_MAG2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG2

+ + + +

MAG2 Scaling factor (SIM_MAG2_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 2 to simulate sensor scale factor errors

+ + + +

MAG3 Failure (SIM_MAG3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG3

+ + + +

MAG3 Scaling factor (SIM_MAG3_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 3 to simulate sensor scale factor errors

+ + + +

MAG3 Orientation (SIM_MAG3_ORIENT)

Note: This parameter is for advanced users
+ +

MAG3 external compass orientation

+ + + +

Save MAG devids on startup (SIM_MAG_SAVE_IDS)

Note: This parameter is for advanced users
+ +

This forces saving of compass devids on startup so that simulated compasses start as calibrated

+ + + +

IMU temperature start (SIM_IMUT_START)

+ +

Starting IMU temperature of a curve

+ + + +

IMU temperature end (SIM_IMUT_END)

+ +

Ending IMU temperature of a curve

+ + + +

IMU temperature time constant (SIM_IMUT_TCONST)

+ +

IMU temperature time constant of the curve

+ + + +

IMU fixed temperature (SIM_IMUT_FIXED)

+ +

IMU fixed temperature by user

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Gyro 1 motor noise factor (SIM_GYR1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 2 motor noise factor (SIM_GYR2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 3 motor noise factor (SIM_GYR3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 1 motor noise factor (SIM_ACC1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 2 motor noise factor (SIM_ACC2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 3 motor noise factor (SIM_ACC3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

ACCEL1 Failure (SIM_ACCEL1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL1

+ + + +

ACCEL2 Failure (SIM_ACCEL2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL2

+ + + +

ACCEL3 Failure (SIM_ACCEL3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL3

+ + + +

Gyro Failure Mask (SIM_GYR_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accelerometer Failure Mask (SIM_ACC_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

JSON master instance (SIM_JSON_MASTER)

+ +

the instance number to take servos from

+ + + +

SIM-on_hardware Output Enable Mask (SIM_OH_MASK)

+ +

channels which are passed through to actual hardware when running sim on actual hardware

+ + + +

Gyro data to/from files (SIM_GYR_FILE_RW)

+ +

Read and write gyro data to/from files

+ + + +

Accelerometer data to/from files (SIM_ACC_FILE_RW)

+ +

Read and write accelerometer data to/from files

+ + + +

First Gyro bias on X axis (SIM_GYR1_BIAS_X)

Note: This parameter is for advanced users
+ +

First Gyro bias on X axis

+ + + +

First Gyro bias on Y axis (SIM_GYR1_BIAS_Y)

Note: This parameter is for advanced users
+ +

First Gyro bias on Y axis

+ + + +

First Gyro bias on Z axis (SIM_GYR1_BIAS_Z)

Note: This parameter is for advanced users
+ +

First Gyro bias on Z axis

+ + + +

Second Gyro bias on X axis (SIM_GYR2_BIAS_X)

Note: This parameter is for advanced users
+ +

Second Gyro bias on X axis

+ + + +

Second Gyro bias on Y axis (SIM_GYR2_BIAS_Y)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Y axis

+ + + +

Second Gyro bias on Z axis (SIM_GYR2_BIAS_Z)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Z axis

+ + + +

Third Gyro bias on X axis (SIM_GYR3_BIAS_X)

Note: This parameter is for advanced users
+ +

Third Gyro bias on X axis

+ + + +

Third Gyro bias on Y axis (SIM_GYR3_BIAS_Y)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Y axis

+ + + +

Third Gyro bias on Z axis (SIM_GYR3_BIAS_Z)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL4 Failure (SIM_ACCEL4_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL4

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 4 motor noise factor (SIM_ACC4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 4 motor noise factor (SIM_GYR4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fourth Gyro bias on X axis (SIM_GYR4_BIAS_X)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on X axis

+ + + +

Fourth Gyro bias on Y axis (SIM_GYR4_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Y axis

+ + + +

Fourth Gyro bias on Z axis (SIM_GYR4_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL5 Failure (SIM_ACCEL5_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL5

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 5 motor noise factor (SIM_ACC5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 5 motor noise factor (SIM_GYR5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fifth Gyro bias on X axis (SIM_GYR5_BIAS_X)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on X axis

+ + + +

Fifth Gyro bias on Y axis (SIM_GYR5_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Y axis

+ + + +

Fifth Gyro bias on Z axis (SIM_GYR5_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Z axis

+ + + +

SIM-on_hardware Relay Enable Mask (SIM_OH_RELAY_MSK)

+ +

Allow relay output operation when running SIM-on-hardware

+ + + +

Simulated Clamp Channel (SIM_CLAMP_CH)

+ +

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

+ + + +

SIM_ARSPD2_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD2_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD2_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD2_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD2_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_ARSPD_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_BAR2_ Parameters

+ + +

Barometer noise (SIM_BAR2_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR2_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR2_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR2_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR2_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR2_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR2_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR2_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR2_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR2_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR2_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR2_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BAR3_ Parameters

+ + +

Barometer noise (SIM_BAR3_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR3_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR3_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR3_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR3_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR3_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR3_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR3_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR3_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR3_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR3_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR3_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BARO_ Parameters

+ + +

Barometer noise (SIM_BARO_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BARO_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BARO_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BARO_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BARO_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BARO_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BARO_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BARO_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BARO_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BARO_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BARO_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BARO_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_GLD_ Parameters

+ + +

balloon burst height (SIM_GLD_BLN_BRST)

+ +

balloon burst height

+ + + +

balloon climb rate (SIM_GLD_BLN_RATE)

+ +

balloon climb rate

+ + + +

SIM_GRPE_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPE_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper emp pin (SIM_GRPE_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper emp is connected to. (start at 1)

+ + + +

SIM_GRPS_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPS_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper servo pin (SIM_GRPS_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper servo is connected to. (start at 1)

+ + + +

Gripper Grab PWM (SIM_GRPS_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (SIM_GRPS_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Gripper close direction (SIM_GRPS_REVERSE)

Note: This parameter is for advanced users
+ +

Reverse the closing direction.

+ + + +

SIM_PLD_ Parameters

+ + +

Preland device Sim enable/disable (SIM_PLD_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Preland simulation

+ + + +

Precland device center's latitude (SIM_PLD_LAT)

Note: This parameter is for advanced users
+ +

Precland device center's latitude

+ + + +

Precland device center's longitude (SIM_PLD_LON)

Note: This parameter is for advanced users
+ +

Precland device center's longitude

+ + + +

Precland device center's height SITL origin (SIM_PLD_HEIGHT)

Note: This parameter is for advanced users
+ +

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

+ + + +

Precland device systems rotation from north (SIM_PLD_YAW)

Note: This parameter is for advanced users
+ +

Precland device systems rotation from north

+ + + +

Precland device update rate (SIM_PLD_RATE)

Note: This parameter is for advanced users
+ +

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

+ + + +

Precland device radiance type (SIM_PLD_TYPE)

Note: This parameter is for advanced users
+ +

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

+ + + +

Precland device alt range (SIM_PLD_ALT_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum range altitude

+ + + +

Precland device lateral range (SIM_PLD_DIST_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum lateral range

+ + + +

Precland device orientation (SIM_PLD_ORIENT)

Note: This parameter is for advanced users
+ +

Precland device orientation vector

+ + + +

SIM_Precland extra options (SIM_PLD_OPTIONS)

Note: This parameter is for advanced users
+ +

SIM_Precland extra options

+ + + +

SIM_Precland follow ship (SIM_PLD_SHIP)

Note: This parameter is for advanced users
+ +

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

+ + + +

SIM_RFL_ Parameters

+ + +

FlightAxis options (SIM_RFL_OPTS)

Note: This parameter is for advanced users
+ +

Bitmask of FlightAxis options

+ + + +

SIM_SB_ Parameters

+ + +

mass (SIM_SB_MASS)

+ +

mass of blimp not including lifting gas

+ + + +

helium mass (SIM_SB_HMASS)

+ +

mass of lifting gas

+ + + +

arm length (SIM_SB_ARM_LEN)

+ +

distance from center of mass to one motor

+ + + +

motor thrust (SIM_SB_MOT_THST)

+ +

thrust at max throttle for one motor

+ + + +

drag in forward direction (SIM_SB_DRAG_FWD)

+ +

drag on X axis

+ + + +

drag in sidewards direction (SIM_SB_DRAG_SIDE)

+ +

drag on Y axis

+ + + +

drag in upward direction (SIM_SB_DRAG_UP)

+ +

drag on Z axis

+ + + +

moment of inertia in yaw (SIM_SB_MOI_YAW)

+ +

moment of inertia in yaw

+ + + +

moment of inertia in roll (SIM_SB_MOI_ROLL)

+ +

moment of inertia in roll

+ + + +

moment of inertia in pitch (SIM_SB_MOI_PITCH)

+ +

moment of inertia in pitch

+ + + +

altitude target (SIM_SB_ALT_TARG)

+ +

altitude target

+ + + +

target climb rate (SIM_SB_CLMB_RT)

+ +

target climb rate

+ + + +

yaw rate (SIM_SB_YAW_RT)

+ +

maximum yaw rate with full left throttle at target altitude

+ + + +

motor angle (SIM_SB_MOT_ANG)

+ +

maximum motor tilt angle

+ + + +

center of lift (SIM_SB_COL)

+ +

center of lift position above CoG

+ + + +

weathervaning offset (SIM_SB_WVANE)

+ +

center of drag for weathervaning

+ + + +

free lift rate (SIM_SB_FLR)

+ +

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

+ + + +

SIM_SERVO_ Parameters

+ + +

servo speed (SIM_SERVO_SPEED)

+ +

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

+ + + +

servo delay (SIM_SERVO_DELAY)

+ +

servo delay

+ + + +

servo filter (SIM_SERVO_FILTER)

+ +

servo filter

+ + + +

SIM_SLUP_ Parameters

+ + +

Slung Payload Sim enable/disable (SIM_SLUP_ENABLE)

Note: This parameter is for advanced users
+ +

Slung Payload Sim enable/disable

+ + + +

Slung Payload weight (SIM_SLUP_WEIGHT)

Note: This parameter is for advanced users
+ +

Slung Payload weight in kg

+ + + +

Slung Payload line length (SIM_SLUP_LINELEN)

Note: This parameter is for advanced users
+ +

Slung Payload line length in meters

+ + + +

Slung Payload drag coefficient (SIM_SLUP_DRAG)

Note: This parameter is for advanced users
+ +

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

+ + + +

Slung Payload MAVLink system ID (SIM_SLUP_SYSID)

Note: This parameter is for advanced users
+ +

Slung Payload MAVLink system id to distinguish it from others on the same network

+ + + +

SIM_SPR_ Parameters

+ + +

Sprayer Sim enable/disable (SIM_SPR_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Sprayer simulation

+ + + +

Sprayer pump pin (SIM_SPR_PUMP)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer pump is connected to. (start at 1)

+ + + +

Sprayer spinner servo pin (SIM_SPR_SPIN)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer spinner servo is connected to. (start at 1)

+ + + +

SOAR_ Parameters

+ + +

Is the soaring mode enabled or not (SOAR_ENABLE)

Note: This parameter is for advanced users
+ +

Toggles the soaring mode on and off

+ + + +

Vertical v-speed (SOAR_VSPEED)

Note: This parameter is for advanced users
+ +

Rate of climb to trigger themalling speed

+ + + +

Process noise (SOAR_Q1)

Note: This parameter is for advanced users
+ +

Standard deviation of noise in process for strength

+ + + +

Process noise (SOAR_Q2)

Note: This parameter is for advanced users
+ +

Standard deviation of noise in process for position and radius

+ + + +

Measurement noise (SOAR_R)

Note: This parameter is for advanced users
+ +

Standard deviation of noise in measurement

+ + + +

Distance to thermal center (SOAR_DIST_AHEAD)

Note: This parameter is for advanced users
+ +

Initial guess of the distance to the thermal center

+ + + +

Minimum thermalling time (SOAR_MIN_THML_S)

Note: This parameter is for advanced users
+ +

Minimum number of seconds to spend thermalling

+ + + +

Minimum cruising time (SOAR_MIN_CRSE_S)

Note: This parameter is for advanced users
+ +

Minimum number of seconds to spend cruising

+ + + +

Zero lift drag coef. (SOAR_POLAR_CD0)

Note: This parameter is for advanced users
+ +

Zero lift drag coefficient

+ + + +

Induced drag coeffient (SOAR_POLAR_B)

Note: This parameter is for advanced users
+ +

Induced drag coeffient

+ + + +

Cl factor (SOAR_POLAR_K)

Note: This parameter is for advanced users
+ +

Cl factor 2*m*g/(rho*S)

+ + + +

Maximum soaring altitude, relative to the home location (SOAR_ALT_MAX)

Note: This parameter is for advanced users
+ +

Don't thermal any higher than this.

+ + + +

Minimum soaring altitude, relative to the home location (SOAR_ALT_MIN)

Note: This parameter is for advanced users
+ +

Don't get any lower than this.

+ + + +

Maximum power altitude, relative to the home location (SOAR_ALT_CUTOFF)

Note: This parameter is for advanced users
+ +

Cut off throttle at this alt.

+ + + +

(Optional) Maximum drift distance to allow when thermalling. (SOAR_MAX_DRIFT)

Note: This parameter is for advanced users
+ +

The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value. -1 to disable.

+ + + +

(Optional) Maximum distance from home (SOAR_MAX_RADIUS)

Note: This parameter is for advanced users
+ +

RTL will be entered when a thermal is exited and the plane is more than this distance from home. -1 to disable.

+ + + +

Thermalling bank angle (SOAR_THML_BANK)

Note: This parameter is for advanced users
+ +

This parameter sets the bank angle to use when thermalling. Typically 30 - 45 degrees works well.

+ + + +

Specific setting for airspeed when soaring in THERMAL mode. (SOAR_THML_ARSPD)

Note: This parameter is for advanced users
+ +

If non-zero this airspeed will be used when thermalling. A value of 0 will use AIRSPEED_CRUISE.

+ + + +

Specific setting for airspeed when soaring in AUTO mode. (SOAR_CRSE_ARSPD)

Note: This parameter is for advanced users
+ +

If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then AIRSPEED_CRUISE will be used while cruising between thermals.

+ + + +

Flap percent to be used during thermalling flight. (SOAR_THML_FLAP)

Note: This parameter is for advanced users
+ +

This sets the flap when in LOITER with soaring active. Overrides the usual auto flap behaviour.

+ + + +

SR0_ Parameters

+ + +

Raw sensor stream rate (SR0_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR0_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR0_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR0_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR0_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR0_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR0_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR0_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR0_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR0_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR1_ Parameters

+ + +

Raw sensor stream rate (SR1_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR1_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR1_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR1_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR1_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR1_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR1_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR1_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR1_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR1_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR2_ Parameters

+ + +

Raw sensor stream rate (SR2_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR2_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR2_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR2_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR2_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR2_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR2_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR2_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR2_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR2_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR3_ Parameters

+ + +

Raw sensor stream rate (SR3_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR3_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR3_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR3_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR3_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR3_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR3_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR3_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR3_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR3_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR4_ Parameters

+ + +

Raw sensor stream rate (SR4_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR4_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR4_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR4_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR4_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR4_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR4_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR4_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR4_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR4_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR5_ Parameters

+ + +

Raw sensor stream rate (SR5_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR5_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR5_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR5_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR5_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR5_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR5_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR5_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR5_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR5_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

SR6_ Parameters

+ + +

Raw sensor stream rate (SR6_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR6_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR6_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR6_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR6_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate (SR6_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR6_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR6_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

+ + + +

Parameter stream rate (SR6_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR6_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB stream rate

+ + + +

STAT Parameters

+ + +

Boot Count (STAT_BOOTCNT)

+ +

Number of times board has been booted

+ + + +

Total FlightTime (STAT_FLTTIME)

+ +

Total FlightTime (seconds)

+ + + +

Total RunTime (STAT_RUNTIME)

+ +

Total time autopilot has run

+ + + +

Statistics Reset Time (STAT_RESET)

+ +

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

+ + + +

STEER2SRV_ Parameters

+ + +

Steering Time Constant (STEER2SRV_TCONST)

Note: This parameter is for advanced users
+ +

This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.

+ + + +

Steering turning gain (STEER2SRV_P)

+ +

The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle

+ + + +

Integrator Gain (STEER2SRV_I)

+ +

This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.

+ + + +

Damping Gain (STEER2SRV_D)

+ +

This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.

+ + + +

Integrator limit (STEER2SRV_IMAX)

Note: This parameter is for advanced users
+ +

This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.

+ + + +

Minimum speed (STEER2SRV_MINSPD)

+ +

This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed.

+ + + +

Steering feed forward (STEER2SRV_FF)

+ +

The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed.

+ + + +

Derating speed (STEER2SRV_DRTSPD)

Note: This parameter is for advanced users
+ +

Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used.

+ + + +

Derating factor (STEER2SRV_DRTFCT)

Note: This parameter is for advanced users
+ +

Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns.

+ + + +

Minimum angle of wheel (STEER2SRV_DRTMIN)

Note: This parameter is for advanced users
+ +

The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle.

+ + + +

TECS_ Parameters

+ + +

Maximum Climb Rate (metres/sec) (TECS_CLMB_MAX)

+ +

Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.

+ + + +

Minimum Sink Rate (metres/sec) (TECS_SINK_MIN)

+ +

Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE.

+ + + +

Controller time constant (sec) (TECS_TIME_CONST)

Note: This parameter is for advanced users
+ +

Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior.

+ + + +

Controller throttle damping (TECS_THR_DAMP)

Note: This parameter is for advanced users
+ +

Damping gain for throttle demand loop. Increase to add throttle activity to dampen oscillations in speed and height.

+ + + +

Controller integrator (TECS_INTEG_GAIN)

Note: This parameter is for advanced users
+ +

Integrator gain to trim out long-term speed and height errors.

+ + + +

Vertical Acceleration Limit (metres/sec^2) (TECS_VERT_ACC)

Note: This parameter is for advanced users
+ +

Maximum vertical acceleration used to correct speed or height errors.

+ + + +

Height complementary filter frequency (radians/sec) (TECS_HGT_OMEGA)

Note: This parameter is for advanced users
+ +

This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.

+ + + +

Speed complementary filter frequency (radians/sec) (TECS_SPD_OMEGA)

Note: This parameter is for advanced users
+ +

This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.

+ + + +

Bank angle compensation gain (TECS_RLL2THR)

Note: This parameter is for advanced users
+ +

Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns.

+ + + +

Weighting applied to speed control (TECS_SPDWEIGHT)

Note: This parameter is for advanced users
+ +

Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1.

+ + + +

Controller pitch damping (TECS_PTCH_DAMP)

Note: This parameter is for advanced users
+ +

Damping gain for pitch control from TECS control. Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control.

+ + + +

Maximum Descent Rate (metres/sec) (TECS_SINK_MAX)

+ +

Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX.

+ + + +

Airspeed during landing approach (m/s) (TECS_LAND_ARSPD)

+ +

When performing an autonomus landing, this value is used as the goal airspeed during approach. Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as defined by LAND_OPTIONS bitmask. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is halfway between AIRSPEED_MIN and TRIM_CRUISE_CM speed for fixed wing autolandings.

+ + + +

Cruise throttle during landing approach (percentage) (TECS_LAND_THR)

+ +

Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead.

+ + + +

Weighting applied to speed control during landing. (TECS_LAND_SPDWGT)

Note: This parameter is for advanced users
+ +

Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2.

+ + + +

Maximum pitch in auto flight (TECS_PITCH_MAX)

Note: This parameter is for advanced users
+ +

Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates. Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.

+ + + +

Minimum pitch in auto flight (TECS_PITCH_MIN)

Note: This parameter is for advanced users
+ +

Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates. Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.

+ + + +

Sink rate for final landing stage (TECS_LAND_SINK)

Note: This parameter is for advanced users
+ +

The sink rate in meters/second for the final stage of landing.

+ + + +

Land controller time constant (sec) (TECS_LAND_TCONST)

Note: This parameter is for advanced users
+ +

This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare

+ + + +

Controller sink rate to pitch gain during flare (TECS_LAND_DAMP)

Note: This parameter is for advanced users
+ +

This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare.

+ + + +

Maximum pitch during final stage of landing (TECS_LAND_PMAX)

Note: This parameter is for advanced users
+ +

This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits.

+ + + +

Sink rate max for landing approach stage (TECS_APPR_SMAX)

Note: This parameter is for advanced users
+ +

The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX.

+ + + +

Land sink rate change (TECS_LAND_SRC)

Note: This parameter is for advanced users
+ +

When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.

+ + + +

Controller throttle damping when landing (TECS_LAND_TDAMP)

Note: This parameter is for advanced users
+ +

Damping gain for the throttle demand loop during an auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle activity to dampen oscillations in speed and height. When set to 0 landing throttle damping is controlled by TECS_THR_DAMP.

+ + + +

Controller integrator during landing (TECS_LAND_IGAIN)

Note: This parameter is for advanced users
+ +

This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best

+ + + +

Controller integrator during takeoff (TECS_TKOFF_IGAIN)

Note: This parameter is for advanced users
+ +

This is the integrator gain on the control loop during takeoff. Increase to increase the rate at which speed and height offsets are trimmed out.

+ + + +

Pitch damping gain when landing (TECS_LAND_PDAMP)

Note: This parameter is for advanced users
+ +

This is the damping gain for the pitch demand loop during landing. Increase to add damping to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.

+ + + +

Enable the use of synthetic airspeed (TECS_SYNAIRSPEED)

Note: This parameter is for advanced users
+ +

This enables the use of synthetic airspeed in TECS for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements.

+ + + +

Extra TECS options (TECS_OPTIONS)

Note: This parameter is for advanced users
+ +

This allows the enabling of special features in the speed/height controller.

+ + + +

Baseline airspeed for pitch feed-forward. (TECS_PTCH_FF_V0)

Note: This parameter is for advanced users
+ +

This parameter sets the airspeed at which no feed-forward is applied between demanded airspeed and pitch. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB_PITCH_DOWN.

+ + + +

Gain for pitch feed-forward. (TECS_PTCH_FF_K)

Note: This parameter is for advanced users
+ +

This parameter sets the gain between demanded airspeed and pitch. It has units of radians per metre per second and should generally be negative. A good starting value is -0.04 for gliders and -0.08 for draggy airframes. The default (0.0) disables this feed-forward.

+ + + +

Flare holdoff height (TECS_FLARE_HGT)

Note: This parameter is for advanced users
+ +

When height above ground is below this, the sink rate will be held at TECS_LAND_SINK. Use this to perform a hold-off manoeuvre when combined with small values for TECS_LAND_SINK.

+ + + +

Height Demand Time Constant (TECS_HDEM_TCONST)

Note: This parameter is for advanced users
+ +

This sets the time constant of the low pass filter that is applied to the height demand input when bit 1 of TECS_OPTIONS is not selected.

+ + + +

TEMP Parameters

+ + +

Logging (TEMP_LOG)

+ +

Enables temperature sensor logging

+ + + +

TEMP1_ Parameters

+ + +

Temperature Sensor Type (TEMP1_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP1_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP1_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP1_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP1_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP1_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP1_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP1_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP1_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP1_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP1_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP1_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP2_ Parameters

+ + +

Temperature Sensor Type (TEMP2_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP2_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP2_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP2_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP2_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP2_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP2_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP2_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP2_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP2_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP2_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP2_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP3_ Parameters

+ + +

Temperature Sensor Type (TEMP3_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP3_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP3_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP3_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP3_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP3_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP3_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP3_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP3_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP3_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP3_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP3_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP4_ Parameters

+ + +

Temperature Sensor Type (TEMP4_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP4_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP4_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP4_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP4_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP4_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP4_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP4_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP4_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP4_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP4_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP4_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP5_ Parameters

+ + +

Temperature Sensor Type (TEMP5_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP5_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP5_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP5_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP5_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP5_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP5_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP5_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP5_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP5_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP5_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP5_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP6_ Parameters

+ + +

Temperature Sensor Type (TEMP6_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP6_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP6_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP6_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP6_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP6_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP6_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP6_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP6_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP6_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP6_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP6_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP7_ Parameters

+ + +

Temperature Sensor Type (TEMP7_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP7_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP7_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP7_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP7_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP7_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP7_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP7_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP7_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP7_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP7_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP7_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP8_ Parameters

+ + +

Temperature Sensor Type (TEMP8_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP8_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP8_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP8_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP8_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP8_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP8_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP8_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP8_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP8_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP8_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP8_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP9_ Parameters

+ + +

Temperature Sensor Type (TEMP9_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP9_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP9_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP9_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP9_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP9_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP9_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP9_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP9_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP9_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP9_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP9_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TERRAIN_ Parameters

+ + +

Terrain data enable (TERRAIN_ENABLE)

Note: This parameter is for advanced users
+ +

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

+ + + +

Terrain grid spacing (TERRAIN_SPACING)

Note: This parameter is for advanced users
+ +

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.

+ + + +

Terrain options (TERRAIN_OPTIONS)

Note: This parameter is for advanced users
+ +

Options to change behaviour of terrain system

+ + + +

Acceptance margin (TERRAIN_MARGIN)

Note: This parameter is for advanced users
+ +

Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used

+ + + +

Terrain reference offset maximum (TERRAIN_OFS_MAX)

Note: This parameter is for advanced users
+ +

The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.

+ + + +

Terrain cache size (TERRAIN_CACHE_SZ)

Note: This parameter is for advanced users
+ +

The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory

+ + + +

TKOFF_ Parameters

+ + +

Takeoff mode altitude (TKOFF_ALT)

+ +

This is the target altitude for TAKEOFF mode

+ + + +

Takeoff mode altitude level altitude (TKOFF_LVL_ALT)

+ +

This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition.

+ + + +

Takeoff mode altitude initial pitch (TKOFF_LVL_PITCH)

+ +

This is the target pitch during the takeoff.

+ + + +

Takeoff mode distance (TKOFF_DIST)

+ +

This is the distance from the takeoff location where the plane will loiter. The loiter point will be in the direction of takeoff (the direction the plane is facing when the plane begins takeoff)

+ + + +

Takeoff run pitch demand (TKOFF_GND_PITCH)

+ +

Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments.

+ + + +

TUNE_ Parameters

+ + +

Transmitter tuning parameter or set of parameters (TUNE_PARAM)

+ +

This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.

+ + + +

Transmitter tuning channel (TUNE_CHAN)

+ +

This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX

+ + + +

Transmitter tuning channel minimum pwm (TUNE_CHAN_MIN)

+ +

This sets the PWM lower limit for the tuning channel

+ + + +

Transmitter tuning channel maximum pwm (TUNE_CHAN_MAX)

+ +

This sets the PWM upper limit for the tuning channel

+ + + +

Transmitter tuning selector channel (TUNE_SELECTOR)

+ +

This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob

+ + + +

Transmitter tuning range (TUNE_RANGE)

+ +

This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel

+ + + +

Revert on mode change (TUNE_MODE_REVERT)

+ +

This controls whether tuning values will revert on a flight mode change.

+ + + +

Controller error threshold (TUNE_ERR_THRESH)

+ +

This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message.

+ + + +

VISO Parameters

+ + +

Visual odometry camera connection type (VISO_TYPE)

Note: This parameter is for advanced users
+ +

Visual odometry camera connection type

+ + + +

Visual odometry camera X position offset (VISO_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Visual odometry camera Y position offset (VISO_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Visual odometry camera Z position offset (VISO_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Visual odometery camera orientation (VISO_ORIENT)

Note: This parameter is for advanced users
+ +

Visual odometery camera orientation

+ + + +

Visual odometry scaling factor (VISO_SCALE)

Note: This parameter is for advanced users
+ +

Visual odometry scaling factor applied to position estimates from sensor

+ + + +

Visual odometry sensor delay (VISO_DELAY_MS)

Note: This parameter is for advanced users
+ +

Visual odometry sensor delay relative to inertial measurements

+ + + +

Visual odometry velocity measurement noise (VISO_VEL_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry velocity measurement noise in m/s

+ + + +

Visual odometry position measurement noise (VISO_POS_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry yaw measurement noise (VISO_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry minimum quality (VISO_QUAL_MIN)

Note: This parameter is for advanced users
+ +

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

+ + + +

VTX_ Parameters

+ + +

Is the Video Transmitter enabled or not (VTX_ENABLE)

+ +

Toggles the Video Transmitter on and off

+ + + +

Video Transmitter Power Level (VTX_POWER)

+ +

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

+ + + +

Video Transmitter Channel (VTX_CHANNEL)

+ +

Video Transmitter Channel

+ + + +

Video Transmitter Band (VTX_BAND)

+ +

Video Transmitter Band

+ + + +

Video Transmitter Frequency (VTX_FREQ)

+ +

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

+ + + +

Video Transmitter Options (VTX_OPTIONS)

Note: This parameter is for advanced users
+ +

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

+ + + +

Video Transmitter Max Power Level (VTX_MAX_POWER)

+ +

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

+ + + +

YAW Parameters

+ + +

Sideslip control gain (YAW2SRV_SLIP)

Note: This parameter is for advanced users
+ +

Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned.

+ + + +

Sideslip control integrator (YAW2SRV_INT)

Note: This parameter is for advanced users
+ +

Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip.

+ + + +

Yaw damping (YAW2SRV_DAMP)

Note: This parameter is for advanced users
+ +

Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0.

+ + + +

Yaw coordination gain (YAW2SRV_RLL)

Note: This parameter is for advanced users
+ +

Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems.

+ + + +

Integrator limit (YAW2SRV_IMAX)

Note: This parameter is for advanced users
+ +

Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range.

+ + + +

Yaw rate enable (YAW_RATE_ENABLE)

Note: This parameter is for advanced users
+ +

Enable yaw rate controller for aerobatic flight

+ + + +

Yaw axis rate controller P gain (YAW_RATE_P)

+ +

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain (YAW_RATE_I)

+ +

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller I gain maximum (YAW_RATE_IMAX)

+ +

Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output

+ + + +

Yaw axis rate controller D gain (YAW_RATE_D)

+ +

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

+ + + +

Yaw axis rate controller feed forward (YAW_RATE_FF)

+ +

Yaw axis rate controller feed forward

+ + + +

Yaw axis rate controller target frequency in Hz (YAW_RATE_FLTT)

+ +

Yaw axis rate controller target frequency in Hz

+ + + +

Yaw axis rate controller error frequency in Hz (YAW_RATE_FLTE)

+ +

Yaw axis rate controller error frequency in Hz

+ + + +

Yaw axis rate controller derivative frequency in Hz (YAW_RATE_FLTD)

+ +

Yaw axis rate controller derivative frequency in Hz

+ + + +

Yaw slew rate limit (YAW_RATE_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Yaw axis rate controller PD sum maximum (YAW_RATE_PDMX)

+ +

Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Yaw Derivative FeedForward Gain (YAW_RATE_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Yaw Target notch filter index (YAW_RATE_NTF)

Note: This parameter is for advanced users
+ +

Yaw Target notch filter index

+ + + +

Yaw Error notch filter index (YAW_RATE_NEF)

Note: This parameter is for advanced users
+ +

Yaw Error notch filter index

+ diff --git a/Plane-4.6/Parameters.md b/Plane-4.6/Parameters.md new file mode 100644 index 0000000..26006f9 --- /dev/null +++ b/Plane-4.6/Parameters.md @@ -0,0 +1,44107 @@ + +This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time. + +# ArduPlane Parameters + +## FORMAT_VERSION: Eeprom format version number + +*Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + +## SYSID_THISMAV: MAVLink system ID of this vehicle + +*Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + +- Range: 1 255 + +## SYSID_MYGCS: Ground station MAVLink system ID + +*Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match. + +- Range: 1 255 + +- Increment: 1 + +## AUTOTUNE_LEVEL: Autotune level + +Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values + +- Range: 0 10 + +- Increment: 1 + +## AUTOTUNE_OPTIONS: Autotune options bitmask + +*Note: This parameter is for advanced users* + +Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune. + +- Bitmask: 0: Disable FLTD update by Autotune, 1: Disable FLTT update by Autotune + +## TELEM_DELAY: Telemetry startup delay + +The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up + +- Units: s + +- Range: 0 30 + +- Increment: 1 + +## GCS_PID_MASK: GCS PID tuning mask + +*Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID_TUNING messages for + +- Bitmask: 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing + +## KFF_RDDRMIX: Rudder Mix + +Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw. + +- Range: 0 1 + +- Increment: 0.01 + +## KFF_THR2PTCH: Throttle to Pitch Mix + +*Note: This parameter is for advanced users* + +Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target. + +- Range: -5 5 + +- Increment: 0.01 + +## STAB_PITCH_DOWN: Low throttle pitch down trim + +*Note: This parameter is for advanced users* + +Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes. + +- Range: 0 15 + +- Increment: 0.1 + +- Units: deg + +## GLIDE_SLOPE_MIN: Glide slope minimum + +*Note: This parameter is for advanced users* + +This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude. + +- Range: 0 1000 + +- Increment: 1 + +- Units: m + +## GLIDE_SLOPE_THR: Glide slope threshold + +*Note: This parameter is for advanced users* + +This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff + +- Range: 0 100 + +- Increment: 1 + +- Units: m + +## STICK_MIXING: Stick Mixing + +*Note: This parameter is for advanced users* + +When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FBWMixing| +|3|VTOL Yaw only| + +## TKOFF_THR_MINSPD: Takeoff throttle min speed + +Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter. + +- Units: m/s + +- Range: 0 30 + +- Increment: 0.1 + +## TKOFF_THR_MINACC: Takeoff throttle min acceleration + +Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm". + +- Units: m/s/s + +- Range: 0 30 + +- Increment: 0.1 + +## TKOFF_THR_DELAY: Takeoff throttle delay + +This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started. + +- Units: ds + +- Range: 0 127 + +- Increment: 1 + +## TKOFF_THR_MAX_T: Takeoff throttle maximum time + +This sets the time that maximum throttle will be forced during a fixed wing takeoff. + +- Units: s + +- Range: 0 10 + +- Increment: 0.5 + +## TKOFF_THR_MIN: Takeoff minimum throttle + +The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## TKOFF_OPTIONS: Takeoff options + +*Note: This parameter is for advanced users* + +This selects the mode of the takeoff in AUTO and TAKEOFF flight modes. + +- Bitmask: 0: When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. + +## TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator + +This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time. + +- Units: % + +- Range: -100 100 + +- Increment: 1 + +## TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1 + +This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed. + +- Units: m/s + +- Range: 0 30 + +- Increment: 0.1 + +## TKOFF_ROTATE_SPD: Takeoff rotate speed + +This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed. + +- Units: m/s + +- Range: 0 30 + +- Increment: 0.1 + +## TKOFF_THR_SLEW: Takeoff throttle slew rate + +This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff. + +- Units: %/s + +- Range: -1 127 + +- Increment: 1 + +## TKOFF_PLIM_SEC: Takeoff pitch limit reduction + +*Note: This parameter is for advanced users* + +This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be. + +- Units: s + +- Range: 0 10 + +- Increment: 0.5 + +## TKOFF_FLAP_PCNT: Takeoff flap percentage + +*Note: This parameter is for advanced users* + +The amount of flaps (as a percentage) to apply in automatic takeoff + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## LEVEL_ROLL_LIMIT: Level flight roll limit + +This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach. + +- Units: deg + +- Range: 0 45 + +- Increment: 1 + +## USE_REV_THRUST: Bitmask for when to allow negative reverse thrust + +*Note: This parameter is for advanced users* + +This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode. + +- Bitmask: 0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED,11:AUTO_LANDING_PATTERN,12:FBWA,13:ACRO,14:STABILIZE,15:THERMAL + +## ALT_OFFSET: Altitude offset + +*Note: This parameter is for advanced users* + +This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission + +- Units: m + +- Range: -32767 32767 + +- Increment: 1 + +## WP_RADIUS: Waypoint Radius + +Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns. + +- Units: m + +- Range: 1 32767 + +- Increment: 1 + +## WP_MAX_RADIUS: Waypoint Maximum Radius + +Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set. + +- Units: m + +- Range: 0 32767 + +- Increment: 1 + +## WP_LOITER_RAD: Waypoint Loiter Radius + +Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise. + +- Units: m + +- Range: -32767 32767 + +- Increment: 1 + +## RTL_RADIUS: RTL loiter radius + +Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used. + +- Units: m + +- Range: -32767 32767 + +- Increment: 1 + +## STALL_PREVENTION: Enable stall prevention + +Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## AIRSPEED_CRUISE: Target cruise airspeed + +Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed. + +- Units: m/s + +## AIRSPEED_MIN: Minimum Airspeed + +Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed. + +- Units: m/s + +- Range: 5 100 + +- Increment: 1 + +## AIRSPEED_MAX: Maximum Airspeed + +Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control. + +- Units: m/s + +- Range: 5 100 + +- Increment: 1 + +## AIRSPEED_STALL: Stall airspeed + +If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed. Value is as an indicated (calibrated/apparent) airspeed. + +- Units: m/s + +- Range: 5 75 + +## FBWB_ELEV_REV: Fly By Wire elevator reverse + +Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## TERRAIN_FOLLOW: Use terrain following + +This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission. + +- Bitmask: 0: Enable all modes, 1:FBWB, 2:Cruise, 3:Auto, 4:RTL, 5:Avoid_ADSB, 6:Guided, 7:Loiter, 8:Circle, 9:QRTL, 10:QLand, 11:Qloiter + +## TERRAIN_LOOKAHD: Terrain lookahead + +This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode. + +- Range: 0 10000 + +- Units: m + +## FBWB_CLIMB_RATE: Fly By Wire B altitude change rate + +This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters. + +- Range: 1 10 + +- Units: m/s + +- Increment: 0.1 + +## THR_MIN: Minimum Throttle + +Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it. + +- Units: % + +- Range: -100 100 + +- Increment: 1 + +## THR_MAX: Maximum Throttle + +Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## TKOFF_THR_MAX: Maximum Throttle for takeoff + +*Note: This parameter is for advanced users* + +The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## THR_SLEWRATE: Throttle slew rate + +Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value. + +- Units: %/s + +- Range: 0 127 + +- Increment: 1 + +## FLAP_SLEWRATE: Flap slew rate + +*Note: This parameter is for advanced users* + +maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting. + +- Units: %/s + +- Range: 0 100 + +- Increment: 1 + +## THR_SUPP_MAN: Throttle suppress manual passthru + +*Note: This parameter is for advanced users* + +When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## THR_PASS_STAB: Throttle passthru in stabilize + +*Note: This parameter is for advanced users* + +If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## THR_FAILSAFE: Throttle and RC Failsafe Enable + +0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|EnabledNoFailsafe| + +## THR_FS_VALUE: Throttle Failsafe Value + +The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel. + +- Range: 925 2200 + +- Increment: 1 + +## TRIM_THROTTLE: Throttle cruise percentage + +Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## THROTTLE_NUDGE: Throttle nudge enable + +When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FS_SHORT_ACTN: Short failsafe action + +The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set. + +|Value|Meaning| +|:---:|:---:| +|0|CIRCLE/no change(if already in AUTO|GUIDED|LOITER)| +|1|CIRCLE| +|2|FBWA at zero throttle| +|3|Disable| +|4|FBWB| + +## FS_SHORT_TIMEOUT: Short failsafe timeout + +The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds + +- Units: s + +- Range: 1 100 + +- Increment: 0.5 + +## FS_LONG_ACTN: Long failsafe action + +The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set. + +|Value|Meaning| +|:---:|:---:| +|0|Continue| +|1|ReturnToLaunch| +|2|Glide| +|3|Deploy Parachute| +|4|Auto| + +## FS_LONG_TIMEOUT: Long failsafe timeout + +The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds. + +- Units: s + +- Range: 1 300 + +- Increment: 0.5 + +## FS_GCS_ENABL: GCS failsafe enable + +Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Heartbeat| +|2|HeartbeatAndREMRSSI| +|3|HeartbeatAndAUTO| + +## FLTMODE_CH: Flightmode channel + +*Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Channel 1| +|2|Channel 2| +|3|Channel 3| +|4|Channel 4| +|5|Channel 5| +|6|Channel 6| +|7|Channel 7| +|8|Channel 8| +|9|Channel 9| +|10|Channel 10| +|11|Channel 11| +|12|Channel 12| +|13|Channel 13| +|14|Channel 14| +|15|Channel 15| +|16|Channel 16| + +## FLTMODE1: FlightMode1 + +Flight mode for switch position 1 (910 to 1230 and above 2049) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## FLTMODE2: FlightMode2 + +Flight mode for switch position 2 (1231 to 1360) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## FLTMODE3: FlightMode3 + +Flight mode for switch position 3 (1361 to 1490) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## FLTMODE4: FlightMode4 + +Flight mode for switch position 4 (1491 to 1620) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## FLTMODE5: FlightMode5 + +Flight mode for switch position 5 (1621 to 1749) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## FLTMODE6: FlightMode6 + +Flight mode for switch position 6 (1750 to 2049) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## INITIAL_MODE: Initial flight mode + +*Note: This parameter is for advanced users* + +This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|CIRCLE| +|2|STABILIZE| +|3|TRAINING| +|4|ACRO| +|5|FBWA| +|6|FBWB| +|7|CRUISE| +|8|AUTOTUNE| +|10|Auto| +|11|RTL| +|12|Loiter| +|13|TAKEOFF| +|14|AVOID_ADSB| +|15|Guided| +|17|QSTABILIZE| +|18|QHOVER| +|19|QLOITER| +|20|QLAND| +|21|QRTL| +|22|QAUTOTUNE| +|23|QACRO| +|24|THERMAL| +|25|Loiter to QLand| + +## ROLL_LIMIT_DEG: Maximum Bank Angle + +Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls. + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## PTCH_LIM_MAX_DEG: Maximum Pitch Angle + +Maximum pitch up angle commanded in modes with stabilized limits. + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## PTCH_LIM_MIN_DEG: Minimum Pitch Angle + +Maximum pitch down angle commanded in modes with stabilized limits + +- Units: deg + +- Range: -90 0 + +- Increment: 1 + +## ACRO_ROLL_RATE: ACRO mode roll rate + +The maximum roll rate at full stick deflection in ACRO mode + +- Units: deg/s + +- Range: 10 500 + +- Increment: 1 + +## ACRO_PITCH_RATE: ACRO mode pitch rate + +The maximum pitch rate at full stick deflection in ACRO mode + +- Units: deg/s + +- Range: 10 500 + +- Increment: 1 + +## ACRO_YAW_RATE: ACRO mode yaw rate + +The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1. + +- Units: deg/s + +- Range: 0 500 + +- Increment: 1 + +## ACRO_LOCKING: ACRO mode attitude locking + +Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Quaternion| + +## GROUND_STEER_ALT: Ground steer altitude + +Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude. + +- Units: m + +- Range: -100 100 + +- Increment: 0.1 + +## GROUND_STEER_DPS: Ground steer rate + +*Note: This parameter is for advanced users* + +Ground steering rate in degrees per second for full rudder stick deflection + +- Units: deg/s + +- Range: 10 360 + +- Increment: 1 + +## MIXING_GAIN: Mixing Gain + +The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds. + +- Range: 0.5 1.2 + +## RUDDER_ONLY: Rudder only aircraft + +Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## MIXING_OFFSET: Mixing Offset + +The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response. + +- Units: d% + +- Range: -1000 1000 + +## DSPOILR_RUD_RATE: Differential spoilers rudder rate + +Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect). + +- Units: % + +- Range: -100 100 + +## LOG_BITMASK: Log bitmask + +*Note: This parameter is for advanced users* + +Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basic log types by setting this to 65535. + +- Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch + +## SCALING_SPEED: speed used for speed scaling calculations + +*Note: This parameter is for advanced users* + +Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values + +- Units: m/s + +- Range: 0 50 + +- Increment: 0.1 + +## MIN_GROUNDSPEED: Minimum ground speed + +*Note: This parameter is for advanced users* + +Minimum ground speed when under airspeed control + +- Units: m/s + +## PTCH_TRIM_DEG: Pitch angle offset + +Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter. + +- Units: deg + +- Range: -45 45 + +## RTL_ALTITUDE: RTL altitude + +Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home. + +- Units: m + +## CRUISE_ALT_FLOOR: Minimum altitude for FBWB and CRUISE mode + +This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit. + +- Units: m + +## FLAP_1_PERCNT: Flap 1 percentage + +*Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps + +- Range: 0 100 + +- Increment: 1 + +- Units: % + +## FLAP_1_SPEED: Flap 1 speed + +*Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED + +- Range: 0 100 + +- Increment: 1 + +- Units: m/s + +## FLAP_2_PERCNT: Flap 2 percentage + +*Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## FLAP_2_SPEED: Flap 2 speed + +*Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED + +- Range: 0 100 + +- Units: m/s + +- Increment: 1 + +## OVERRIDE_CHAN: IO override channel + +*Note: This parameter is for advanced users* + +If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU. + +- Range: 0 16 + +- Increment: 1 + +## RTL_AUTOLAND: RTL auto land + +Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation). + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Fly HOME then land| +|2|Go directly to landing sequence| +|3|OnlyForGoAround| + +## CRASH_ACC_THRESH: Crash Deceleration Threshold + +*Note: This parameter is for advanced users* + +X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector. + +- Units: m/s/s + +- Range: 10 127 + +- Increment: 1 + +## CRASH_DETECT: Crash Detection + +*Note: This parameter is for advanced users* + +Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection. + +- Bitmask: 0:Disarm + +## RNGFND_LANDING: Enable rangefinder for landing + +This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SYSID_ENFORCE: GCS sysid enforcement + +*Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + +|Value|Meaning| +|:---:|:---:| +|0|NotEnforced| +|1|Enforced| + +## RUDD_DT_GAIN: rudder differential thrust gain + +gain control from rudder to differential thrust + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## MANUAL_RCMASK: Manual R/C pass-through mask + +*Note: This parameter is for advanced users* + +Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes. + +- Bitmask: 0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16 + +## HOME_RESET_ALT: Home reset altitude threshold + +*Note: This parameter is for advanced users* + +When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it. + +|Value|Meaning| +|:---:|:---:| +|-1|Never reset| +|0|Always reset| + +- Range: -1 127 + +- Units: m + +## FLIGHT_OPTIONS: Flight mode options + +*Note: This parameter is for advanced users* + +Flight mode specific options + +- Bitmask: 0: Rudder mixing in direct flight modes only (Manual/Stabilize/Acro), 1: Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2: Disable attitude check for takeoff arming, 3: Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to RTL_ALTITUDE before turning for RTL, 5: Enable yaw damper in acro mode, 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor., 7: EnableDefaultAirspeed for takeoff, 8: Remove the PTCH_TRIM_DEG on the GCS horizon, 9: Remove the PTCH_TRIM_DEG on the OSD horizon, 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL, 11: Disable suppression of fixed wing rate gains in ground mode, 12: Enable FBWB style loiter altitude control, 13: Indicate takeoff waiting for neutral rudder with flight control surfaces, 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb + +## TKOFF_ACCEL_CNT: Takeoff throttle acceleration count + +This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm. + +- Range: 1 10 + +## DSPOILER_CROW_W1: Differential spoiler crow flaps outer weight + +*Note: This parameter is for advanced users* + +This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## DSPOILER_CROW_W2: Differential spoiler crow flaps inner weight + +*Note: This parameter is for advanced users* + +This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## TKOFF_TIMEOUT: Takeoff timeout + +This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies. + +- Range: 0 120 + +- Increment: 1 + +- Units: s + +## DSPOILER_OPTS: Differential spoiler and crow flaps options + +*Note: This parameter is for advanced users* + +Differential spoiler and crow flaps options. Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in). + +- Bitmask: 0:Pitch input, 1:use both control surfaces on each wing for roll, 2:Progressive crow flaps + +## DSPOILER_AILMTCH: Differential spoiler aileron matching + +*Note: This parameter is for advanced users* + +This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## FWD_BAT_VOLT_MAX: Forward throttle battery voltage compensation maximum voltage + +*Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly. + +- Range: 6 35 + +- Units: V + +- Increment: 0.1 + +## FWD_BAT_VOLT_MIN: Forward throttle battery voltage compensation minimum voltage + +*Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly. + +- Range: 6 35 + +- Units: V + +- Increment: 0.1 + +## FWD_BAT_IDX: Forward throttle battery compensation index + +*Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation for the forward throttle + +|Value|Meaning| +|:---:|:---:| +|0|First battery| +|1|Second battery| + +## FS_EKF_THRESH: EKF failsafe variance threshold + +*Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes + +|Value|Meaning| +|:---:|:---:| +|0.6|Strict| +|0.8|Default| +|1.0|Relaxed| + +## RTL_CLIMB_MIN: RTL minimum climb + +The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees. + +- Units: m + +- Range: 0 30 + +- Increment: 1 + +## MAN_EXPO_ROLL: Manual control expo for roll + +Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes + +- Range: 0 100 + +- Increment: 1 + +## MAN_EXPO_PITCH: Manual input expo for pitch + +Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes + +- Range: 0 100 + +- Increment: 1 + +## MAN_EXPO_RUDDER: Manual input expo for rudder + +Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes + +- Range: 0 100 + +- Increment: 1 + +## ONESHOT_MASK: Oneshot output mask + +*Note: This parameter is for advanced users* + +Mask of output channels to use oneshot on + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15 + +## AUTOTUNE_AXES: Autotune axis bitmask + +1-byte bitmap of axes to autotune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw + +## RNGFND_LND_ORNT: rangefinder landing orientation + +The orientation of rangefinder to use for landing detection. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters. Custom orientation can be used with Custom1 or Custom2. The orientation must match at least one of the available rangefinders. + +|Value|Meaning| +|:---:|:---:| +|4|Back| +|25|Down| +|101|Custom1| +|102|Custom2| + +# VEHICLE Parameters + +## FLTMODE_GCSBLOCK: Flight mode block from GCS + +Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe. + +- Bitmask: 0:Manual,1:Circle,2:Stabilize,3:Training,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,9:Auto,10:Loiter,11:Takeoff,12:AVOID_ADSB,13:Guided,14:THERMAL,15:QSTABILIZE,16:QHOVER,17:QLOITER,18:QACRO,19:QAUTOTUNE + +# Lua Script Parameters + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds + +- Range: 0 600 + +- Units: s + +## RCK_DEBUG: Display Rockblock debugging text + +Sends Rockblock debug text to GCS via statustexts + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_ENABLE: Enable Message transmission + +Enables the Rockblock sending and recieving + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 + +## CAM1_THERM_PAL: Camera1 Thermal Palette + +thermal image colour palette + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|WhiteHot| +|2|Sepia| +|3|IronBow| +|4|Rainbow| +|5|Night| +|6|Aurora| +|7|RedHot| +|8|Jungle| +|9|Medical| +|10|BlackHot| +|11|GloryHot| + +## CAM1_THERM_GAIN: Camera1 Thermal Gain + +thermal image temperature range + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|LowGain (50C to 550C)| +|1|HighGain (-20C to 150C)| + +## CAM1_THERM_RAW: Camera1 Thermal Raw Data + +save images with raw temperatures + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|Disabled (30fps)| +|1|Enabled (25 fps)| + +- Units: m + +## TERR_BRK_ENABLE: terrain brake enable + +terrain brake enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## TERR_BRK_ALT: terrain brake altitude + +terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode. + +- Range: 1 100 + +- Units: m + +## TERR_BRK_HDIST: terrain brake home distance + +terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate + +- Range: 0 1000 + +- Units: m + +## TERR_BRK_SPD: terrain brake speed threshold + +terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change. + +- Range: 0 5 + +- Units: m/s + +## QUIK_ENABLE: Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AXES: Quicktune axes + +axes to tune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw + +## QUIK_DOUBLE_TIME: Quicktune doubling time + +Time to double a tuning parameter. Raise this for a slower tune. + +- Range: 5 20 + +- Units: s + +## QUIK_GAIN_MARGIN: Quicktune gain margin + +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune + +- Range: 20 80 + +- Units: % + +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold + +Threshold for oscillation detection. A lower value will lead to a more conservative tune. + +- Range: 1 10 + +## QUIK_YAW_P_MAX: Quicktune Yaw P max + +Maximum value for yaw P gain + +- Range: 0.1 3 + +## QUIK_YAW_D_MAX: Quicktune Yaw D max + +Maximum value for yaw D gain + +- Range: 0.001 1 + +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio + +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AUTO_SAVE: Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## QUIK_RC_FUNC: Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction + +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. + +- Units: % + +- Range: 0 100 + +## QUIK_OPTIONS: Quicktune options + +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. + +- Bitmask: 0:UseTwoPositionSwitch + +## SHIP_ENABLE: Ship landing enable + +Enable ship landing system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## CGA_RATIO: CoG adjustment ratio + +*Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder). + +- Range: 0.5 2 + +## WEB_ENABLE: enable web server + +enable web server + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BIND_PORT: web server TCP port + +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections + +- Units: s + +- Range: 0.1 60 + +## WEB_SENDFILE_MIN: web server minimum file size for sendfile + +*Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download + +- Range: 0 10000000 + +## SLUP_ENABLE: Slung Payload enable + +Slung Payload enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SLUP_VEL_P: Slung Payload Velocity P gain + +Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload + +- Range: 0 0.8 + +## SLUP_DIST_MAX: Slung Payload horizontal distance max + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress + +- Range: 0 30 + +## SLUP_SYSID: Slung Payload mavlink system id + +Slung Payload mavlink system id. 0 to use any/all system ids + +- Range: 0 255 + +## SLUP_WP_POS_P: Slung Payload return to WP position P gain + +WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint + +- Range: 0 1 + +## SLUP_RESTOFS_TC: Slung Payload resting offset estimate filter time constant + +payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response + +- Range: 1 20 + +## SLUP_DEBUG: Slung Payload debug output + +Slung payload debug output, set to 1 to enable debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_ENABLE: Rover Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AXES: Rover Quicktune axes + +axes to tune + +- Bitmask: 0:Steering,1:Speed + +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio + +Ratio between measured response and FF gain. Raise this to get a higher FF gain + +- Range: 0 1.0 + +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio + +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio + +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio + +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value + +- Range: 0 1.0 + +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio + +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio + +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AUTO_SAVE: Rover Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WINCH_RATE_UP: WinchControl Rate Up + +Maximum rate when retracting line + +- Range: 0.1 5.0 + +## WINCH_RATE_DN: WinchControl Rate Down + +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold + +ExternalNav may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## BATT_SOC_COUNT: Count of SOC estimators + +Number of battery SOC estimators + +- Range: 0 4 + +## BATT_SOC1_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC1_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC1_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC1_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC1_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## DR_FLY_TIMEOUT: Deadreckoning flight timeout + +Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout + +- Units: s + +## DR_NEXT_MODE: Deadreckoning Next Mode + +Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered + +|Value|Meaning| +|:---:|:---:| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|16|PosHold| +|17|Brake| +|20|Guided_NoGPS| +|21|Smart_RTL| +|27|Auto RTL| + +## AEROM_ANG_ACCEL: Angular acceleration limit + +Maximum angular acceleration in maneuvers + +- Units: deg/s/s + +## AEROM_ANG_TC: Roll control filtertime constant + +This is the time over which we filter the desired roll to smooth it + +- Units: s + +## AEROM_THR_PIT_FF: Throttle feed forward from pitch + +This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch + +- Units: % + +## AEROM_SPD_P: P gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_SPD_I: I gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_ROL_COR_TC: Roll control time constant + +This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections + +- Units: s + +## AEROM_TIME_COR_P: Time constant for correction of our distance along the path + +This is the time constant for correcting path position errors + +- Units: s + +## AEROM_ERR_COR_P: P gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ERR_COR_D: D gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ENTRY_RATE: The roll rate to use when entering a roll maneuver + +This controls how rapidly we roll into a new orientation + +- Units: deg/s + +## AEROM_THR_LKAHD: The lookahead for throttle control + +This controls how far ahead we look in time along the path for the target throttle + +- Units: s + +## AEROM_DEBUG: Debug control + +This controls the printing of extra debug information on paths + +## AEROM_THR_MIN: Minimum Throttle + +Lowest throttle used during maneuvers + +- Units: % + +## AEROM_THR_BOOST: Throttle boost + +This is the extra throttle added in schedule elements marked as needing a throttle boost + +- Units: % + +## AEROM_YAW_ACCEL: Yaw acceleration + +This is maximum yaw acceleration to use + +- Units: deg/s/s + +## AEROM_LKAHD: Lookahead + +This is how much time to look ahead in the path for calculating path rates + +- Units: s + +## AEROM_PATH_SCALE: Path Scale + +Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected. + +- Range: 0.1 100 + +## AEROM_BOX_WIDTH: Box Width + +Length of aerobatic "box" + +- Units: m + +## AEROM_STALL_THR: Stall turn throttle + +Amount of throttle to reduce to for a stall turn + +- Units: % + +## AEROM_STALL_PIT: Stall turn pitch threshold + +Pitch threashold for moving to final stage of stall turn + +- Units: deg + +## AEROM_KE_RUDD: KnifeEdge Rudder + +Percent of rudder normally uses to sustain knife-edge at trick speed + +- Units: % + +## AEROM_KE_RUDD_LK: KnifeEdge Rudder lookahead + +Time to look ahead in the path to calculate rudder correction for bank angle + +- Units: s + +## AEROM_ALT_ABORT: Altitude Abort + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude. + +- Units: m + +## AEROM_TS_P: Timesync P gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_I: Timesync I gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_SPDMAX: Timesync speed max + +This sets the maximum speed adjustment for time sync between aircraft + +- Units: m/s + +## AEROM_TS_RATE: Timesync rate of send of NAMED_VALUE_FLOAT data + +This sets the rate we send data for time sync between aircraft + +- Units: Hz + +## AEROM_MIS_ANGLE: Mission angle + +When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used + +- Units: deg + +## AEROM_OPTIONS: Aerobatic options + +Options to control aerobatic behavior + +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised + +- Units: deg + +## TRIK_ENABLE: Tricks on Switch Enable + +Enables Tricks on Switch. TRIK params hidden until enabled + +## TRIK_SEL_FN: Trik Selection Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick selection + +- Range: 301 307 + +## TRIK_ACT_FN: Trik Action Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) + +- Range: 301 307 + +## TRIK_COUNT: Trik Count + +Number of tricks which can be selected over the range of the trik selection RC channel + +- Range: 1 11 + +## VIEP_DEBUG: ViewPro debug + +*Note: This parameter is for advanced users* + +ViewPro debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| + +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low + +Camera selection when switch is in low position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid + +Camera selection when switch is in middle position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High + +Camera selection when switch is in high position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed + +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_INF_OPTIONS: EFI INF-Inject options + +EFI INF driver options + +- Bitmask: 0:EnableLogging + +## EFI_INF_THR_HZ: EFI INF-Inject throttle rate + +EFI INF throttle output rate + +- Range: 0 50 + +- Units: Hz + +## EFI_INF_IGN_AUX: EFI INF-Inject ignition aux function + +EFI INF throttle ignition aux function + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_CANDRV: Set ANX CAN driver + +Set ANX CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## BATT_ANX_INDEX: ANX CAN battery index + +ANX CAN battery index + +- Range: 1 10 + +## BATT_ANX_OPTIONS: ANX CAN battery options + +*Note: This parameter is for advanced users* + +ANX CAN battery options + +- Bitmask: 0:LogAllFrames + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres + +## ESC_HW_ENABLE: Hobbywing ESC Enable + +Enable Hobbywing ESC telemetry + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ESC_HW_POLES: Hobbywing ESC motor poles + +Number of motor poles for eRPM scaling + +- Range: 1 50 + +## ESC_HW_OFS: Hobbywing ESC motor offset + +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_2K_ENABLE: Enable NMEA 2000 EFI driver + +Enable NMEA 2000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_2K_CANDRV: NMEA 2000 CAN driver + +NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_2K_OPTIONS: NMEA 2000 options + +NMEA 2000 driver options + +- Bitmask: 0:EnableLogging + +## DJIR_DEBUG: DJIRS2 debug + +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled with attitude reporting| + +## DJIR_UPSIDEDOWN: DJIRS2 upside down + +DJIRS2 upside down + +|Value|Meaning| +|:---:|:---:| +|0|Right side up| +|1|Upside down| + +## EFI_SP_ENABLE: Enable SkyPower EFI support + +Enable SkyPower EFI support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_CANDRV: Set SkyPower EFI CAN driver + +Set SkyPower EFI CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## EFI_SP_UPDATE_HZ: SkyPower EFI update rate + +*Note: This parameter is for advanced users* + +SkyPower EFI update rate + +- Range: 10 200 + +- Units: Hz + +## EFI_SP_THR_FN: SkyPower EFI throttle function + +SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|70|FixedWing| +|31|HeliRSC| + +## EFI_SP_THR_RATE: SkyPower EFI throttle rate + +*Note: This parameter is for advanced users* + +SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine + +- Range: 10 100 + +- Units: Hz + +## EFI_SP_START_FN: SkyPower EFI start function + +SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_GEN_FN: SkyPower EFI generator control function + +SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_MIN_RPM: SkyPower EFI minimum RPM + +*Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped + +- Range: 1 1000 + +## EFI_SP_TLM_RT: SkyPower EFI telemetry rate + +*Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS + +- Range: 1 10 + +- Units: Hz + +## EFI_SP_LOG_RT: SkyPower EFI log rate + +*Note: This parameter is for advanced users* + +SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed + +- Range: 1 50 + +- Units: Hz + +## EFI_SP_ST_DISARM: SkyPower EFI allow start disarmed + +SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_MODEL: SkyPower EFI ECU model + +SkyPower EFI ECU model + +|Value|Meaning| +|:---:|:---:| +|0|SRE_180| +|1|SP_275| + +## EFI_SP_GEN_CTRL: SkyPower EFI enable generator control + +SkyPower EFI enable generator control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_RST_TIME: SkyPower EFI restart time + +SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero. + +- Range: 0 10 + +- Units: s + +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver + +Enable Halo6000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_H6K_CANDRV: Halo6000 CAN driver + +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_H6K_START_FN: Halo6000 start auxilliary function + +The RC auxilliary function number for start/stop of the generator. Zero to disable start function + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres + +## EFI_H6K_OPTIONS: Halo6000 options + +Halo6000 options + +- Bitmask: 0:LogAllCanPackets + +## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_NO: TOFSENSE-M Connected + +Number of TOFSENSE-M CAN sensors connected + +- Range: 1 3 + +## TOFSENSE_MODE: TOFSENSE-M mode to be used + +TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode + +|Value|Meaning| +|:---:|:---:| +|0|8x8 mode| +|1|4x4 mode| + +## TOFSENSE_INST1: TOFSENSE-M First Instance + +First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID1: TOFSENSE-M First ID + +First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST2: TOFSENSE-M Second Instance + +Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID2: TOFSENSE-M Second ID + +Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST3: TOFSENSE-M Third Instance + +Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID3: TOFSENSE-M Thir ID + +Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + +# ADSB Parameters + +## ADSB_TYPE: ADSB Type + +Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|uAvionix-MAVLink| +|2|Sagetech| +|3|uAvionix-UCP| +|4|Sagetech MX Series| + +- RebootRequired: True + +## ADSB_LIST_MAX: ADSB vehicle list size + +*Note: This parameter is for advanced users* + +ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values. + +- Range: 1 100 + +- RebootRequired: True + +## ADSB_LIST_RADIUS: ADSB vehicle list radius filter + +*Note: This parameter is for advanced users* + +ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter. + +- Range: 0 100000 + +- Units: m + +## ADSB_ICAO_ID: ICAO_ID vehicle identification number + +*Note: This parameter is for advanced users* + +ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed. + +- Range: -1 16777215 + +## ADSB_EMIT_TYPE: Emitter type + +*Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV). + +|Value|Meaning| +|:---:|:---:| +|0|NoInfo| +|1|Light| +|2|Small| +|3|Large| +|4|HighVortexlarge| +|5|Heavy| +|6|HighlyManuv| +|7|Rotocraft| +|8|RESERVED| +|9|Glider| +|10|LightAir| +|11|Parachute| +|12|UltraLight| +|13|RESERVED| +|14|UAV| +|15|Space| +|16|RESERVED| +|17|EmergencySurface| +|18|ServiceSurface| +|19|PointObstacle| + +## ADSB_LEN_WIDTH: Aircraft length and width + +*Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size. + +|Value|Meaning| +|:---:|:---:| +|0|NO_DATA| +|1|L15W23| +|2|L25W28P5| +|3|L25W34| +|4|L35W33| +|5|L35W38| +|6|L45W39P5| +|7|L45W45| +|8|L55W45| +|9|L55W52| +|10|L65W59P5| +|11|L65W67| +|12|L75W72P5| +|13|L75W80| +|14|L85W80| +|15|L85W90| + +## ADSB_OFFSET_LAT: GPS antenna lateral offset + +*Note: This parameter is for advanced users* + +GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft. + +|Value|Meaning| +|:---:|:---:| +|0|NoData| +|1|Left2m| +|2|Left4m| +|3|Left6m| +|4|Center| +|5|Right2m| +|6|Right4m| +|7|Right6m| + +## ADSB_OFFSET_LON: GPS antenna longitudinal offset + +*Note: This parameter is for advanced users* + +GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor + +|Value|Meaning| +|:---:|:---:| +|0|NO_DATA| +|1|AppliedBySensor| + +## ADSB_RF_SELECT: Transceiver RF selection + +*Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only. + +- Bitmask: 0:Rx,1:Tx + +## ADSB_SQUAWK: Squawk code + +*Note: This parameter is for advanced users* + +VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200. + +- Range: 0 7777 + +- Units: octal + +## ADSB_RF_CAPABLE: RF capabilities + +*Note: This parameter is for advanced users* + +Describes your hardware RF In/Out capabilities. + +- Bitmask: 0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out + +## ADSB_LIST_ALT: ADSB vehicle list altitude filter + +*Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter. + +- Range: 0 32767 + +- Units: m + +## ADSB_ICAO_SPECL: ICAO_ID of special vehicle + +*Note: This parameter is for advanced users* + +ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable. + +## ADSB_LOG: ADS-B logging + +*Note: This parameter is for advanced users* + +0: no logging, 1: log only special ID, 2:log all + +|Value|Meaning| +|:---:|:---:| +|0|no logging| +|1|log only special ID| +|2|log all| + +## ADSB_OPTIONS: ADS-B Options + +*Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + +- Bitmask: 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config + +# AFS Parameters + +## AFS_ENABLE: Enable Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect + +## AFS_MAN_PIN: Manual Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +## AFS_HB_PIN: Heartbeat Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_WP_COMMS: Comms Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + +## AFS_WP_GPS_LOSS: GPS Loss Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + +## AFS_TERMINATE: Force Terminate + +*Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + +## AFS_TERM_ACTION: Terminate action + +*Note: This parameter is for advanced users* + +This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter + +## AFS_TERM_PIN: Terminate Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_AMSL_LIMIT: AMSL limit + +*Note: This parameter is for advanced users* + +This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit. + +- Units: m + +## AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit + +*Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination. + +- Units: m + +## AFS_QNH_PRESSURE: QNH pressure + +*Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit. + +- Units: hPa + +## AFS_MAX_GPS_LOSS: Maximum number of GPS loss events + +*Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events. + +## AFS_MAX_COM_LOSS: Maximum number of comms loss events + +*Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events. + +## AFS_GEOFENCE: Enable geofence Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC: Enable RC Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes + +*Note: This parameter is for advanced users* + +If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode. + +## AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously + +*Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination. + +## AFS_RC_FAIL_TIME: RC failure time + +*Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable. + +- Units: s + +## AFS_MAX_RANGE: Max allowed range + +*Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature. + +- Units: km + +## AFS_OPTIONS: AFS options + +See description for each bitmask bit description + +- Bitmask: 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + +## AFS_GCS_TIMEOUT: GCS timeout + +*Note: This parameter is for advanced users* + +The time (in seconds) of persistent data link loss before GCS failsafe occurs. + +- Units: s + +# AHRS Parameters + +## AHRS_GPS_GAIN: AHRS GPS gain + +*Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0. + +- Range: 0.0 1.0 + +- Increment: .01 + +## AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down + +*Note: This parameter is for advanced users* + +This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use GPS for DCM position| +|2|Use GPS for DCM position and height| + +## AHRS_YAW_P: Yaw P + +*Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly. + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_RP_P: AHRS RP_P + +*Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_WIND_MAX: Maximum wind + +*Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors. + +- Range: 0 127 + +- Units: m/s + +- Increment: 1 + +## AHRS_TRIM_X: AHRS Trim Roll + +Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Y: AHRS Trim Pitch + +Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Z: AHRS Trim Yaw + +*Note: This parameter is for advanced users* + +Not Used + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_ORIENTATION: Board Orientation + +*Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient + +*Note: This parameter is for advanced users* + +This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less. + +- Range: 0.001 0.5 + +- Increment: .01 + +## AHRS_GPS_MINSATS: AHRS GPS Minimum satellites + +*Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers. + +- Range: 0 10 + +- Increment: 1 + +## AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation + +*Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|Enable EKF2| +|3|Enable EKF3| +|11|ExternalAHRS| + +## AHRS_CUSTOM_ROLL: Board orientation roll offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_PIT: Board orientation pitch offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_YAW: Board orientation yaw offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_OPTIONS: Optional AHRS behaviour + +*Note: This parameter is for advanced users* + +This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + +- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + +# AIS Parameters + +## AIS_TYPE: AIS receiver type + +AIS receiver type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|NMEA AIVDM message| + +- RebootRequired: True + +## AIS_LIST_MAX: AIS vessel list size + +*Note: This parameter is for advanced users* + +AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values. + +- Range: 1 100 + +## AIS_TIME_OUT: AIS vessel time out + +*Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + +- Units: s + +- Range: 1 2000 + +## AIS_LOGGING: AIS logging options + +*Note: This parameter is for advanced users* + +Bitmask of AIS logging options + +- Bitmask: 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + +# ARMING Parameters + +## ARMING_BBOX_SPD: Blackbox speed + +*Note: This parameter is for advanced users* + +This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging. WARNING: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle. + +- Units: m/s + +- Increment: 1 + +- Range: 1 20 + +## ARMING_REQUIRE: Require Arming Motors + +*Note: This parameter is for advanced users* + +Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|minimum PWM when disarmed| +|2|0 PWM when disarmed| + +## ARMING_ACCTHRESH: Accelerometer error threshold + +*Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal. + +- Units: m/s/s + +- Range: 0.25 3.0 + +## ARMING_RUDDER: Arming with Rudder enable/disable + +*Note: This parameter is for advanced users* + +Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode! + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ArmingOnly| +|2|ArmOrDisarm| + +## ARMING_MIS_ITEMS: Required mission items + +*Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + +- Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + +## ARMING_CHECK: Arm Checks to Perform (bitmask) + +Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. + +- Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,19:FFT + +## ARMING_OPTIONS: Arming options + +*Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + +- Bitmask: 0:Disable prearm display,1:Do not send status text on state change + +## ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model + +*Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check + +- Units: mGauss + +- Range: 0 500 + +## ARMING_CRSDP_IGN: Disable CrashDump Arming check + +*Note: This parameter is for advanced users* + +Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details. + +|Value|Meaning| +|:---:|:---:| +|0|Crash Dump arming check active| +|1|Crash Dump arming check deactivated| + +# ARSPD Parameters + +## ARSPD_ENABLE: Airspeed Enable + +Enable airspeed sensor support + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_TUBE_ORDER: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_PRIMARY: Primary airspeed sensor + +*Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstSensor| +|1|2ndSensor| + +## ARSPD_OPTIONS: Airspeed options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS + +- Bitmask: 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + +## ARSPD_WIND_MAX: Maximum airspeed and ground speed difference + +*Note: This parameter is for advanced users* + +If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor. + +- Units: m/s + +## ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning + +*Note: This parameter is for advanced users* + +If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used. + +- Units: m/s + +## ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size + +*Note: This parameter is for advanced users* + +Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle. + +- Range: 0.0 10.0 + +## ARSPD_OFF_PCNT: Maximum offset cal speed error + +*Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered. + +- Range: 0.0 10.0 + +- Units: % + +# ARSPD2 Parameters + +## ARSPD2_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD2_USE: Airspeed use + +Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers). + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD2_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD2_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD2_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD2_AUTOCAL: Automatic airspeed ratio calibration + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD2_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD2_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD2_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD2_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# ARSPD Parameters + +## ARSPD_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD_USE: Airspeed use + +Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers). + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD_AUTOCAL: Automatic airspeed ratio calibration + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# AVD Parameters + +## AVD_ENABLE: Enable Avoidance using ADSB + +*Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## AVD_F_ACTION: Collision Avoidance Behavior + +*Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Report| +|2|Climb Or Descend| +|3|Move Horizontally| +|4|Move Perpendicularly in 3D| +|5|RTL| +|6|Hover| + +## AVD_W_ACTION: Collision Avoidance Behavior - Warn + +*Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Report| + +## AVD_F_RCVRY: Recovery behaviour after a fail event + +*Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + +|Value|Meaning| +|:---:|:---:| +|0|Remain in AVOID_ADSB| +|1|Resume previous flight mode| +|2|RTL| +|3|Resume if AUTO else Loiter| + +## AVD_OBS_MAX: Maximum number of obstacles to track + +*Note: This parameter is for advanced users* + +Maximum number of obstacles to track + +## AVD_W_TIME: Time Horizon Warn + +*Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken) + +- Units: s + +## AVD_F_TIME: Time Horizon Fail + +*Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken + +- Units: s + +## AVD_W_DIST_XY: Distance Warn XY + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before W_ACTION is undertaken + +- Units: m + +## AVD_F_DIST_XY: Distance Fail XY + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before F_ACTION is undertaken + +- Units: m + +## AVD_W_DIST_Z: Distance Warn Z + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR_W is undertaken + +- Units: m + +## AVD_F_DIST_Z: Distance Fail Z + +*Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR_F is undertaken + +- Units: m + +## AVD_F_ALT_MIN: ADS-B avoidance minimum altitude + +*Note: This parameter is for advanced users* + +Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum. + +- Units: m + +# BARO Parameters + +## BARO1_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_GND_TEMP: ground temperature + +*Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature. + +- Units: degC + +- Increment: 1 + +- Volatile: True + +## BARO_ALT_OFFSET: altitude offset + +*Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed. + +- Units: m + +- Increment: 0.1 + +## BARO_PRIMARY: Primary barometer + +*Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstBaro| +|1|2ndBaro| +|2|3rdBaro| + +## BARO_EXT_BUS: External baro bus + +*Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Bus0| +|1|Bus1| +|6|Bus6| + +## BARO2_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO3_GND_PRESS: Absolute Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## BARO_PROBE_EXT: External barometers to probe + +*Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. + +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + +## BARO1_DEVID: Baro ID + +*Note: This parameter is for advanced users* + +Barometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO2_DEVID: Baro ID2 + +*Note: This parameter is for advanced users* + +Barometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO3_DEVID: Baro ID3 + +*Note: This parameter is for advanced users* + +Barometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO_FIELD_ELV: field elevation + +*Note: This parameter is for advanced users* + +User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level. + +- Units: m + +- Increment: 0.1 + +- Volatile: True + +## BARO_ALTERR_MAX: Altitude error maximum + +*Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero. + +- Units: m + +- Increment: 1 + +- Range: 0 5000 + +## BARO_OPTIONS: Barometer options + +*Note: This parameter is for advanced users* + +Barometer options + +- Bitmask: 0:Treat MS5611 as MS5607 + +# BARO1WCF Parameters + +## BARO1_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO2WCF Parameters + +## BARO2_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO3WCF Parameters + +## BARO3_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BATT2 Parameters + +## BATT2_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT2_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT2_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT2_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT2_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT2_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT2_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT2_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT2_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT2_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT2_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT2_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT2_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT2_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT2_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT2_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT2_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT2_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT2_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT2_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT2_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT2_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT2_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT2_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT2_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT2_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT3 Parameters + +## BATT3_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT3_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT3_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT3_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT3_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT3_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT3_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT3_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT3_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT3_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT3_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT3_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT3_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT3_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT3_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT3_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT3_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT3_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT3_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT3_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT3_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT3_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT3_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT3_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT3_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT3_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT4 Parameters + +## BATT4_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT4_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT4_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT4_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT4_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT4_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT4_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT4_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT4_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT4_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT4_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT4_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT4_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT4_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT4_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT4_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT4_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT4_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT4_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT4_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT4_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT4_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT4_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT4_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT4_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT4_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT5 Parameters + +## BATT5_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT5_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT5_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT5_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT5_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT5_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT5_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT5_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT5_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT5_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT5_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT5_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT5_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT5_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT5_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT5_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT5_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT5_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT5_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT5_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT5_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT5_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT5_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT5_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT5_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT5_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT6 Parameters + +## BATT6_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT6_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT6_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT6_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT6_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT6_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT6_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT6_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT6_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT6_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT6_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT6_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT6_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT6_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT6_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT6_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT6_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT6_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT6_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT6_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT6_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT6_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT6_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT6_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT6_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT6_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT7 Parameters + +## BATT7_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT7_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT7_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT7_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT7_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT7_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT7_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT7_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT7_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT7_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT7_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT7_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT7_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT7_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT7_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT7_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT7_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT7_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT7_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT7_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT7_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT7_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT7_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT7_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT7_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT7_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT8 Parameters + +## BATT8_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT8_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT8_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT8_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT8_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT8_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT8_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT8_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT8_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT8_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT8_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT8_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT8_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT8_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT8_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT8_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT8_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT8_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT8_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT8_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT8_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT8_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT8_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT8_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT8_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT8_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT9 Parameters + +## BATT9_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT9_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT9_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT9_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT9_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT9_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT9_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT9_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT9_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT9_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT9_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT9_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT9_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT9_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT9_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT9_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT9_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT9_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT9_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT9_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT9_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT9_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT9_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT9_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT9_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT9_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTA Parameters + +## BATTA_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTA_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTA_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTA_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTA_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTA_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTA_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTA_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTA_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTA_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTA_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTA_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTA_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTA_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTA_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTA_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTA_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTA_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTA_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTA_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTA_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTA_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTA_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTA_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTA_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTA_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTB Parameters + +## BATTB_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTB_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTB_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTB_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTB_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTB_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTB_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTB_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTB_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTB_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTB_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTB_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTB_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTB_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTB_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTB_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTB_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTB_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTB_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTB_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTB_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTB_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTB_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTB_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTB_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTB_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTC Parameters + +## BATTC_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTC_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTC_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTC_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTC_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTC_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTC_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTC_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTC_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTC_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTC_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTC_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTC_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTC_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTC_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTC_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTC_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTC_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTC_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTC_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTC_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTC_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTC_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTC_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTC_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTC_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTD Parameters + +## BATTD_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTD_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTD_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTD_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTD_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTD_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTD_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTD_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTD_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTD_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTD_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTD_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTD_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTD_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTD_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTD_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTD_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTD_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTD_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTD_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTD_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTD_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTD_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTD_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTD_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTD_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTE Parameters + +## BATTE_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTE_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTE_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTE_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTE_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTE_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTE_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTE_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTE_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTE_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTE_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTE_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTE_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTE_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTE_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTE_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTE_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTE_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTE_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTE_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTE_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTE_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTE_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTE_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTE_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTE_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTF Parameters + +## BATTF_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTF_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTF_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTF_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTF_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTF_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTF_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTF_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTF_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTF_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTF_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTF_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTF_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTF_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTF_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTF_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTF_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTF_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTF_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTF_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTF_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTF_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTF_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTF_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTF_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTF_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTG Parameters + +## BATTG_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTG_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTG_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATTG_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTG_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTG_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTG_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATTG_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATTG_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTG_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTG_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTG_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTG_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTG_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTG_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTG_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTG_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTG_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTG_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTG_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTG_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTG_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTG_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTG_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTG_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTG_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT Parameters + +## BATT_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT_WATT_MAX: Maximum allowed power (Watts) + +*Note: This parameter is for advanced users* + +If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable. + +- Units: W + +- Increment: 1 + +## BATT_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|6|Loiter to QLand| + +## BATT_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Land| +|3|Terminate| +|4|QLand| +|5|Parachute| +|6|Loiter to QLand| + +## BATT_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BRD Parameters + +## BRD_SER1_RTSCTS: Serial 1 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +- RebootRequired: True + +## BRD_SER2_RTSCTS: Serial 2 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER3_RTSCTS: Serial 3 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER4_RTSCTS: Serial 4 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER5_RTSCTS: Serial 5 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SAFETY_DEFLT: Sets default state of the safety switch + +This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## BRD_SBUS_OUT: SBUS output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|50Hz| +|2|75Hz| +|3|100Hz| +|4|150Hz| +|5|200Hz| +|6|250Hz| +|7|300Hz| + +- RebootRequired: True + +## BRD_SERIAL_NUM: User-defined serial number + +User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot + +- Range: -8388608 8388607 + +## BRD_SAFETY_MASK: Outputs which ignore the safety switch state + +*Note: This parameter is for advanced users* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + +- Bitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + +- RebootRequired: True + +## BRD_HEAT_TARG: Board heater temperature target + +*Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1. + +- Range: -1 80 + +- Units: degC + +## BRD_TYPE: Board type + +*Note: This parameter is for advanced users* + +This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4) + +|Value|Meaning| +|:---:|:---:| +|0|AUTO| +|1|PX4V1| +|2|Pixhawk| +|3|Cube/Pixhawk2| +|4|Pixracer| +|5|PixhawkMini| +|6|Pixhawk2Slim| +|13|Intel Aero FC| +|14|Pixhawk Pro| +|20|AUAV2.1| +|21|PCNC1| +|22|MINDPXV2| +|23|SP01| +|24|CUAVv5/FMUV5| +|30|VRX BRAIN51| +|32|VRX BRAIN52| +|33|VRX BRAIN52E| +|34|VRX UBRAIN51| +|35|VRX UBRAIN52| +|36|VRX CORE10| +|38|VRX BRAIN54| +|39|PX4 FMUV6| +|100|PX4 OLDDRIVERS| + +- RebootRequired: True + +## BRD_IO_ENABLE: Enable IO co-processor + +*Note: This parameter is for advanced users* + +This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|EnableNoFWUpdate| + +- RebootRequired: True + +## BRD_SAFETYOPTION: Options for safety button behavior + +This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed + +- Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + +## BRD_VBUS_MIN: Autopilot board voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 4.0 5.5 + +- Increment: 0.1 + +## BRD_VSERVO_MIN: Servo voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 3.3 12.0 + +- Increment: 0.1 + +## BRD_SD_SLOWDOWN: microSD slowdown + +*Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used. + +- Range: 0 32 + +- Increment: 1 + +## BRD_PWM_VOLT_SEL: Set PWM Out Voltage + +*Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs. + +|Value|Meaning| +|:---:|:---:| +|0|3.3V| +|1|5V| + +## BRD_OPTIONS: Board options + +*Note: This parameter is for advanced users* + +Board specific option flags + +- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + +## BRD_BOOT_DELAY: Boot delay + +*Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + +- Range: 0 10000 + +- Units: ms + +## BRD_HEAT_P: Board Heater P gain + +*Note: This parameter is for advanced users* + +Board Heater P gain + +- Range: 1 500 + +- Increment: 1 + +## BRD_HEAT_I: Board Heater I gain + +*Note: This parameter is for advanced users* + +Board Heater integrator gain + +- Range: 0 1 + +- Increment: 0.1 + +## BRD_HEAT_IMAX: Board Heater IMAX + +*Note: This parameter is for advanced users* + +Board Heater integrator maximum + +- Range: 0 100 + +- Increment: 1 + +## BRD_ALT_CONFIG: Alternative HW config + +*Note: This parameter is for advanced users* + +Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## BRD_HEAT_LOWMGN: Board heater temp lower margin + +*Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check + +- Range: 0 20 + +- Units: degC + +## BRD_SD_MISSION: SDCard Mission size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_SD_FENCE: SDCard Fence size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_IO_DSHOT: Load DShot FW on IO + +*Note: This parameter is for advanced users* + +This loads the DShot firmware on the IO co-processor + +|Value|Meaning| +|:---:|:---:| +|0|StandardFW| +|1|DshotFW| + +- RebootRequired: True + +# BRDRADIO Parameters + +## BRD_RADIO_TYPE: Set type of direct attached radio + +This enables support for direct attached radio receivers + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|CYRF6936| +|2|CC2500| +|3|BK2425| + +## BRD_RADIO_PROT: protocol + +*Note: This parameter is for advanced users* + +Select air protocol + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|DSM2| +|2|DSMX| + +## BRD_RADIO_DEBUG: debug level + +*Note: This parameter is for advanced users* + +radio debug level + +- Range: 0 4 + +## BRD_RADIO_DISCRC: disable receive CRC + +*Note: This parameter is for advanced users* + +disable receive CRC (for debug) + +|Value|Meaning| +|:---:|:---:| +|0|NotDisabled| +|1|Disabled| + +## BRD_RADIO_SIGCH: RSSI signal strength + +*Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_PPSCH: Packet rate channel + +*Note: This parameter is for advanced users* + +Channel to show received packet-per-second rate, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_TELEM: Enable telemetry + +*Note: This parameter is for advanced users* + +If this is non-zero then telemetry packets will be sent over DSM + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BRD_RADIO_TXPOW: Telemetry Transmit power + +*Note: This parameter is for advanced users* + +Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX + +- Range: 1 8 + +## BRD_RADIO_FCCTST: Put radio into FCC test mode + +*Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MinChannel| +|2|MidChannel| +|3|MaxChannel| +|4|MinChannelCW| +|5|MidChannelCW| +|6|MaxChannelCW| + +## BRD_RADIO_STKMD: Stick input mode + +*Note: This parameter is for advanced users* + +This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick. + +|Value|Meaning| +|:---:|:---:| +|1|Mode1| +|2|Mode2| + +## BRD_RADIO_TESTCH: Set radio to factory test channel + +*Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestChan1| +|2|TestChan2| +|3|TestChan3| +|4|TestChan4| +|5|TestChan5| +|6|TestChan6| +|7|TestChan7| +|8|TestChan8| + +## BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter + +*Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + +- Range: 0 16 + +## BRD_RADIO_TPPSCH: Telemetry PPS channel + +*Note: This parameter is for advanced users* + +Channel to show telemetry packets-per-second value, as received at TX + +- Range: 0 16 + +## BRD_RADIO_TXMAX: Transmitter transmit power + +*Note: This parameter is for advanced users* + +Set transmitter maximum transmit power (from 1 to 8) + +- Range: 1 8 + +## BRD_RADIO_BZOFS: Transmitter buzzer adjustment + +*Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment (adjust frequency up) + +- Range: 0 40 + +## BRD_RADIO_ABTIME: Auto-bind time + +*Note: This parameter is for advanced users* + +When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets. + +- Range: 0 120 + +## BRD_RADIO_ABLVL: Auto-bind level + +*Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially + +- Range: 0 31 + +# BRDRTC Parameters + +## BRD_RTC_TYPES: Allowed sources of RTC time + +*Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + +- Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + +## BRD_RTC_TZ_MIN: Timezone offset from UTC + +*Note: This parameter is for advanced users* + +Adds offset in +- minutes from UTC to calculate local time + +- Range: -720 +840 + +# BTN Parameters + +## BTN_ENABLE: Enable button reporting + +*Note: This parameter is for advanced users* + +This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BTN_PIN1: First button Pin + +Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN2: Second button Pin + +Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN3: Third button Pin + +Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN4: Fourth button Pin + +Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_REPORT_SEND: Report send time + +The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only. + +- Range: 0 3600 + +## BTN_OPTIONS1: Button Pin 1 Options + +Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS2: Button Pin 2 Options + +Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS3: Button Pin 3 Options + +Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS4: Button Pin 4 Options + +Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_FUNC1: Button Pin 1 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|22|Parachute Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Plane Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|38|ADSB Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|43|InvertedFlight Enable| +|46|RC Override Enable| +|51|MANUAL Mode| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|58|Clear Waypoints| +|62|Compass Learn| +|64|Reverse Throttle| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|77|TAKEOFF Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|81|Disarm| +|82|QAssist 3pos| +|84|AirMode| +|85|Generator| +|86|Non Auto Terrain Follow Disable| +|87|Crow Select| +|88|Soaring Enable| +|89|Landing Flare| +|90|EKF Source Set| +|91|Airspeed Ratio Calibration| +|92|FBWA Mode| +|94|VTX Power| +|95|FBWA taildragger takeoff mode| +|96|Trigger re-reading of mode switch| +|98|TRAINING Mode| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|107|Enable FW Autotune| +|108|QRTL Mode| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|150|CRUISE Mode| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with Quadplane AirMode (4.2 and higher)| +|155|Set roll pitch and yaw trim to current servo and RC| +|157|Force FS Action to FBWA| +|158|Optflow Calibration| +|160|Weathervane Enable| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|170|QSTABILIZE Mode| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|173|Plane AUTO Mode Landing Abort| +|174|Camera Image Tracking| +|175|Camera Lens| +|176|Quadplane Fwd Throttle Override enable| +|177|Mount LRF enable| +|179|ICEngine start / stop| +|180|Test autotuned gains after tune is complete| +|208|Flap| +|209|VTOL Forward Throttle| +|210|Airbrakes| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC2: Button Pin 2 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|22|Parachute Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Plane Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|38|ADSB Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|43|InvertedFlight Enable| +|46|RC Override Enable| +|51|MANUAL Mode| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|58|Clear Waypoints| +|62|Compass Learn| +|64|Reverse Throttle| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|77|TAKEOFF Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|81|Disarm| +|82|QAssist 3pos| +|84|AirMode| +|85|Generator| +|86|Non Auto Terrain Follow Disable| +|87|Crow Select| +|88|Soaring Enable| +|89|Landing Flare| +|90|EKF Source Set| +|91|Airspeed Ratio Calibration| +|92|FBWA Mode| +|94|VTX Power| +|95|FBWA taildragger takeoff mode| +|96|Trigger re-reading of mode switch| +|98|TRAINING Mode| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|107|Enable FW Autotune| +|108|QRTL Mode| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|150|CRUISE Mode| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with Quadplane AirMode (4.2 and higher)| +|155|Set roll pitch and yaw trim to current servo and RC| +|157|Force FS Action to FBWA| +|158|Optflow Calibration| +|160|Weathervane Enable| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|170|QSTABILIZE Mode| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|173|Plane AUTO Mode Landing Abort| +|174|Camera Image Tracking| +|175|Camera Lens| +|176|Quadplane Fwd Throttle Override enable| +|177|Mount LRF enable| +|179|ICEngine start / stop| +|180|Test autotuned gains after tune is complete| +|208|Flap| +|209|VTOL Forward Throttle| +|210|Airbrakes| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC3: Button Pin 3 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|22|Parachute Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Plane Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|38|ADSB Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|43|InvertedFlight Enable| +|46|RC Override Enable| +|51|MANUAL Mode| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|58|Clear Waypoints| +|62|Compass Learn| +|64|Reverse Throttle| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|77|TAKEOFF Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|81|Disarm| +|82|QAssist 3pos| +|84|AirMode| +|85|Generator| +|86|Non Auto Terrain Follow Disable| +|87|Crow Select| +|88|Soaring Enable| +|89|Landing Flare| +|90|EKF Source Set| +|91|Airspeed Ratio Calibration| +|92|FBWA Mode| +|94|VTX Power| +|95|FBWA taildragger takeoff mode| +|96|Trigger re-reading of mode switch| +|98|TRAINING Mode| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|107|Enable FW Autotune| +|108|QRTL Mode| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|150|CRUISE Mode| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with Quadplane AirMode (4.2 and higher)| +|155|Set roll pitch and yaw trim to current servo and RC| +|157|Force FS Action to FBWA| +|158|Optflow Calibration| +|160|Weathervane Enable| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|170|QSTABILIZE Mode| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|173|Plane AUTO Mode Landing Abort| +|174|Camera Image Tracking| +|175|Camera Lens| +|176|Quadplane Fwd Throttle Override enable| +|177|Mount LRF enable| +|179|ICEngine start / stop| +|180|Test autotuned gains after tune is complete| +|208|Flap| +|209|VTOL Forward Throttle| +|210|Airbrakes| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC4: Button Pin 4 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|22|Parachute Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Plane Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|38|ADSB Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|43|InvertedFlight Enable| +|46|RC Override Enable| +|51|MANUAL Mode| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|58|Clear Waypoints| +|62|Compass Learn| +|64|Reverse Throttle| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|77|TAKEOFF Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|81|Disarm| +|82|QAssist 3pos| +|84|AirMode| +|85|Generator| +|86|Non Auto Terrain Follow Disable| +|87|Crow Select| +|88|Soaring Enable| +|89|Landing Flare| +|90|EKF Source Set| +|91|Airspeed Ratio Calibration| +|92|FBWA Mode| +|94|VTX Power| +|95|FBWA taildragger takeoff mode| +|96|Trigger re-reading of mode switch| +|98|TRAINING Mode| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|107|Enable FW Autotune| +|108|QRTL Mode| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|150|CRUISE Mode| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with Quadplane AirMode (4.2 and higher)| +|155|Set roll pitch and yaw trim to current servo and RC| +|157|Force FS Action to FBWA| +|158|Optflow Calibration| +|160|Weathervane Enable| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|170|QSTABILIZE Mode| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|173|Plane AUTO Mode Landing Abort| +|174|Camera Image Tracking| +|175|Camera Lens| +|176|Quadplane Fwd Throttle Override enable| +|177|Mount LRF enable| +|179|ICEngine start / stop| +|180|Test autotuned gains after tune is complete| +|208|Flap| +|209|VTOL Forward Throttle| +|210|Airbrakes| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# CAM Parameters + +## CAM_MAX_ROLL: Maximum photo roll angle. + +Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll). + +- Units: deg + +- Range: 0 180 + +## CAM_AUTO_ONLY: Distance-trigging in AUTO mode only + +When enabled, trigging by distance is done in AUTO mode only. + +|Value|Meaning| +|:---:|:---:| +|0|Always| +|1|Only when in AUTO| + +# CAM1 Parameters + +## CAM1_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM1_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM1_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM1_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM1_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM1_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM1_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM1_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM1_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM1_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM1_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAM2 Parameters + +## CAM2_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM2_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM2_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM2_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM2_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM2_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM2_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM2_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM2_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM2_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM2_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAMRC Parameters + +## CAM_RC_TYPE: RunCam device type + +RunCam device type used to determine OSD menu structure and shutter options. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|RunCam Split Micro/RunCam with UART| +|2|RunCam Split| +|3|RunCam Split4 4k| +|4|RunCam Hybrid/RunCam Thumb Pro| +|5|Runcam 2 4k| + +## CAM_RC_FEATURES: RunCam features available + +*Note: This parameter is for advanced users* + +The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used. + +- Bitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + +## CAM_RC_BT_DELAY: RunCam boot delay before allowing updates + +*Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync. + +## CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync. + +## CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync. + +## CAM_RC_CONTROL: RunCam control option + +*Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + +- Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + +# CAN Parameters + +## CAN_LOGLEVEL: Loglevel + +*Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + +- Range: 0 4 + +|Value|Meaning| +|:---:|:---:| +|0|Log None| +|1|Log Error| +|2|Log Warning and below| +|3|Log Info and below| +|4|Log Everything| + +# CAND1 Parameters + +## CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND1PC Parameters + +## CAN_D1_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D1_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D1_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND1UC Parameters + +## CAN_D1_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D1_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D1_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D1_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D1_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND2 Parameters + +## CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND2PC Parameters + +## CAN_D2_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D2_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D2_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND2UC Parameters + +## CAN_D2_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D2_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D2_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D2_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D2_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND3 Parameters + +## CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND3PC Parameters + +## CAN_D3_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D3_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D3_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND3UC Parameters + +## CAN_D3_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D3_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D3_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D3_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D3_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CANP1 Parameters + +## CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P1_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P1_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP2 Parameters + +## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P2_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P2_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP3 Parameters + +## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P3_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P3_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANSLCAN Parameters + +## CAN_SLCAN_CPORT: SLCAN Route + +CAN Interface ID to be routed to SLCAN, 0 means no routing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First interface| +|2|Second interface| + +- RebootRequired: True + +## CAN_SLCAN_SERNUM: SLCAN Serial Port + +Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_SLCAN_TIMOUT: SLCAN Timeout + +Duration of inactivity after which SLCAN is switched back to original driver in seconds. + +- Range: 0 127 + +## CAN_SLCAN_SDELAY: SLCAN Start Delay + +Duration after which slcan starts after setting SERNUM in seconds. + +- Range: 0 127 + +# CHUTE Parameters + +## CHUTE_ENABLED: Parachute release enabled or disabled + +Parachute release enabled or disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## CHUTE_TYPE: Parachute release mechanism type (relay or servo) + +Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. + +|Value|Meaning| +|:---:|:---:| +|0|Relay| +|10|Servo| + +## CHUTE_SERVO_ON: Parachute Servo ON PWM value + +Parachute Servo PWM value in microseconds when parachute is released + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## CHUTE_SERVO_OFF: Servo OFF PWM value + +Parachute Servo PWM value in microseconds when parachute is not released + +- Range: 1000 2000 + +- Units: PWM + +- Increment: 1 + +## CHUTE_ALT_MIN: Parachute min altitude in meters above home + +Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check. + +- Range: 0 32000 + +- Units: m + +- Increment: 1 + +## CHUTE_DELAY_MS: Parachute release delay + +Delay in millseconds between motor stop and chute release + +- Range: 0 5000 + +- Units: ms + +- Increment: 1 + +## CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute + +Release parachute when critical sink rate is reached + +- Range: 0 15 + +- Units: m/s + +- Increment: 1 + +## CHUTE_OPTIONS: Parachute options + +Optional behaviour for parachute + +- Bitmask: 0:hold open forever after release,1:skip disarm before parachute release + +# COMPASS Parameters + +## COMPASS_OFS_X: Compass offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEC: Compass declination + +An angle to compensate between the true north and magnetic north + +- Range: -3.142 3.142 + +- Units: rad + +- Increment: 0.01 + +## COMPASS_LEARN: Learn compass offsets automatically + +*Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Internal-Learning| +|2|EKF-Learning| +|3|InFlight-Learning| + +## COMPASS_USE: Use compass for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the use of the compass (instead of the GPS) for determining heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_AUTODEC: Auto Declination + +*Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_MOTCT: Motor interference compensation type + +*Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled, throttle or current. Do not change manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use Throttle| +|2|Use Current| + +- Calibration: 1 + +## COMPASS_MOT_X: Motor interference compensation for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Y: Motor interference compensation for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Z: Motor interference compensation for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_ORIENT: Compass orientation + +*Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERNAL: Compass is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEV_ID: Compass device id + +*Note: This parameter is for advanced users* + +Compass device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID2: Compass2 device id + +*Note: This parameter is for advanced users* + +Second compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID3: Compass3 device id + +*Note: This parameter is for advanced users* + +Third compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_USE2: Compass2 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT2: Compass2 orientation + +*Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN2: Compass2 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_USE3: Compass3 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT3: Compass3 orientation + +*Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN3: Compass3 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_DIA_X: Compass soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Y: Compass soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Z: Compass soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_X: Compass soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_X: Compass2 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_X: Compass3 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_CAL_FIT: Compass calibration fitness + +*Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value. + +- Range: 4 32 + +|Value|Meaning| +|:---:|:---:| +|4|Very Strict| +|8|Strict| +|16|Default| +|32|Relaxed| + +- Increment: 0.1 + +## COMPASS_OFFS_MAX: Compass maximum offset + +*Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + +- Range: 500 3000 + +- Increment: 1 + +## COMPASS_DISBLMSK: Compass disable driver type mask + +*Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup + +- Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,19:MMC5XX3,20:QMC5883P,21:BMM350 + +## COMPASS_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## COMPASS_AUTO_ROT: Automatically check orientation + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|CheckOnly| +|2|CheckAndFix| +|3|use same tolerance to auto rotate 45 deg rotations| + +## COMPASS_PRIO1_ID: Compass device id with 1st order priority + +*Note: This parameter is for advanced users* + +Compass device id with 1st order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO2_ID: Compass device id with 2nd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 2nd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO3_ID: Compass device id with 3rd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 3rd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_ENABLE: Enable Compass + +Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_SCALE: Compass1 scale factor + +Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE2: Compass2 scale factor + +Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE3: Compass3 scale factor + +Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_OPTIONS: Compass options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + +- Bitmask: 0:CalRequireGPS, 1: Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) + +## COMPASS_DEV_ID4: Compass4 device id + +*Note: This parameter is for advanced users* + +Extra 4th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID5: Compass5 device id + +*Note: This parameter is for advanced users* + +Extra 5th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID6: Compass6 device id + +*Note: This parameter is for advanced users* + +Extra 6th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID7: Compass7 device id + +*Note: This parameter is for advanced users* + +Extra 7th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID8: Compass8 device id + +*Note: This parameter is for advanced users* + +Extra 8th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_CUS_ROLL: Custom orientation roll offset + +*Note: This parameter is for advanced users* + +Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_PIT: Custom orientation pitch offset + +*Note: This parameter is for advanced users* + +Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_YAW: Custom orientation yaw offset + +*Note: This parameter is for advanced users* + +Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +# COMPASSPMOT Parameters + +## COMPASS_PMOT_EN: per-motor compass correction enable + +*Note: This parameter is for advanced users* + +This enables per-motor compass corrections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_PMOT_EXP: per-motor exponential correction + +*Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per-motor compass correction + +- Range: 0 2 + +- Increment: 0.01 + +## COMPASS_PMOT1_X: Compass per-motor1 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + +## COMPASS_PMOT1_Y: Compass per-motor1 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + +## COMPASS_PMOT1_Z: Compass per-motor1 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + +## COMPASS_PMOT2_X: Compass per-motor2 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + +## COMPASS_PMOT2_Y: Compass per-motor2 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + +## COMPASS_PMOT2_Z: Compass per-motor2 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + +## COMPASS_PMOT3_X: Compass per-motor3 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + +## COMPASS_PMOT3_Y: Compass per-motor3 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + +## COMPASS_PMOT3_Z: Compass per-motor3 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + +## COMPASS_PMOT4_X: Compass per-motor4 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + +## COMPASS_PMOT4_Y: Compass per-motor4 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + +## COMPASS_PMOT4_Z: Compass per-motor4 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + +# CUSTROT Parameters + +## CUST_ROT_ENABLE: Enable Custom rotations + +This enables custom rotations + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +# CUSTROT1 Parameters + +## CUST_ROT1_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# CUSTROT2 Parameters + +## CUST_ROT2_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# DDS Parameters + +## DDS_ENABLE: DDS enable + +*Note: This parameter is for advanced users* + +Enable DDS subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## DDS_UDP_PORT: DDS UDP port + +UDP port number for DDS + +- Range: 1 65535 + +- RebootRequired: True + +## DDS_DOMAIN_ID: DDS DOMAIN ID + +Set the ROS_DOMAIN_ID + +- Range: 0 232 + +- RebootRequired: True + +## DDS_TIMEOUT_MS: DDS ping timeout + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting. + +- Units: ms + +- Range: 1 10000 + +- RebootRequired: True + +- Increment: 1 + +## DDS_MAX_RETRY: DDS ping max attempts + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. + +- Range: 1 100 + +- RebootRequired: True + +- Increment: 1 + +# DDSIP Parameters + +## DDS_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# DID Parameters + +## DID_ENABLE: Enable ODID subsystem + +Enable ODID subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DID_MAVPORT: MAVLink serial port + +Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## DID_CANDRIVER: DroneCAN driver number + +DroneCAN driver index, 0 to disable DroneCAN + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Driver1| +|2|Driver2| + +## DID_OPTIONS: OpenDroneID options + +Options for OpenDroneID subsystem + +- Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx + +## DID_BARO_ACC: Barometer vertical accuraacy + +*Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default + +- Units: m + +# EAHRS Parameters + +## EAHRS_TYPE: AHRS type + +Type of AHRS device + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|VectorNav| +|2|MicroStrain5| +|5|InertialLabs| +|7|MicroStrain7| + +## EAHRS_RATE: AHRS data rate + +Requested rate for AHRS device + +- Units: Hz + +## EAHRS_OPTIONS: External AHRS options + +External AHRS options bitmask + +- Bitmask: 0:Vector Nav use uncompensated values for accel gyro and mag. + +## EAHRS_SENSORS: External AHRS sensors + +*Note: This parameter is for advanced users* + +External AHRS sensors bitmask + +- Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass + +## EAHRS_LOG_RATE: AHRS logging rate + +Logging rate for EARHS devices + +- Units: Hz + +# EFI Parameters + +## EFI_TYPE: EFI communication type + +*Note: This parameter is for advanced users* + +What method of communication is used for EFI #1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Serial-MS| +|2|NWPMU| +|3|Serial-Lutan| +|5|DroneCAN| +|6|Currawong-ECU| +|7|Scripting| +|8|Hirth| +|9|MAVLink| + +- RebootRequired: True + +## EFI_COEF1: EFI Calibration Coefficient 1 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle + +- Range: 0 1 + +## EFI_COEF2: EFI Calibration Coefficient 2 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1 + +- Range: 0 10 + +## EFI_FUEL_DENS: ECU Fuel Density + +*Note: This parameter is for advanced users* + +Used to calculate fuel consumption + +- Units: kg/m/m/m + +- Range: 0 10000 + +# EFITHRLIN Parameters + +## EFI_THRLIN_EN: Enable throttle linearisation + +*Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_THRLIN_COEF1: Throttle linearisation - First Order + +*Note: This parameter is for advanced users* + +First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF2: Throttle linearisation - Second Order + +*Note: This parameter is for advanced users* + +Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF3: Throttle linearisation - Third Order + +*Note: This parameter is for advanced users* + +Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_OFS: throttle linearization offset + +*Note: This parameter is for advanced users* + +Offset for throttle linearization + +- Range: 0 100 + +- RebootRequired: True + +# EK2 Parameters + +## EK2_ENABLE: Enable EKF2 + +*Note: This parameter is for advanced users* + +This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK2_GPS_TYPE: GPS mode control + +*Note: This parameter is for advanced users* + +This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors. + +|Value|Meaning| +|:---:|:---:| +|0|GPS 3D Vel and 2D Pos| +|1|GPS 2D vel and 2D pos| +|2|GPS 2D pos| +|3|No GPS| + +## EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK2_ALT_SOURCE: Primary altitude sensor source + +*Note: This parameter is for advanced users* + +Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS). + +|Value|Meaning| +|:---:|:---:| +|0|Use Baro| +|1|Use Range Finder| +|2|Use GPS| +|3|Use Range Beacon| + +- RebootRequired: True + +## EK2_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK2_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| + +## EK2_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK2_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK2_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK2_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s) + +*Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier. + +- Range: 0.000001 0.001 + +- Units: Hz + +## EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.005 + +- Units: m/s/s/s + +## EK2_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK2_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 1.0 + +- Increment: 0.1 + +## EK2_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK2_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK2_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK2_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK2_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK2_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height. + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK2_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK2_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK2_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK2_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK2_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution + +- Bitmask: 0:DisableExternalNavigation + +# EK3 Parameters + +## EK3_ENABLE: Enable EKF3 + +*Note: This parameter is for advanced users* + +This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK3_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0. + +- Range: 0.1 100.0 + +- Increment: 0.1 + +- Units: m + +## EK3_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK3_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| +|5|Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)| +|6|External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)| + +- RebootRequired: True + +## EK3_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK3_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK3_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.02 + +- Units: m/s/s/s + +## EK3_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 2.0 + +- Increment: 0.1 + +## EK3_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK3_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK3_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK3_BETA_MASK: Bitmask controlling sidelip angle fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary. + +- Bitmask: 0:Always,1:WhenNoYawSensor + +- RebootRequired: True + +## EK3_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK3_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK3_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK3_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK3_ACC_BIAS_LIM: Accelerometer bias limit + +*Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to +- this value + +- Range: 0.5 2.5 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK3_VIS_VERR_MIN: Visual odometry minimum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.05 0.5 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VIS_VERR_MAX: Visual odometry maximum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_WENC_VERR: Wheel odometry velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK3_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK3_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold + +*Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences + +- Range: 0.05 1 + +- Increment: 0.05 + +## EK3_AFFINITY: EKF3 Sensor Affinity Options + +*Note: This parameter is for advanced users* + +These options control the affinity between sensor instances and EKF cores + +- Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity + +- RebootRequired: True + +## EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 0.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 50.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_M_NSE: Observation noise for drag acceleration + +*Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters + +- Range: 0.1 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_DRAG_MCOEF: Momentum coefficient for propeller drag + +*Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters. + +- Range: 0.0 1.0 + +- Increment: 0.01 + +- Units: 1/s + +## EK3_OGNM_TEST_SF: On ground not moving test scale factor + +*Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels. + +- Range: 1.0 10.0 + +- Increment: 0.5 + +## EK3_GND_EFF_DZ: Baro height ground effect dead zone + +*Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. + +- Range: 0.0 10.0 + +- Increment: 0.5 + +## EK3_PRIMARY: Primary core number + +*Note: This parameter is for advanced users* + +The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK. + +- Range: 0 2 + +- Increment: 1 + +## EK3_LOG_LEVEL: Logging Level + +*Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3. + +- Range: 0 3 + +- Increment: 1 + +## EK3_GPS_VACC_MAX: GPS vertical accuracy threshold + +*Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check. + +- Range: 0.0 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + +- Bitmask: 0:JammingExpected + +# EK3SRC Parameters + +## EK3_SRC1_POSXY: Position Horizontal Source (Primary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Primary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELXY: Velocity Horizontal Source + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC1_POSZ: Position Vertical Source + +*Note: This parameter is for advanced users* + +Position Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELZ: Velocity Vertical Source + +*Note: This parameter is for advanced users* + +Velocity Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_YAW: Yaw Source + +*Note: This parameter is for advanced users* + +Yaw Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC2_POSXY: Position Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC2_POSZ: Position Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELZ: Velocity Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_YAW: Yaw Source (Secondary) + +*Note: This parameter is for advanced users* + +Yaw Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC3_POSXY: Position Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC3_POSZ: Position Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_YAW: Yaw Source (Tertiary) + +*Note: This parameter is for advanced users* + +Yaw Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC_OPTIONS: EKF Source Options + +*Note: This parameter is for advanced users* + +EKF Source Options + +- Bitmask: 0:FuseAllVelocities, 1:AlignExtNavPosWhenUsingOptFlow + +# ESCTLM Parameters + +## ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset + +Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets + +- Increment: 1 + +- Range: 0 31 + +# FENCE Parameters + +## FENCE_ENABLE: Fence enable/disable + +Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FENCE_TYPE: Fence Type + +Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached. + +- Bitmask: 0:Max altitude,1:Circle Centered on Home,2:Inclusion/Exclusion Circles+Polygons,3:Min altitude + +## FENCE_ACTION: Fence Action + +What action should be taken when fence is breached + +|Value|Meaning| +|:---:|:---:| +|0|Report Only| +|1|RTL| +|6|Guided| +|7|GuidedThrottlePass| + +## FENCE_ALT_MAX: Fence Maximum Altitude + +Maximum altitude allowed before geofence triggers + +- Units: m + +- Range: 10 1000 + +- Increment: 1 + +## FENCE_RADIUS: Circular Fence Radius + +Circle fence radius which when breached will cause an RTL + +- Units: m + +- Range: 30 10000 + +## FENCE_MARGIN: Fence Margin + +Distance that autopilot's should maintain from the fence to avoid a breach + +- Units: m + +- Range: 1 10 + +## FENCE_TOTAL: Fence polygon point total + +Number of polygon points saved in eeprom (do not update manually) + +- Range: 1 20 + +## FENCE_ALT_MIN: Fence Minimum Altitude + +Minimum altitude allowed before geofence triggers + +- Units: m + +- Range: -100 100 + +- Increment: 1 + +## FENCE_RET_RALLY: Fence Return to Rally + +Should the vehicle return to fence return point or rally point + +|Value|Meaning| +|:---:|:---:| +|0|Fence Return Point| +|1|Nearest Rally Point| + +- Range: 0 1 + +- Increment: 1 + +## FENCE_RET_ALT: Fence Return Altitude + +Altitude the vehicle will transit to when a fence breach occurs + +- Units: m + +- Range: 0 32767 + +- Increment: 1 + +## FENCE_AUTOENABLE: Fence Auto-Enable + +Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings. + +- Range: 0 3 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|AutoEnableOff| +|1|AutoEnableOnTakeoff| +|2|AutoEnableDisableFloorOnLanding| +|3|AutoEnableOnlyWhenArmed| + +## FENCE_OPTIONS: Fence options + +When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas. + +- Bitmask: 0:Disable mode change following fence action until fence breach is cleared, 1:Allow union of inclusion areas + +# FFT Parameters + +## FFT_ENABLE: Enable + +*Note: This parameter is for advanced users* + +Enable Gyro FFT analyser + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## FFT_MINHZ: Minimum Frequency + +*Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles. + +- Range: 20 400 + +- Units: Hz + +## FFT_MAXHZ: Maximum Frequency + +*Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles. + +- Range: 20 495 + +- Units: Hz + +## FFT_SAMPLE_MODE: Sample Mode + +*Note: This parameter is for advanced users* + +Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot. + +- Range: 0 4 + +- RebootRequired: True + +## FFT_WINDOW_SIZE: FFT window size + +*Note: This parameter is for advanced users* + +Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class. + +- Range: 32 1024 + +- RebootRequired: True + +## FFT_WINDOW_OLAP: FFT window overlap + +*Note: This parameter is for advanced users* + +Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges. + +- Range: 0 0.9 + +- RebootRequired: True + +## FFT_FREQ_HOVER: FFT learned hover frequency + +*Note: This parameter is for advanced users* + +The learned hover noise frequency + +- Range: 0 250 + +## FFT_THR_REF: FFT learned thrust reference + +*Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency. + +- Range: 0.01 0.9 + +## FFT_SNR_REF: FFT SNR reference threshold + +*Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present. + +- Range: 0.0 100.0 + +## FFT_ATT_REF: FFT attenuation for bandwidth calculation + +*Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight. + +- Range: 0 100 + +## FFT_BW_HOVER: FFT learned bandwidth at hover + +*Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies. + +- Range: 0 200 + +## FFT_HMNC_FIT: FFT harmonic fit frequency threshold + +*Note: This parameter is for advanced users* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching. + +- Range: 0 100 + +- RebootRequired: True + +## FFT_HMNC_PEAK: FFT harmonic peak target + +*Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll). + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|Center Frequency| +|2|Lower-Shoulder Frequency| +|3|Upper-Shoulder Frequency| +|4|Roll-Axis| +|5|Pitch-Axis| + +## FFT_NUM_FRAMES: FFT output frames to retain and average + +*Note: This parameter is for advanced users* + +Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged. + +- Range: 0 8 + +- RebootRequired: True + +## FFT_OPTIONS: FFT options + +*Note: This parameter is for advanced users* + +FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference + +- Bitmask: 0:Enable post-filter FFT,1:Check motor noise + +- RebootRequired: True + +# FILT1 Parameters + +## FILT1_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT1_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT1_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT1_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT2 Parameters + +## FILT2_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT2_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT2_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT2_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT3 Parameters + +## FILT3_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT3_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT3_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT3_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT4 Parameters + +## FILT4_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT4_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT4_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT4_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT5 Parameters + +## FILT5_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT5_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT5_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT5_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT6 Parameters + +## FILT6_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT6_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT6_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT6_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT7 Parameters + +## FILT7_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT7_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT7_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT7_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT8 Parameters + +## FILT8_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT8_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT8_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT8_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FLOW Parameters + +## FLOW_TYPE: Optical flow sensor type + +Optical flow sensor type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|PX4Flow| +|2|Pixart| +|3|Bebop| +|4|CXOF| +|5|MAVLink| +|6|DroneCAN| +|7|MSP| +|8|UPFLOW| + +- RebootRequired: True + +## FLOW_FXSCALER: X axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_FYSCALER: Y axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_ORIENT_YAW: Flow sensor yaw alignment + +Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle. + +- Units: cdeg + +- Range: -17999 +18000 + +- Increment: 10 + +## FLOW_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_ADDR: Address on the bus + +*Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus. + +- Range: 0 127 + +## FLOW_HGT_OVR: Height override of sensor above ground + +*Note: This parameter is for advanced users* + +This is used in rover vehicles, where the sensor is a fixed height above the ground + +- Units: m + +- Range: 0 2 + +- Increment: 0.01 + +# FOLL Parameters + +## FOLL_ENABLE: Follow enable/disable + +Enabled/disable following a target + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FOLL_SYSID: Follow target's mavlink system id + +Follow target's mavlink system id + +- Range: 0 255 + +## FOLL_DIST_MAX: Follow distance maximum + +Follow distance maximum. targets further than this will be ignored + +- Units: m + +- Range: 1 1000 + +## FOLL_OFS_TYPE: Follow offset type + +Follow offset type + +|Value|Meaning| +|:---:|:---:| +|0|North-East-Down| +|1|Relative to lead vehicle heading| + +## FOLL_OFS_X: Follow offsets in meters north/forward + +Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Y: Follow offsets in meters east/right + +Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Z: Follow offsets in meters down + +Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_YAW_BEHAVE: Follow yaw behaviour + +Follow yaw behaviour + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Face Lead Vehicle| +|2|Same as Lead vehicle| +|3|Direction of Flight| + +## FOLL_POS_P: Follow position error P gain + +Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + +- Range: 0.01 1.00 + +- Increment: 0.01 + +## FOLL_ALT_TYPE: Follow altitude type + +Follow altitude type + +|Value|Meaning| +|:---:|:---:| +|0|absolute| +|1|relative| + +## FOLL_OPTIONS: Follow options + +Follow options bitmask + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Mount Follows lead vehicle on mode enter| + +# FRSKY Parameters + +## FRSKY_UPLINK_ID: Uplink sensor id + +*Note: This parameter is for advanced users* + +Change the uplink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK1_ID: First downlink sensor id + +*Note: This parameter is for advanced users* + +Change the first extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK2_ID: Second downlink sensor id + +*Note: This parameter is for advanced users* + +Change the second extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK_ID: Default downlink sensor id + +*Note: This parameter is for advanced users* + +Change the default downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| +|27|27| + +## FRSKY_OPTIONS: FRSky Telemetry Options + +A bitmask to set some FRSky Telemetry specific options + +- Bitmask: 0:EnableAirspeedAndGroundspeed + +# GEN Parameters + +## GEN_TYPE: Generator type + +Generator type + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|IE 650w 800w Fuel Cell| +|2|IE 2.4kW Fuel Cell| +|3|Richenpower| + +- RebootRequired: True + +## GEN_OPTIONS: Generator Options + +Bitmask of options for generators + +- Bitmask: 0:Suppress Maintenance-Required Warnings + +# GPS Parameters + +## GPS_NAVFILTER: Navigation filter setting + +*Note: This parameter is for advanced users* + +Navigation filter engine setting + +|Value|Meaning| +|:---:|:---:| +|0|Portable| +|2|Stationary| +|3|Pedestrian| +|4|Automotive| +|5|Sea| +|6|Airborne1G| +|7|Airborne2G| +|8|Airborne4G| + +## GPS_AUTO_SWITCH: Automatic Switchover Setting + +*Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary + +|Value|Meaning| +|:---:|:---:| +|0|Use primary| +|1|UseBest| +|2|Blend| +|4|Use primary if 3D fix or better| + +## GPS_SBAS_MODE: SBAS Mode + +*Note: This parameter is for advanced users* + +This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|NoChange| + +## GPS_MIN_ELEV: Minimum elevation + +*Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default. + +- Range: -100 90 + +- Units: deg + +## GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets + +*Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes. + +|Value|Meaning| +|:---:|:---:| +|0|send to first GPS| +|1|send to 2nd GPS| +|127|send to all| + +## GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask + +*Note: This parameter is for advanced users* + +Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged + +|Value|Meaning| +|:---:|:---:| +|0|None (0x0000)| +|-1|All (0xFFFF)| +|-256|External only (0xFF00)| + +## GPS_RAW_DATA: Raw data logging + +*Note: This parameter is for advanced users* + +Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming + +|Value|Meaning| +|:---:|:---:| +|0|Ignore| +|1|Always log| +|2|Stop logging when disarmed (SBF only)| +|5|Only log every five samples (uBlox only)| + +- RebootRequired: True + +## GPS_SAVE_CFG: Save GPS configuration + +*Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above. + +|Value|Meaning| +|:---:|:---:| +|0|Do not save config| +|1|Save config| +|2|Save only when needed| + +## GPS_AUTO_CONFIG: Automatic GPS configuration + +*Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + +|Value|Meaning| +|:---:|:---:| +|0|Disables automatic configuration| +|1|Enable automatic configuration for Serial GPSes only| +|2|Enable automatic configuration for DroneCAN as well| + +## GPS_BLEND_MASK: Multi GPS Blending Mask + +*Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend) + +- Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed + +## GPS_DRV_OPTIONS: driver options + +*Note: This parameter is for advanced users* + +Additional backend specific options + +- Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel + +## GPS_PRIMARY: Primary GPS + +*Note: This parameter is for advanced users* + +This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4. + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|FirstGPS| +|1|SecondGPS| + +## GPS_TYPE: 1st GPS type + +*Note: This parameter is for advanced users* + +GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +- RebootRequired: True + +## GPS_TYPE2: 2nd GPS type.Renamed in 4.6 to GPS2_TYPE + +*Note: This parameter is for advanced users* + +GPS type of 2nd GPS + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +## GPS_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE. + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_GNSS_MODE2: GNSS system configuration. + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_RATE_MS2: GPS 2 update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_POS1_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_DELAY_MS2: GPS 2 delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS_COM_PORT2: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## GPS_CAN_NODEID1: GPS Node ID 1 + +*Note: This parameter is for advanced users* + +GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID. + +- ReadOnly: True + +## GPS_CAN_NODEID2: GPS Node ID 2 + +*Note: This parameter is for advanced users* + +GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID. + +- ReadOnly: True + +# GPS1 Parameters + +## GPS1_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS1_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS1_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS1_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS1_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS1_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS1MB Parameters + +## GPS1_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS1_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPS2 Parameters + +## GPS2_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS2_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS2_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS2_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS2_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS2_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS2MB Parameters + +## GPS2_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS2_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB1 Parameters + +## GPS_MB1_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB1_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB2 Parameters + +## GPS_MB2_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB2_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GRIP Parameters + +## GRIP_ENABLE: Gripper Enable/Disable + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## GRIP_TYPE: Gripper Type + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|EPM| + +## GRIP_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_NEUTRAL: Neutral PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_REGRAB: EPM Gripper Regrab interval + +*Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable + +- Range: 0 255 + +- Units: s + +## GRIP_CAN_ID: EPM UAVCAN Hardpoint ID + +Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface + +- Range: 0 255 + +## GRIP_AUTOCLOSE: Gripper Autoclose time + +*Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening; 0 to disable + +- Range: 0.25 255 + +- Units: s + +# GUIDED Parameters + +## GUIDED_P: PID Proportional Gain + +P Gain which produces an output value that is proportional to the current error value + +## GUIDED_I: PID Integral Gain + +I Gain which produces an output that is proportional to both the magnitude and the duration of the error + +## GUIDED_D: PID Derivative Gain + +D Gain which produces an output that is proportional to the rate of change of the error + +## GUIDED_FF: FF FeedForward Gain + +FF Gain which produces an output value that is proportional to the demanded input + +## GUIDED_IMAX: PID Integral Maximum + +The maximum/minimum value that the I term can output + +## GUIDED_FLTT: PID Target filter frequency in Hz + +Target filter frequency in Hz + +- Units: Hz + +## GUIDED_FLTE: PID Error filter frequency in Hz + +Error filter frequency in Hz + +- Units: Hz + +## GUIDED_FLTD: PID Derivative term filter frequency in Hz + +Derivative filter frequency in Hz + +- Units: Hz + +## GUIDED_SMAX: Slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## GUIDED_PDMX: PD sum maximum + +*Note: This parameter is for advanced users* + +The maximum/minimum value that the sum of the P and D term can output + +## GUIDED_D_FF: PID Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## GUIDED_NTF: PID Target notch filter index + +*Note: This parameter is for advanced users* + +PID Target notch filter index + +- Range: 1 8 + +## GUIDED_NEF: PID Error notch filter index + +*Note: This parameter is for advanced users* + +PID Error notch filter index + +- Range: 1 8 + +# ICE Parameters + +## ICE_ENABLE: Enable ICEngine control + +*Note: This parameter is for advanced users* + +This enables internal combustion engine control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ICE_START_CHAN: Input channel for engine start + +This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Chan1| +|2|Chan2| +|3|Chan3| +|4|Chan4| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## ICE_STARTER_TIME: Time to run starter + +This is the number of seconds to run the starter when trying to start the engine + +- Units: s + +- Range: 0.1 5 + +## ICE_START_DELAY: Time to wait between starts + +Delay between start attempts + +- Units: s + +- Range: 1 10 + +## ICE_RPM_THRESH: RPM threshold + +This is the measured RPM above which the engine is considered to be running + +- Range: 100 100000 + +## ICE_PWM_IGN_ON: PWM value for ignition on + +This is the value sent to the ignition channel when on + +- Range: 1000 2000 + +## ICE_PWM_IGN_OFF: PWM value for ignition off + +This is the value sent to the ignition channel when off + +- Range: 1000 2000 + +## ICE_PWM_STRT_ON: PWM value for starter on + +This is the value sent to the starter channel when on + +- Range: 1000 2000 + +## ICE_PWM_STRT_OFF: PWM value for starter off + +This is the value sent to the starter channel when off + +- Range: 1000 2000 + +## ICE_RPM_CHAN: RPM instance channel to use + +This is which of the RPM instances to use for detecting the RPM of the engine + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RPM1| +|2|RPM2| + +## ICE_START_PCT: Throttle percentage for engine start + +This is the percentage throttle output for engine start + +- Range: 0 100 + +## ICE_IDLE_PCT: Throttle percentage for engine idle + +This is the minimum percentage throttle output while running, this includes being disarmed, but not safe + +- Range: 0 100 + +## ICE_IDLE_RPM: RPM Setpoint for Idle Governor + +*Note: This parameter is for advanced users* + +This configures the RPM that will be commanded by the idle governor. Set to -1 to disable + +## ICE_IDLE_DB: Deadband for Idle Governor + +This configures the deadband that is tolerated before adjusting the idle setpoint + +## ICE_IDLE_SLEW: Slew Rate for idle control + +This configures the slewrate used to adjust the idle setpoint in percentage points per second + +## ICE_OPTIONS: ICE options + +Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command. + +- Bitmask: 0:Disable ignition in RC failsafe,1:Disable redline governor,2:Throttle control in MANUAL while disarmed with safety off,3:Disable while disarmed,4:Crank direction Reverse + +## ICE_STARTCHN_MIN: Input channel for engine start minimum PWM + +This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM above 800 and below 1300 triggers an engine stop. To stop the engine start channel must above the larger of this value and 800 and below 1300. + +- Range: 0 1300 + +## ICE_REDLINE_RPM: RPM of the redline limit for the engine + +*Note: This parameter is for advanced users* + +Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor. + +- Range: 0 2000000 + +- Units: RPM + +## ICE_STRT_MX_RTRY: Maximum number of retries + +If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up. + +- Range: 0 127 + +# INS Parameters + +## INS_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_X: Gyro2 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Y: Gyro2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Z: Gyro2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_X: Gyro3 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Y: Gyro3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Z: Gyro3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2SCAL_X: Accelerometer2 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2OFFS_X: Accelerometer2 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3SCAL_X: Accelerometer3 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3OFFS_X: Accelerometer3 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_GYRO_FILTER: Gyro filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_ACCEL_FILTER: Accel filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE2: Use second IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use second IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE3: Use third IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use third IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_STILL_THRESH: Stillness threshold for detecting if we are moving + +*Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5 + +- Range: 0.05 50 + +## INS_GYR_CAL: Gyro Calibration scheme + +*Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + +|Value|Meaning| +|:---:|:---:| +|0|Never| +|1|Start-up only| + +## INS_TRIM_OPTION: Accel cal trim option + +*Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + +|Value|Meaning| +|:---:|:---:| +|0|Don't adjust the trims| +|1|Assume first orientation was level| +|2|Assume ACC_BODYFIX is perfectly aligned to the vehicle| + +## INS_ACC_BODYFIX: Body-fixed accelerometer + +*Note: This parameter is for advanced users* + +The body-fixed accelerometer to be used for trim calculation + +|Value|Meaning| +|:---:|:---:| +|1|IMU 1| +|2|IMU 2| +|3|IMU 3| + +## INS_POS1_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -10 10 + +## INS_POS3_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR2_ID: Gyro2 ID + +*Note: This parameter is for advanced users* + +Gyro2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR3_ID: Gyro3 ID + +*Note: This parameter is for advanced users* + +Gyro3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC2_ID: Accelerometer2 ID + +*Note: This parameter is for advanced users* + +Accelerometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC3_ID: Accelerometer3 ID + +*Note: This parameter is for advanced users* + +Accelerometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_FAST_SAMPLE: Fast sampling mask + +*Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on, if available + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU + +## INS_ENABLE_MASK: IMU enable mask + +*Note: This parameter is for advanced users* + +Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU,6:SeventhIMU + +## INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled + +*Note: This parameter is for advanced users* + +Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used. + +|Value|Meaning| +|:---:|:---:| +|0|1kHz| +|1|2kHz| +|2|4kHz| +|3|8kHz| + +- RebootRequired: True + +## INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_TCAL_OPTIONS: Options for temperature calibration + +*Note: This parameter is for advanced users* + +This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader. + +- Bitmask: 0:PersistTemps, 1:PersistAccels + +## INS_RAW_LOG_OPT: Raw logging options + +*Note: This parameter is for advanced users* + +Raw logging options bitmask + +- Bitmask: 0:Log primary gyro only, 1:Log all gyros, 2:Post filter, 3: Pre and post filter + +# INS4 Parameters + +## INS4_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS4_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS4_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS4TCAL Parameters + +## INS4_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS4_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INS5 Parameters + +## INS5_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS5_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS5_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS5TCAL Parameters + +## INS5_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS5_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSHNTC2 Parameters + +## INS_HNTC2_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTC2_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTC2_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTC2_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTC2_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTC2_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTC2_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSHNTCH Parameters + +## INS_HNTCH_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTCH_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTCH_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTCH_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTCH_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTCH_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTCH_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSLOG Parameters + +## INS_LOG_BAT_CNT: sample count per batch + +*Note: This parameter is for advanced users* + +Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot. + +- Increment: 32 + +- RebootRequired: True + +## INS_LOG_BAT_MASK: Sensor Bitmask + +*Note: This parameter is for advanced users* + +Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot. + +- Bitmask: 0:IMU1,1:IMU2,2:IMU3 + +- RebootRequired: True + +## INS_LOG_BAT_OPT: Batch Logging Options Mask + +*Note: This parameter is for advanced users* + +Options for the BatchSampler. + +- Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering, 2: Sample pre- and post-filter + +## INS_LOG_BAT_LGIN: logging interval + +Interval between pushing samples to the AP_Logger log + +- Units: ms + +- Increment: 10 + +## INS_LOG_BAT_LGCT: logging count + +Number of samples to push to count every INS_LOG_BAT_LGIN + +- Increment: 1 + +# INSTCAL1 Parameters + +## INS_TCAL1_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL1_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL2 Parameters + +## INS_TCAL2_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL2_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL3 Parameters + +## INS_TCAL3_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL3_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# KDE Parameters + +## KDE_NPOLE: Number of motor poles + +Sets the number of motor poles to calculate the correct RPM value + +# LAND Parameters + +## LAND_SLOPE_RCALC: Landing slope re-calc threshold + +*Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m. + +- Range: 0 5 + +- Units: m + +- Increment: 0.5 + +## LAND_ABORT_DEG: Landing auto-abort slope threshold + +*Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0. + +- Range: 0 90 + +- Units: deg + +- Increment: 0.1 + +## LAND_PITCH_DEG: Landing Pitch + +*Note: This parameter is for advanced users* + +Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate. + +- Units: deg + +- Range: -20 20 + +- Increment: 10 + +## LAND_FLARE_ALT: Landing flare altitude + +*Note: This parameter is for advanced users* + +Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC. + +- Units: m + +- Range: 0 30 + +- Increment: 0.1 + +## LAND_FLARE_SEC: Landing flare time + +*Note: This parameter is for advanced users* + +Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT). + +- Units: s + +- Range: 0 10 + +- Increment: 0.1 + +## LAND_PF_ALT: Landing pre-flare altitude + +*Note: This parameter is for advanced users* + +Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0. + +- Units: m + +- Range: 0 30 + +- Increment: 0.1 + +## LAND_PF_SEC: Landing pre-flare time + +*Note: This parameter is for advanced users* + +Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0. + +- Units: s + +- Range: 0 10 + +- Increment: 0.1 + +## LAND_PF_ARSPD: Landing pre-flare airspeed + +*Note: This parameter is for advanced users* + +Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable. + +- Units: m/s + +- Range: 0 30 + +- Increment: 0.1 + +## LAND_THR_SLEW: Landing throttle slew rate + +This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough. + +- Units: % + +- Range: 0 127 + +- Increment: 1 + +## LAND_DISARMDELAY: Landing disarm delay + +*Note: This parameter is for advanced users* + +After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm. + +- Units: s + +- Increment: 1 + +- Range: 0 127 + +## LAND_THEN_NEUTRL: Set servos to neutral after landing + +*Note: This parameter is for advanced users* + +When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Servos to Neutral| +|2|Servos to Zero PWM| + +## LAND_ABORT_THR: Landing abort using throttle + +*Note: This parameter is for advanced users* + +Allow a landing abort to trigger with an input throttle >= 90%. This works with or without stick-mixing enabled. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LAND_FLAP_PERCNT: Landing flap percentage + +*Note: This parameter is for advanced users* + +The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## LAND_OPTIONS: Landing options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of options to use with landing. + +- Bitmask: 0: honor min throttle during landing flare,1: Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX + +## LAND_FLARE_AIM: Flare aim point adjustment percentage. + +*Note: This parameter is for advanced users* + +This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre. When set to 100% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS_LAND_SINK. when set to 0%, no aim point adjustment is made. If the plane consistently touches down short of the aim point reduce the parameter and vice verse. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## LAND_WIND_COMP: Headwind Compensation when Landing + +*Note: This parameter is for advanced users* + +This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to AIRSPEED_MAX. + +- Range: 0 100 + +- Units: % + +- Increment: 1 + +## LAND_TYPE: Auto-landing type + +Specifies the auto-landing type to use + +|Value|Meaning| +|:---:|:---:| +|0|Standard Glide Slope| +|1|Deepstall| + +# LANDDS Parameters + +## LAND_DS_V_FWD: Deepstall forward velocity + +*Note: This parameter is for advanced users* + +The forward velocity of the aircraft while stalled + +- Range: 0 20 + +- Units: m/s + +## LAND_DS_SLOPE_A: Deepstall slope a + +*Note: This parameter is for advanced users* + +The a component of distance = a*wind + b + +## LAND_DS_SLOPE_B: Deepstall slope b + +*Note: This parameter is for advanced users* + +The a component of distance = a*wind + b + +## LAND_DS_APP_EXT: Deepstall approach extension + +*Note: This parameter is for advanced users* + +The horizontal distance from which the aircraft will approach before the stall + +- Range: 10 200 + +- Units: m + +## LAND_DS_V_DWN: Deepstall velocity down + +*Note: This parameter is for advanced users* + +The downward velocity of the aircraft while stalled + +- Range: 0 20 + +- Units: m/s + +## LAND_DS_SLEW_SPD: Deepstall slew speed + +*Note: This parameter is for advanced users* + +The speed at which the elevator slews to deepstall + +- Range: 0 2 + +- Units: s + +## LAND_DS_ELEV_PWM: Deepstall elevator PWM + +*Note: This parameter is for advanced users* + +The PWM value in microseconds for the elevator at full deflection in deepstall + +- Range: 900 2100 + +- Units: PWM + +## LAND_DS_ARSP_MAX: Deepstall enabled airspeed + +*Note: This parameter is for advanced users* + +The maximum aispeed where the deepstall steering controller is allowed to have control + +- Range: 5 20 + +- Units: m/s + +## LAND_DS_ARSP_MIN: Deepstall minimum derating airspeed + +*Note: This parameter is for advanced users* + +Deepstall lowest airspeed where the deepstall controller isn't allowed full control + +- Range: 5 20 + +- Units: m/s + +## LAND_DS_L1: Deepstall L1 period + +*Note: This parameter is for advanced users* + +Deepstall L1 navigational controller period + +- Range: 5 50 + +- Units: s + +## LAND_DS_L1_I: Deepstall L1 I gain + +*Note: This parameter is for advanced users* + +Deepstall L1 integratior gain + +- Range: 0 1 + +## LAND_DS_YAW_LIM: Deepstall yaw rate limit + +*Note: This parameter is for advanced users* + +The yaw rate limit while navigating in deepstall + +- Range: 0 90 + +- Units: deg/s + +## LAND_DS_L1_TCON: Deepstall L1 time constant + +*Note: This parameter is for advanced users* + +Time constant for deepstall L1 control + +- Range: 0 1 + +- Units: s + +## LAND_DS_P: P gain + +P gain + +## LAND_DS_I: I gain + +I gain + +## LAND_DS_D: D gain + +D gain + +## LAND_DS_IMAX: IMax + +Maximum integrator value + +## LAND_DS_ABORTALT: Deepstall minimum abort altitude + +*Note: This parameter is for advanced users* + +The minimum altitude which the aircraft must be above to abort a deepstall landing + +- Range: 0 50 + +- Units: m + +## LAND_DS_AIL_SCL: Aileron landing gain scalaing + +*Note: This parameter is for advanced users* + +A scalar to reduce or increase the aileron control + +- Range: 0 2.0 + +# LGR Parameters + +## LGR_ENABLE: Enable landing gear + +Enable landing gear control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LGR_STARTUP: Landing Gear Startup position + +Landing Gear Startup behaviour control + +|Value|Meaning| +|:---:|:---:| +|0|WaitForPilotInput| +|1|Retract| +|2|Deploy| + +## LGR_DEPLOY_PIN: Chassis deployment feedback pin + +Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## LGR_DEPLOY_POL: Chassis deployment feedback pin polarity + +Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low. + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## LGR_WOW_PIN: Weight on wheels feedback pin + +Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## LGR_WOW_POL: Weight on wheels feedback pin polarity + +Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low. + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## LGR_DEPLOY_ALT: Landing gear deployment altitude + +Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed. + +- Units: m + +- Range: 0 1000 + +- Increment: 1 + +## LGR_RETRACT_ALT: Landing gear retract altitude + +Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed. + +- Units: m + +- Range: 0 1000 + +- Increment: 1 + +## LGR_OPTIONS: Landing gear auto retract/deploy options + +Options to retract or deploy landing gear in Auto or Guided mode + +- Bitmask: 0:Retract after Takeoff,1:Deploy during Land + +# LOG Parameters + +## LOG_BACKEND_TYPE: AP_Logger Backend Storage type + +Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected. + +- Bitmask: 0:File,1:MAVLink,2:Block + +## LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes) + +The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes. + +## LOG_DISARMED: Enable logging while disarmed + +If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Disabled on USB connection| +|3|Discard log on reboot if never armed| + +## LOG_REPLAY: Enable logging of information needed for Replay + +If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_FILE_DSRMROT: Stop logging to current file on disarm + +When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size + +*Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP_Logger-over-mavlink + +- Units: kB + +## LOG_FILE_TIMEOUT: Timeout before giving up on file writes + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped. + +- Units: s + +## LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space + +Set this such that the free space is larger than your largest typical flight log + +- Units: MB + +- Range: 10 1000 + +## LOG_FILE_RATEMAX: Maximum logging rate for file backend + +This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_BLK_RATEMAX: Maximum logging rate for block backend + +This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_DARM_RATEMAX: Maximum logging rate when disarmed + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAX_FILES: Maximum number of log files + +*Note: This parameter is for advanced users* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs. + +- Range: 2 500 + +- Increment: 1 + +- RebootRequired: True + +# MIS Parameters + +## MIS_TOTAL: Total mission commands + +*Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station. Do not change this manually. + +- Range: 0 32766 + +- Increment: 1 + +- ReadOnly: True + +## MIS_RESTART: Mission Restart when entering Auto mode + +*Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run) + +|Value|Meaning| +|:---:|:---:| +|0|Resume Mission| +|1|Restart Mission| + +## MIS_OPTIONS: Mission options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of what options to use in missions. + +- Bitmask: 0:Clear Mission on reboot, 1:Use distance to land calc on battery failsafe,2:ContinueAfterLand + +# MNT1 Parameters + +## MNT1_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT1_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT1_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT1_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT1_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT1_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MNT2 Parameters + +## MNT2_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT2_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT2_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT2_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT2_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT2_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MSP Parameters + +## MSP_OSD_NCELLS: Cell count override + +Used for average cell voltage calculation + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|1| +|2|2| +|3|3| +|4|4| +|5|5| +|6|6| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| + +## MSP_OPTIONS: MSP OSD Options + +A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. + +- Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts + +# NAVL1 Parameters + +## NAVL1_PERIOD: L1 control period + +Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling. + +- Units: s + +- Range: 1 60 + +- Increment: 1 + +## NAVL1_DAMPING: L1 control damping ratio + +*Note: This parameter is for advanced users* + +Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85. + +- Range: 0.6 1.0 + +- Increment: 0.05 + +## NAVL1_XTRACK_I: L1 control crosstrack integrator gain + +*Note: This parameter is for advanced users* + +Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation. + +- Range: 0 0.1 + +- Increment: 0.01 + +## NAVL1_LIM_BANK: Loiter Radius Bank Angle Limit + +*Note: This parameter is for advanced users* + +The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly + +- Units: deg + +- Range: 0 89 + +# NET Parameters + +## NET_ENABLE: Networking Enable + +*Note: This parameter is for advanced users* + +Networking Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_NETMASK: IP Subnet mask + +*Note: This parameter is for advanced users* + +Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0 + +- Range: 0 32 + +- RebootRequired: True + +## NET_DHCP: DHCP client + +*Note: This parameter is for advanced users* + +Enable/Disable DHCP client + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_TESTS: Test enable flags + +*Note: This parameter is for advanced users* + +Enable/Disable networking tests + +- Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test, 3:TCP reflect test + +- RebootRequired: True + +## NET_OPTIONS: Networking options + +*Note: This parameter is for advanced users* + +Networking options + +- Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway + +- RebootRequired: True + +# NETGWADDR Parameters + +## NET_GWADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETIPADDR Parameters + +## NET_IPADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETMACADDR Parameters + +## NET_MACADDR0: MAC Address 1st byte + +*Note: This parameter is for advanced users* + +MAC address 1st byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR1: MAC Address 2nd byte + +*Note: This parameter is for advanced users* + +MAC address 2nd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR2: MAC Address 3rd byte + +*Note: This parameter is for advanced users* + +MAC address 3rd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR3: MAC Address 4th byte + +*Note: This parameter is for advanced users* + +MAC address 4th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR4: MAC Address 5th byte + +*Note: This parameter is for advanced users* + +MAC address 5th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR5: MAC Address 6th byte + +*Note: This parameter is for advanced users* + +MAC address 6th byte + +- Range: 0 255 + +- RebootRequired: True + +# NETP1 Parameters + +## NET_P1_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P1_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P1_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP1IP Parameters + +## NET_P1_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP2 Parameters + +## NET_P2_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P2_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P2_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP2IP Parameters + +## NET_P2_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP3 Parameters + +## NET_P3_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P3_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P3_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP3IP Parameters + +## NET_P3_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP4 Parameters + +## NET_P4_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P4_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P4_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP4IP Parameters + +## NET_P4_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETREMPPPIP Parameters + +## NET_REMPPP_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETTESTIP Parameters + +## NET_TEST_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NMEA Parameters + +## NMEA_RATE_MS: NMEA Output rate + +NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower. + +- Range: 20 2000 + +- Increment: 1 + +- Units: ms + +## NMEA_MSG_EN: Messages Enable bitmask + +This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval + +- Bitmask: 0:GPGGA,1:GPRMC,2:PASHR + +# NTF Parameters + +## NTF_LED_BRIGHT: LED Brightness + +*Note: This parameter is for advanced users* + +Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|Low| +|2|Medium| +|3|High| + +## NTF_BUZZ_TYPES: Buzzer Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + +- Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN + +## NTF_LED_OVERRIDE: Specifies colour source for the RGBLed + +*Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks. + +|Value|Meaning| +|:---:|:---:| +|0|Standard| +|1|MAVLink/Scripting/AP_Periph| +|2|OutbackChallenge| +|3|TrafficLight| + +## NTF_DISPLAY_TYPE: Type of on-board I2C display + +*Note: This parameter is for advanced users* + +This sets up the type of on-board I2C display. Disabled by default. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|ssd1306| +|2|sh1106| +|10|SITL| + +## NTF_OREO_THEME: OreoLED Theme + +*Note: This parameter is for advanced users* + +Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Aircraft| +|2|Rover| + +## NTF_BUZZ_PIN: Buzzer pin + +*Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| + +## NTF_LED_TYPES: LED Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + +- Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB + +## NTF_BUZZ_ON_LVL: Buzzer-on pin logic level + +*Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + +|Value|Meaning| +|:---:|:---:| +|0|LowIsOn| +|1|HighIsOn| + +## NTF_BUZZ_VOLUME: Buzzer volume + +Control the volume of the buzzer + +- Range: 0 100 + +- Units: % + +## NTF_LED_LEN: Serial LED String Length + +*Note: This parameter is for advanced users* + +The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED) + +- Range: 1 32 + +- RebootRequired: True + +# OSD Parameters + +## OSD_TYPE: OSD type + +OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +## OSD_CHAN: Screen switch transmitter channel + +This sets the channel used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## OSD_SW_METHOD: Screen switch method + +This sets the method used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|switch to next screen if channel value was changed| +|1|select screen based on pwm ranges specified for each screen| +|2|switch to next screen after low to high transition and every 1s while channel value is high| + +## OSD_OPTIONS: OSD Options + +This sets options that change the display + +- Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode + +## OSD_FONT: OSD Font + +This sets which OSD font to use. It is an integer from 0 to the number of fonts available + +- RebootRequired: True + +## OSD_V_OFFSET: OSD vertical offset + +Sets vertical offset of the osd inside image + +- Range: 0 31 + +- RebootRequired: True + +## OSD_H_OFFSET: OSD horizontal offset + +Sets horizontal offset of the osd inside image + +- Range: 0 63 + +- RebootRequired: True + +## OSD_W_RSSI: RSSI warn level (in %) + +Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults. + +- Range: -128 100 + +## OSD_W_NSAT: NSAT warn level + +Set level at which NSAT item will flash + +- Range: 1 30 + +## OSD_W_BATVOLT: BAT_VOLT warn level + +Set level at which BAT_VOLT item will flash + +- Range: 0 100 + +## OSD_UNITS: Display Units + +Sets the units to use in displaying items + +|Value|Meaning| +|:---:|:---:| +|0|Metric| +|1|Imperial| +|2|SI| +|3|Aviation| + +## OSD_MSG_TIME: Message display duration in seconds + +Sets message duration seconds + +- Range: 1 20 + +## OSD_ARM_SCR: Arm screen + +Screen to be shown on Arm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_DSARM_SCR: Disarm screen + +Screen to be shown on disarm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_FS_SCR: Failsafe screen + +Screen to be shown on failsafe event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_BTN_DELAY: Button delay + +*Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation. + +- Range: 0 3000 + +## OSD_W_TERR: Terrain warn level + +Set level below which TER_HGT item will flash. -1 disables. + +- Range: -1 3000 + +- Units: m + +## OSD_W_AVGCELLV: AVGCELLV warn level + +Set level at which AVGCELLV item will flash + +- Range: 0 100 + +## OSD_CELL_COUNT: Battery cell count + +*Note: This parameter is for advanced users* + +Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used. + +- Increment: 1 + +## OSD_W_RESTVOLT: RESTVOLT warn level + +Set level at which RESTVOLT item will flash + +- Range: 0 100 + +## OSD_W_ACRVOLT: Avg Cell Resting Volt warn level + +Set level at which ACRVOLT item will flash + +- Range: 0 100 + +## OSD_W_LQ: RC link quality warn level (in %) + +Set level at which RC_LQ item will flash (%) + +- Range: 0 100 + +## OSD_W_SNR: RC link SNR warn level (in %) + +Set level at which RC_SNR item will flash (in db) + +- Range: -20 10 + +## OSD_SB_H_OFS: Sidebar horizontal offset + +Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen. + +- Range: 0 20 + +## OSD_SB_V_EXT: Sidebar vertical extension + +Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting. + +- Range: 0 10 + +## OSD_TYPE2: OSD type 2 + +OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +# OSD1 Parameters + +## OSD1_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD1_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD1_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD1_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD1_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD1_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD2 Parameters + +## OSD2_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD2_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD2_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD2_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD2_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD2_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD3 Parameters + +## OSD3_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD3_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD3_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD3_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD3_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD3_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD4 Parameters + +## OSD4_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD4_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD4_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD4_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD4_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD4_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD5 Parameters + +## OSD5_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD5_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD5_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD5_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD5PARAM1 Parameters + +## OSD5_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM2 Parameters + +## OSD5_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM3 Parameters + +## OSD5_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM4 Parameters + +## OSD5_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM5 Parameters + +## OSD5_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM6 Parameters + +## OSD5_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM7 Parameters + +## OSD5_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM8 Parameters + +## OSD5_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM9 Parameters + +## OSD5_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6 Parameters + +## OSD6_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD6_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD6_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD6_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD6PARAM1 Parameters + +## OSD6_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM2 Parameters + +## OSD6_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM3 Parameters + +## OSD6_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM4 Parameters + +## OSD6_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM5 Parameters + +## OSD6_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM6 Parameters + +## OSD6_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM7 Parameters + +## OSD6_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM8 Parameters + +## OSD6_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM9 Parameters + +## OSD6_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# PLND Parameters + +## PLND_ENABLED: Precision Land enabled/disabled + +*Note: This parameter is for advanced users* + +Precision Land enabled/disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PLND_TYPE: Precision Land Type + +*Note: This parameter is for advanced users* + +Precision Land Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IRLock| +|3|SITL_Gazebo| +|4|SITL| + +## PLND_YAW_ALIGN: Sensor yaw alignment + +*Note: This parameter is for advanced users* + +Yaw angle from body x-axis to sensor x-axis. + +- Range: 0 36000 + +- Increment: 10 + +- Units: cdeg + +## PLND_LAND_OFS_X: Land offset forward + +*Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_LAND_OFS_Y: Land offset right + +*Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_EST_TYPE: Precision Land Estimator Type + +*Note: This parameter is for advanced users* + +Specifies the estimation method to be used + +|Value|Meaning| +|:---:|:---:| +|0|RawSensor| +|1|KalmanFilter| + +## PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise + +*Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less + +- Range: 0.5 5 + +## PLND_CAM_POS_X: Camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Y: Camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Z: Camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_BUS: Sensor Bus + +*Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors. + +|Value|Meaning| +|:---:|:---:| +|-1|DefaultBus| +|0|InternalI2C| +|1|ExternalI2C| + +## PLND_LAG: Precision Landing sensor lag + +*Note: This parameter is for advanced users* + +Precision Landing sensor lag, to cope with variable landing_target latency + +- Range: 0.02 0.250 + +- Increment: 1 + +- Units: s + +- RebootRequired: True + +## PLND_XY_DIST_MAX: Precision Landing maximum distance to target before descending + +*Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend. + +- Range: 0 10 + +- Units: m + +## PLND_STRICT: PrecLand strictness + +How strictly should the vehicle land on the target if target is lost + +|Value|Meaning| +|:---:|:---:| +|0|Land Vertically (Not strict)| +|1|Retry Landing(Normal Strictness)| +|2|Do not land (just Hover) (Very Strict)| + +## PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing + +PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry. + +- Range: 0 10 + +- Increment: 1 + +## PLND_TIMEOUT: PrecLand retry timeout + +Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter. + +- Range: 0 20 + +- Units: s + +## PLND_RET_BEHAVE: PrecLand retry behaviour + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + +|Value|Meaning| +|:---:|:---:| +|0|Go to the last location where landing target was detected| +|1|Go towards the approximate location of the detected landing target| + +## PLND_ALT_MIN: PrecLand minimum alt for retry + +Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 5 + +- Units: m + +## PLND_ALT_MAX: PrecLand maximum alt for retry + +Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 50 + +- Units: m + +## PLND_OPTIONS: Precision Landing Extra Options + +*Note: This parameter is for advanced users* + +Precision Landing Extra Options + +- Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent + +## PLND_ORIENT: Camera Orientation + +*Note: This parameter is for advanced users* + +Orientation of camera/sensor on body + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|4|Back| +|25|Down| + +- RebootRequired: True + +# PTCH Parameters + +## PTCH2SRV_TCONST: Pitch Time Constant + +*Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help. + +- Range: 0.4 1.0 + +- Units: s + +- Increment: 0.1 + +## PTCH2SRV_RMAX_UP: Pitch up max rate + +*Note: This parameter is for advanced users* + +This sets the maximum nose up pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit. + +- Range: 0 100 + +- Units: deg/s + +- Increment: 1 + +## PTCH2SRV_RMAX_DN: Pitch down max rate + +*Note: This parameter is for advanced users* + +This sets the maximum nose down pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit. + +- Range: 0 100 + +- Units: deg/s + +- Increment: 1 + +## PTCH2SRV_RLL: Roll compensation + +Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain. + +- Range: 0.7 1.5 + +- Increment: 0.05 + +## PTCH_RATE_P: Pitch axis rate controller P gain + +Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + +- Range: 0.08 0.35 + +- Increment: 0.005 + +## PTCH_RATE_I: Pitch axis rate controller I gain + +Pitch axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + +- Range: 0.01 0.6 + +- Increment: 0.01 + +## PTCH_RATE_IMAX: Pitch axis rate controller I gain maximum + +Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## PTCH_RATE_D: Pitch axis rate controller D gain + +Pitch axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + +- Range: 0.001 0.03 + +- Increment: 0.001 + +## PTCH_RATE_FF: Pitch axis rate controller feed forward + +Pitch axis rate controller feed forward + +- Range: 0 3.0 + +- Increment: 0.001 + +## PTCH_RATE_FLTT: Pitch axis rate controller target frequency in Hz + +Pitch axis rate controller target frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## PTCH_RATE_FLTE: Pitch axis rate controller error frequency in Hz + +Pitch axis rate controller error frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## PTCH_RATE_FLTD: Pitch axis rate controller derivative frequency in Hz + +Pitch axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## PTCH_RATE_SMAX: Pitch slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## PTCH_RATE_PDMX: Pitch axis rate controller PD sum maximum + +Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## PTCH_RATE_D_FF: Pitch Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## PTCH_RATE_NTF: Pitch Target notch filter index + +*Note: This parameter is for advanced users* + +Pitch Target notch filter index + +- Range: 1 8 + +## PTCH_RATE_NEF: Pitch Error notch filter index + +*Note: This parameter is for advanced users* + +Pitch Error notch filter index + +- Range: 1 8 + +# PUP Parameters + +## PUP_ENABLE: Enable pullup after altitude wait + +*Note: This parameter is for advanced users* + +Enable pullup after altitude wait + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PUP_ELEV_OFS: Elevator deflection used before starting pullup + +*Note: This parameter is for advanced users* + +Elevator deflection offset from -1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup. + +- Range: -1.0 1.0 + +## PUP_NG_LIM: Maximum normal load factor during pullup + +*Note: This parameter is for advanced users* + +This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup. + +- Range: 1.0 4.0 + +## PUP_NG_JERK_LIM: Maximum normal load factor rate of change during pullup + +*Note: This parameter is for advanced users* + +The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP_NG_LIM at the rate of change set by this parameter. The parameter value specified will be scaled internally by 1/EAS2TAS. + +- Units: 1/s + +- Range: 0.1 10.0 + +## PUP_PITCH: Target pitch angle during pullup + +*Note: This parameter is for advanced users* + +The vehicle will attempt achieve this pitch angle during the pull-up maneouvre. + +- Units: deg + +- Range: -5 15 + +## PUP_ARSPD_START: Pullup target airspeed + +*Note: This parameter is for advanced users* + +Target airspeed for initial airspeed wait + +- Units: m/s + +- Range: 0 100 + +## PUP_PITCH_START: Pullup target pitch + +*Note: This parameter is for advanced users* + +Target pitch for initial pullup + +- Units: deg + +- Range: -80 0 + +# Q Parameters + +## Q_ENABLE: Enable QuadPlane + +This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| +|2|Enable VTOL AUTO| + +- RebootRequired: True + +## Q_ANGLE_MAX: Angle Max + +*Note: This parameter is for advanced users* + +Maximum lean angle in all VTOL flight modes + +- Units: cdeg + +- Increment: 10 + +- Range: 1000 8000 + +## Q_TRANSITION_MS: Transition time + +*Note: This parameter is for advanced users* + +Transition time in milliseconds after minimum airspeed is reached + +- Units: ms + +- Range: 500 30000 + +## Q_PILOT_SPD_UP: Pilot maximum vertical speed up + +The maximum ascending vertical velocity the pilot may request in m/s + +- Units: m/s + +- Range: 0.5 5 + +- Increment: 0.1 + +## Q_PILOT_SPD_DN: Pilot maximum vertical speed down + +The maximum vertical velocity the pilot may request in m/s going down. If 0, uses Q_PILOT_SPD_UP value. + +- Units: m/s + +- Range: 0.5 5 + +- Increment: 0.1 + +## Q_PILOT_ACCEL_Z: Pilot vertical acceleration + +The vertical acceleration used when pilot is controlling the altitude + +- Units: m/s/s + +- Range: 0.5 5 + +- Increment: 0.1 + +## Q_RC_SPEED: RC output speed in Hz + +This is the PWM refresh rate in Hz for QuadPlane quad motors + +- Units: Hz + +- Range: 50 500 + +- Increment: 10 + +## Q_ASSIST_SPEED: Quadplane assistance speed + +This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. The default value of 0 disables assistance but will generate a pre-arm failure to encourage users to set this parameter to -1, or a positive, non-zero value. If this is set to -1 then all Q_ASSIST features are disabled except during transitions. A high non-zero,positive value will lead to more false positives which can waste battery. A lower value will result in less false positive, but will result in assistance taking longer to trigger. If unsure then set to 3 m/s below the minimum airspeed you will fly at. If you don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly at. + +- Units: m/s + +- Range: 0 100 + +- Increment: 0.1 + +## Q_YAW_RATE_MAX: Maximum yaw rate + +This is the maximum yaw rate for pilot input on rudder stick in degrees/second + +- Units: deg/s + +- Range: 50 500 + +- Increment: 1 + +## Q_LAND_FINAL_SPD: Land final speed + +The descent speed for the final stage of landing in m/s + +- Units: m/s + +- Range: 0.3 2 + +- Increment: 0.1 + +## Q_LAND_FINAL_ALT: Land final altitude + +The altitude at which we should switch to Q_LAND_SPEED descent rate + +- Units: m + +- Range: 0.5 50 + +- Increment: 0.1 + +## Q_TRAN_PIT_MAX: Transition max pitch + +Maximum pitch during transition to auto fixed wing flight + +- Range: 0 30 + +- Units: deg + +- Increment: 1 + +## Q_FRAME_CLASS: Frame Class + +Controls major frame class for multicopter component + +|Value|Meaning| +|:---:|:---:| +|0|Undefined| +|1|Quad| +|2|Hexa| +|3|Octa| +|4|OctaQuad| +|5|Y6| +|7|Tri| +|10|Single/Dual| +|12|DodecaHexa| +|14|Deca| +|15|Scripting Matrix| +|17|Dynamic Scripting Matrix| + +## Q_FRAME_TYPE: Frame Type (+, X or V) + +Controls motor mixing for multicopter component + +|Value|Meaning| +|:---:|:---:| +|0|Plus| +|1|X| +|2|V| +|3|H| +|4|V-Tail| +|5|A-Tail| +|10|Y6B| +|11|Y6F| +|12|BetaFlightX| +|13|DJIX| +|14|ClockwiseX| +|15|I| +|16|MOTOR_FRAME_TYPE_NYT_PLUS| +|17|MOTOR_FRAME_TYPE_NYT_X| +|18|BetaFlightXReversed| +|19|Y4| + +## Q_VFWD_GAIN: Forward velocity hold gain + +The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q_FWD_THR_USE parameter. This Q_VFD_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller. Set to 0 to disable this function. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use with QLOITER for position hold with the forward motor. + +- Range: 0 0.5 + +- Increment: 0.01 + +## Q_RTL_ALT: QRTL return altitude + +The altitude which QRTL mode heads to initially + +- Units: m + +- Range: 1 200 + +- Increment: 1 + +## Q_RTL_MODE: VTOL RTL mode + +If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RTL_ALT and then transition into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|VTOL approach| +|3|QRTL Always| + +## Q_GUIDED_MODE: Enable VTOL in GUIDED mode + +This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## Q_ESC_CAL: ESC Calibration + +This is used to calibrate the throttle range of the VTOL motors. Please read https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ThrottleInput| +|2|FullInput| + +## Q_VFWD_ALT: Forward velocity alt cutoff + +Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available. + +- Units: m + +- Range: 0 10 + +- Increment: 0.25 + +## Q_LAND_ICE_CUT: Cut IC engine on landing + +This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## Q_ASSIST_ANGLE: Quadplane assistance angle + +This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also positive and non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to zero to disable angle assistance. + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## Q_MAV_TYPE: MAVLink type identifier + +This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation. + +|Value|Meaning| +|:---:|:---:| +|0|AUTO| +|1|FIXED_WING| +|2|QUADROTOR| +|3|COAXIAL| +|4|HELICOPTER| +|7|AIRSHIP| +|8|FREE_BALLOON| +|9|ROCKET| +|10|GROUND_ROVER| +|11|SURFACE_BOAT| +|12|SUBMARINE| +|16|FLAPPING_WING| +|17|KITE| +|19|VTOL_DUOROTOR| +|20|VTOL_QUADROTOR| +|21|VTOL_TILTROTOR| + +## Q_OPTIONS: quadplane options + +See description for each bitmask bit description + +- Bitmask: 0: Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, 1: Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, 2: Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, 3: Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location, 4: Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings, 5: USE QRTL-instead of QLAND for rc failsafe when in VTOL modes, 6: Use Governor-use ICE Idle Governor in MANUAL for forward motor, 7: Force Qassist-on always, 8: Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST, 10: Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed, 11: Delay Spoolup-delay VTOL spoolup for 2 seconds after arming, 12: Disable speed based Qassist when using synthethic airspeed estimates, 13: Disable Ground Effect Compensation-on baro altitude reports, 14: Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively, 15: ThrLandControl-enable throttle stick control of landing rate, 16: DisableApproach-disable use of approach and airbrake stages in VTOL landing, 17: EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning, 18: ARMVTOL-arm only in VTOL or AUTO modes, 19: CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND, 20: Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL), 21: Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes., 22: Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed. + +## Q_TRANS_DECEL: Transition deceleration + +This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight. + +- Units: m/s/s + +- Increment: 0.1 + +- Range: 0.2 5 + +## Q_TRIM_PITCH: Quadplane AHRS trim pitch + +*Note: This parameter is for advanced users* + +This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS. + +- Units: deg + +- Range: -10 +10 + +- Increment: 0.1 + +- RebootRequired: True + +## Q_FW_LND_APR_RAD: Quadplane fixed wing landing approach radius + +*Note: This parameter is for advanced users* + +This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected. + +- Units: m + +- Range: 0 200 + +- Increment: 5 + +## Q_TRANS_FAIL: Quadplane transition failure time + +*Note: This parameter is for advanced users* + +Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit. + +- Units: s + +- Range: 0 20 + +- Increment: 1 + +## Q_THROTTLE_EXPO: Throttle expo strength + +*Note: This parameter is for advanced users* + +Amount of curvature in throttle curve: 0 is linear, 1 is cubic + +- Range: 0 1 + +- Increment: .1 + +## Q_ACRO_RLL_RATE: QACRO mode roll rate + +The maximum roll rate at full stick deflection in QACRO mode + +- Units: deg/s + +- Range: 10 500 + +- Increment: 1 + +## Q_ACRO_PIT_RATE: QACRO mode pitch rate + +The maximum pitch rate at full stick deflection in QACRO mode + +- Units: deg/s + +- Range: 10 500 + +- Increment: 1 + +## Q_ACRO_YAW_RATE: QACRO mode yaw rate + +The maximum yaw rate at full stick deflection in QACRO mode + +- Units: deg/s + +- Range: 10 500 + +- Increment: 1 + +## Q_TKOFF_FAIL_SCL: Takeoff time failure scalar + +*Note: This parameter is for advanced users* + +Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND. If set to 0 there is no limit on takeoff time. + +- Range: 1.1 5.0 + +- Increment: 5.1 + +## Q_TKOFF_ARSP_LIM: Takeoff airspeed limit + +*Note: This parameter is for advanced users* + +Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle will switch to QLAND. This is useful for ensuring that you don't takeoff into excessively strong wind. If set to 0 there is no limit on airspeed during takeoff. + +- Units: m/s + +- Range: 0 20 + +- Increment: 1 + +## Q_ASSIST_ALT: Quadplane assistance altitude + +This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise. + +- Units: m + +- Range: 0 120 + +- Increment: 1 + +## Q_ASSIST_DELAY: Quadplane assistance delay + +This is delay between the assistance thresholds being met and the assistance starting. + +- Units: s + +- Range: 0 2 + +- Increment: 0.1 + +## Q_FWD_MANTHR_MAX: VTOL manual forward throttle max percent + +Maximum value for manual forward throttle; used with RC option FWD_THR (209) + +- Range: 0 100 + +## Q_BACKTRANS_MS: SLT and Tiltrotor back transition pitch limit duration + +Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a postion control mode. 0 Disables. + +- Units: ms + +- Range: 0 10000 + +## Q_TRANS_FAIL_ACT: Quadplane transition failure action + +This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set. See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL + +|Value|Meaning| +|:---:|:---:| +|-1|Warn only| +|0|QLand| +|1|QRTL| + +## Q_LAND_ALTCHG: Land detection altitude change threshold + +The maximum altitude change allowed during land detection. You can raise this value if you find that landing detection takes a long time to complete. It is the maximum change in altitude over a period of 4 seconds for landing to be detected + +- Units: m + +- Range: 0.1 0.6 + +- Increment: 0.05 + +## Q_NAVALT_MIN: Minimum navigation altitude + +*Note: This parameter is for advanced users* + +This is the altitude in meters above which navigation begins in auto takeoff. Below this altitude the target roll and pitch will be zero. A value of zero disables the feature + +- Range: 0 5 + +## Q_PLT_Y_RATE: Pilot controlled yaw rate + +Pilot controlled yaw rate max. Used in all pilot controlled modes except QAcro + +- Units: deg/s + +- Range: 1 360 + +## Q_PLT_Y_EXPO: Pilot controlled yaw expo + +*Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +- Range: -0.5 1.0 + +## Q_PLT_Y_RATE_TC: Pilot yaw rate control input time constant + +Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response. + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## Q_RTL_ALT_MIN: QRTL minimum altitude + +If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home. If outside 150% the larger of WP_LOITER_RAD and RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT and Q_RTL_ALT + +- Units: m + +- Range: 1 200 + +- Increment: 1 + +## Q_FWD_THR_GAIN: Q mode fwd throttle gain + +This parameter sets the gain from forward accel/tilt to forward throttle in certain Q modes. The Q modes this feature operates in is controlled by the Q_FWD_THR_USE parameter. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors) with a value of 2 being typical. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter. + +- Range: 0.0 5.0 + +- Increment: 0.1 + +## Q_FWD_PIT_LIM: Q mode forward pitch limit + +When forward throttle is being controlled by the Q_FWD_THR_GAIN parameter in Q modes, the vehicle forward (nose down) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor(s) or tilting of moveable rotors. Larger values allow the vehicle to pitch more nose down. Set initially to the amount of nose down pitch required to remove wing lift. + +- Units: deg + +- Range: 0.0 5.0 + +- Increment: 0.1 + +## Q_FWD_THR_USE: Q mode forward throttle use + +This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On in all position controlled Q modes| +|2|On in all Q modes except QAUTOTUNE and QACRO| + +## Q_BCK_PIT_LIM: Q mode rearward pitch limit + +This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit. + +- Units: deg + +- Range: 0.0 15.0 + +- Increment: 0.1 + +## Q_APPROACH_DIST: Q mode approach distance + +The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach. + +- Units: m + +- Range: 0.0 1000 + +- Increment: 1 + +# QAUTOTUNE Parameters + +## Q_AUTOTUNE_AXES: Autotune axis bitmask + +1-byte bitmap of axes to autotune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw,3:YawD + +## Q_AUTOTUNE_AGGR: Autotune aggressiveness + +Autotune aggressiveness. Defines the bounce back used to detect size of the D term. + +- Range: 0.05 0.10 + +## Q_AUTOTUNE_MIN_D: AutoTune minimum D + +Defines the minimum D gain + +- Range: 0.0001 0.005 + +# QA Parameters + +## Q_A_SLEW_YAW: Yaw target slew rate + +*Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + +- Units: cdeg/s + +- Range: 500 18000 + +- Increment: 100 + +## Q_A_ACCEL_Y_MAX: Acceleration Max for Yaw + +*Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + +- Units: cdeg/s/s + +- Range: 0 72000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|9000|VerySlow| +|18000|Slow| +|36000|Medium| +|54000|Fast| + +- Increment: 1000 + +## Q_A_RATE_FF_ENAB: Rate Feedforward Enable + +*Note: This parameter is for advanced users* + +Controls whether body-frame rate feedforward is enabled or disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## Q_A_ACCEL_R_MAX: Acceleration Max for Roll + +*Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + +- Units: cdeg/s/s + +- Range: 0 180000 + +- Increment: 1000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|30000|VerySlow| +|72000|Slow| +|108000|Medium| +|162000|Fast| + +## Q_A_ACCEL_P_MAX: Acceleration Max for Pitch + +*Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + +- Units: cdeg/s/s + +- Range: 0 180000 + +- Increment: 1000 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|30000|VerySlow| +|72000|Slow| +|108000|Medium| +|162000|Fast| + +## Q_A_ANGLE_BOOST: Angle Boost + +*Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## Q_A_ANG_RLL_P: Roll axis angle controller P gain + +Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate + +- Range: 3.000 12.000 + +## Q_A_ANG_PIT_P: Pitch axis angle controller P gain + +Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + +- Range: 3.000 12.000 + +## Q_A_ANG_YAW_P: Yaw axis angle controller P gain + +Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + +- Range: 3.000 12.000 + +## Q_A_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant + +*Note: This parameter is for advanced users* + +Angle Limit (to maintain altitude) Time Constant + +- Range: 0.5 10.0 + +## Q_A_RATE_R_MAX: Angular Velocity Max for Roll + +*Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## Q_A_RATE_P_MAX: Angular Velocity Max for Pitch + +*Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## Q_A_RATE_Y_MAX: Angular Velocity Max for Yaw + +*Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + +- Units: deg/s + +- Range: 0 1080 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|60|Slow| +|180|Medium| +|360|Fast| + +## Q_A_INPUT_TC: Attitude control input time constant + +Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response + +- Units: s + +- Range: 0 1 + +- Increment: 0.01 + +|Value|Meaning| +|:---:|:---:| +|0.5|Very Soft| +|0.2|Soft| +|0.15|Medium| +|0.1|Crisp| +|0.05|Very Crisp| + +## Q_A_LAND_R_MULT: Landed roll gain multiplier + +*Note: This parameter is for advanced users* + +Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis. + +- Range: 0.25 1.0 + +## Q_A_LAND_P_MULT: Landed pitch gain multiplier + +*Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis. + +- Range: 0.25 1.0 + +## Q_A_LAND_Y_MULT: Landed yaw gain multiplier + +*Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis. + +- Range: 0.25 1.0 + +## Q_A_RAT_RLL_P: Roll axis rate controller P gain + +Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + +- Range: 0.01 0.5 + +- Increment: 0.005 + +## Q_A_RAT_RLL_I: Roll axis rate controller I gain + +Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + +- Range: 0.01 2.0 + +- Increment: 0.01 + +## Q_A_RAT_RLL_IMAX: Roll axis rate controller I gain maximum + +Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_RLL_D: Roll axis rate controller D gain + +Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + +- Range: 0.0 0.05 + +- Increment: 0.001 + +## Q_A_RAT_RLL_FF: Roll axis rate controller feed forward + +Roll axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## Q_A_RAT_RLL_FLTT: Roll axis rate controller target frequency in Hz + +Roll axis rate controller target frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_RLL_FLTE: Roll axis rate controller error frequency in Hz + +Roll axis rate controller error frequency in Hz + +- Range: 0 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_RLL_FLTD: Roll axis rate controller derivative frequency in Hz + +Roll axis rate controller derivative frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_RLL_SMAX: Roll slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## Q_A_RAT_RLL_PDMX: Roll axis rate controller PD sum maximum + +Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_RLL_D_FF: Roll Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## Q_A_RAT_RLL_NTF: Roll Target notch filter index + +*Note: This parameter is for advanced users* + +Roll Target notch filter index + +- Range: 1 8 + +## Q_A_RAT_RLL_NEF: Roll Error notch filter index + +*Note: This parameter is for advanced users* + +Roll Error notch filter index + +- Range: 1 8 + +## Q_A_RAT_PIT_P: Pitch axis rate controller P gain + +Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + +- Range: 0.01 0.50 + +- Increment: 0.005 + +## Q_A_RAT_PIT_I: Pitch axis rate controller I gain + +Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate + +- Range: 0.01 2.0 + +- Increment: 0.01 + +## Q_A_RAT_PIT_IMAX: Pitch axis rate controller I gain maximum + +Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_PIT_D: Pitch axis rate controller D gain + +Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate + +- Range: 0.0 0.05 + +- Increment: 0.001 + +## Q_A_RAT_PIT_FF: Pitch axis rate controller feed forward + +Pitch axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## Q_A_RAT_PIT_FLTT: Pitch axis rate controller target frequency in Hz + +Pitch axis rate controller target frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_PIT_FLTE: Pitch axis rate controller error frequency in Hz + +Pitch axis rate controller error frequency in Hz + +- Range: 0 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_PIT_FLTD: Pitch axis rate controller derivative frequency in Hz + +Pitch axis rate controller derivative frequency in Hz + +- Range: 5 100 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_PIT_SMAX: Pitch slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## Q_A_RAT_PIT_PDMX: Pitch axis rate controller PD sum maximum + +Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_PIT_D_FF: Pitch Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## Q_A_RAT_PIT_NTF: Pitch Target notch filter index + +*Note: This parameter is for advanced users* + +Pitch Target notch filter index + +- Range: 1 8 + +## Q_A_RAT_PIT_NEF: Pitch Error notch filter index + +*Note: This parameter is for advanced users* + +Pitch Error notch filter index + +- Range: 1 8 + +## Q_A_RAT_YAW_P: Yaw axis rate controller P gain + +Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + +- Range: 0.10 2.50 + +- Increment: 0.005 + +## Q_A_RAT_YAW_I: Yaw axis rate controller I gain + +Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate + +- Range: 0.010 1.0 + +- Increment: 0.01 + +## Q_A_RAT_YAW_IMAX: Yaw axis rate controller I gain maximum + +Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_YAW_D: Yaw axis rate controller D gain + +Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate + +- Range: 0.000 0.02 + +- Increment: 0.001 + +## Q_A_RAT_YAW_FF: Yaw axis rate controller feed forward + +Yaw axis rate controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## Q_A_RAT_YAW_FLTT: Yaw axis rate controller target frequency in Hz + +Yaw axis rate controller target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_YAW_FLTE: Yaw axis rate controller error frequency in Hz + +Yaw axis rate controller error frequency in Hz + +- Range: 0 20 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_YAW_FLTD: Yaw axis rate controller derivative frequency in Hz + +Yaw axis rate controller derivative frequency in Hz + +- Range: 5 50 + +- Increment: 1 + +- Units: Hz + +## Q_A_RAT_YAW_SMAX: Yaw slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## Q_A_RAT_YAW_PDMX: Yaw axis rate controller PD sum maximum + +Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## Q_A_RAT_YAW_D_FF: Yaw Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## Q_A_RAT_YAW_NTF: Yaw Target notch filter index + +*Note: This parameter is for advanced users* + +Yaw Target notch filter index + +- Range: 1 8 + +- Units: Hz + +## Q_A_RAT_YAW_NEF: Yaw Error notch filter index + +*Note: This parameter is for advanced users* + +Yaw Error notch filter index + +- Range: 1 8 + +## Q_A_THR_MIX_MIN: Throttle Mix Minimum + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle) + +- Range: 0.1 0.25 + +## Q_A_THR_MIX_MAX: Throttle Mix Maximum + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle) + +- Range: 0.5 0.9 + +## Q_A_THR_MIX_MAN: Throttle Mix Manual + +*Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle) + +- Range: 0.1 0.9 + +## Q_A_THR_G_BOOST: Throttle-gain boost + +*Note: This parameter is for advanced users* + +Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll. + +- Range: 0 1 + +# QLOIT Parameters + +## Q_LOIT_ANG_MAX: Loiter pilot angle max + +*Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle. Set to zero for 2/3 of Q_P_ANGLE_MAX/Q_ANGLE_MAX. The maximum vehicle lean angle is still limited by Q_P_ANGLE_MAX/Q_ANGLE_MAX + +- Units: deg + +- Range: 0 45 + +- Increment: 1 + +## Q_LOIT_SPEED: Loiter Horizontal Maximum Speed + +Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode + +- Units: cm/s + +- Range: 20 3500 + +- Increment: 50 + +## Q_LOIT_ACC_MAX: Loiter maximum correction acceleration + +*Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively. + +- Units: cm/s/s + +- Range: 100 981 + +- Increment: 1 + +## Q_LOIT_BRK_ACCEL: Loiter braking acceleration + +*Note: This parameter is for advanced users* + +Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered. + +- Units: cm/s/s + +- Range: 25 250 + +- Increment: 1 + +## Q_LOIT_BRK_JERK: Loiter braking jerk + +*Note: This parameter is for advanced users* + +Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver. + +- Units: cm/s/s/s + +- Range: 500 5000 + +- Increment: 1 + +## Q_LOIT_BRK_DELAY: Loiter brake start delay (in seconds) + +*Note: This parameter is for advanced users* + +Loiter brake start delay (in seconds) + +- Units: s + +- Range: 0 2 + +- Increment: 0.1 + +# QM Parameters + +## Q_M_YAW_HEADROOM: Matrix Yaw Min + +*Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + +- Range: 0 500 + +- Units: PWM + +## Q_M_THST_EXPO: Thrust Curve Expo + +*Note: This parameter is for advanced users* + +Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve) + +- Range: -1.0 1.0 + +## Q_M_SPIN_MAX: Motor Spin maximum + +*Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + +|Value|Meaning| +|:---:|:---:| +|0.9|Low| +|0.95|Default| +|1.0|High| + +## Q_M_BAT_VOLT_MAX: Battery voltage compensation maximum voltage + +*Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled + +- Range: 6 53 + +- Units: V + +## Q_M_BAT_VOLT_MIN: Battery voltage compensation minimum voltage + +*Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled + +- Range: 6 42 + +- Units: V + +## Q_M_BAT_CURR_MAX: Motor Current Max + +*Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited (0 = Disabled) + +- Range: 0 200 + +- Units: A + +## Q_M_PWM_TYPE: Output PWM type + +*Note: This parameter is for advanced users* + +This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|OneShot| +|2|OneShot125| +|3|Brushed| +|4|DShot150| +|5|DShot300| +|6|DShot600| +|7|DShot1200| +|8|PWMRange| +|9|PWMAngle| + +- RebootRequired: True + +## Q_M_PWM_MIN: PWM output minimum + +*Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + +- Units: PWM + +- Range: 0 2000 + +## Q_M_PWM_MAX: PWM output maximum + +*Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + +- Units: PWM + +- Range: 0 2000 + +## Q_M_SPIN_MIN: Motor Spin minimum + +*Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM. + +|Value|Meaning| +|:---:|:---:| +|0.0|Low| +|0.15|Default| +|0.25|High| + +## Q_M_SPIN_ARM: Motor Spin armed + +*Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN. + +|Value|Meaning| +|:---:|:---:| +|0.0|Low| +|0.1|Default| +|0.2|High| + +## Q_M_BAT_CURR_TC: Motor Current Max Time Constant + +*Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + +- Range: 0 10 + +- Units: s + +## Q_M_THST_HOVER: Thrust Hover Value + +*Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + +- Range: 0.2 0.8 + +## Q_M_HOVER_LEARN: Hover Value Learning + +*Note: This parameter is for advanced users* + +Enable/Disable automatic learning of hover throttle + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Learn| +|2|Learn and Save| + +## Q_M_SAFE_DISARM: Motor PWM output disabled when disarmed + +*Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + +|Value|Meaning| +|:---:|:---:| +|0|PWM enabled while disarmed| +|1|PWM disabled while disarmed| + +## Q_M_YAW_SV_ANGLE: Yaw Servo Max Lean Angle + +Yaw servo's maximum lean angle (Tricopter only) + +- Range: 5 80 + +- Units: deg + +- Increment: 1 + +## Q_M_SPOOL_TIME: Spool up time + +*Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle. + +- Range: 0.05 2 + +- Units: s + +- Increment: 0.1 + +## Q_M_BOOST_SCALE: Motor boost scale + +*Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle. + +- Range: 0 5 + +- Increment: 0.1 + +## Q_M_BAT_IDX: Battery compensation index + +*Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + +|Value|Meaning| +|:---:|:---:| +|0|First battery| +|1|Second battery| + +## Q_M_SLEW_UP_TIME: Output slew time for increasing throttle + +*Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5. + +- Range: 0 .5 + +- Units: s + +- Increment: 0.001 + +## Q_M_SLEW_DN_TIME: Output slew time for decreasing throttle + +*Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5. + +- Range: 0 .5 + +- Units: s + +- Increment: 0.001 + +## Q_M_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed. + +*Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed. + +- Range: 0 5 + +- Units: s + +- Increment: 0.001 + +## Q_M_OPTIONS: Motor options + +*Note: This parameter is for advanced users* + +Motor options + +- Bitmask: 0:Voltage compensation uses raw voltage + +## Q_M_SPOOL_TIM_DN: Spool down time + +*Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead. + +- Range: 0 2 + +- Units: s + +- Increment: 0.001 + +# QP Parameters + +## Q_P_ACC_XY_FILT: XY Acceleration filter cutoff frequency + +*Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + +- Units: Hz + +- Range: 0.5 5 + +- Increment: 0.1 + +## Q_P_POSZ_P: Position (vertical) controller P gain + +Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + +- Range: 1.000 3.000 + +## Q_P_VELZ_P: Velocity (vertical) controller P gain + +Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + +- Range: 1.000 8.000 + +## Q_P_VELZ_I: Velocity (vertical) controller I gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration + +- Range: 0.02 1.00 + +- Increment: 0.01 + +## Q_P_VELZ_IMAX: Velocity (vertical) controller I gain maximum + +Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output + +- Range: 1.000 8.000 + +## Q_P_VELZ_D: Velocity (vertical) controller D gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller D gain. Corrects short-term changes in velocity + +- Range: 0.00 1.00 + +- Increment: 0.001 + +## Q_P_VELZ_FF: Velocity (vertical) controller Feed Forward gain + +*Note: This parameter is for advanced users* + +Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target + +- Range: 0 1 + +- Increment: 0.01 + +## Q_P_VELZ_FLTE: Velocity (vertical) error filter + +*Note: This parameter is for advanced users* + +Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms + +- Range: 0 100 + +- Units: Hz + +## Q_P_VELZ_FLTD: Velocity (vertical) input filter for D term + +*Note: This parameter is for advanced users* + +Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms + +- Range: 0 100 + +- Units: Hz + +## Q_P_ACCZ_P: Acceleration (vertical) controller P gain + +Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + +- Range: 0.200 1.500 + +- Increment: 0.05 + +## Q_P_ACCZ_I: Acceleration (vertical) controller I gain + +Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration + +- Range: 0.000 3.000 + +## Q_P_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum + +Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate + +- Range: 0 1000 + +- Units: d% + +## Q_P_ACCZ_D: Acceleration (vertical) controller D gain + +Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration + +- Range: 0.000 0.400 + +## Q_P_ACCZ_FF: Acceleration (vertical) controller feed forward + +Acceleration (vertical) controller feed forward + +- Range: 0 0.5 + +- Increment: 0.001 + +## Q_P_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz + +Acceleration (vertical) controller target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## Q_P_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz + +Acceleration (vertical) controller error frequency in Hz + +- Range: 1 100 + +- Increment: 1 + +- Units: Hz + +## Q_P_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz + +Acceleration (vertical) controller derivative frequency in Hz + +- Range: 1 100 + +- Increment: 1 + +- Units: Hz + +## Q_P_ACCZ_SMAX: Accel (vertical) slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## Q_P_ACCZ_PDMX: Acceleration (vertical) controller PD sum maximum + +Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1000 + +- Units: d% + +## Q_P_ACCZ_D_FF: Accel (vertical) Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.02 + +- Increment: 0.0001 + +## Q_P_ACCZ_NTF: Accel (vertical) Target notch filter index + +*Note: This parameter is for advanced users* + +Accel (vertical) Target notch filter index + +- Range: 1 8 + +## Q_P_ACCZ_NEF: Accel (vertical) Error notch filter index + +*Note: This parameter is for advanced users* + +Accel (vertical) Error notch filter index + +- Range: 1 8 + +## Q_P_POSXY_P: Position (horizontal) controller P gain + +Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller + +- Range: 0.500 2.000 + +## Q_P_VELXY_P: Velocity (horizontal) P gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration + +- Range: 0.1 6.0 + +- Increment: 0.1 + +## Q_P_VELXY_I: Velocity (horizontal) I gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration + +- Range: 0.02 1.00 + +- Increment: 0.01 + +## Q_P_VELXY_D: Velocity (horizontal) D gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) D gain. Corrects short-term changes in velocity + +- Range: 0.00 1.00 + +- Increment: 0.001 + +## Q_P_VELXY_IMAX: Velocity (horizontal) integrator maximum + +*Note: This parameter is for advanced users* + +Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output + +- Range: 0 4500 + +- Increment: 10 + +- Units: cm/s/s + +## Q_P_VELXY_FLTE: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms + +- Range: 0 100 + +- Units: Hz + +## Q_P_VELXY_FLTD: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term + +- Range: 0 100 + +- Units: Hz + +## Q_P_VELXY_FF: Velocity (horizontal) feed forward gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration + +- Range: 0 6 + +- Increment: 0.01 + +## Q_P_ANGLE_MAX: Position Control Angle Max + +*Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value + +- Units: deg + +- Range: 0 45 + +- Increment: 1 + +## Q_P_JERK_XY: Jerk limit for the horizontal kinematic input shaping + +*Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + +- Units: m/s/s/s + +- Range: 1 20 + +- Increment: 1 + +## Q_P_JERK_Z: Jerk limit for the vertical kinematic input shaping + +*Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + +- Units: m/s/s/s + +- Range: 5 50 + +- Increment: 1 + +# QTAILSIT Parameters + +## Q_TAILSIT_ENABLE: Enable Tailsitter + +This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS "Mtrs_Only_Qassist" + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| +|2|Enable Always| + +- RebootRequired: True + +## Q_TAILSIT_ANGLE: Tailsitter fixed wing transition angle + +This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control. + +- Units: deg + +- Range: 5 80 + +## Q_TAILSIT_ANG_VT: Tailsitter VTOL transition angle + +This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control, if zero Q_TAILSIT_ANGLE will be used + +- Units: deg + +- Range: 5 80 + +## Q_TAILSIT_INPUT: Tailsitter input type bitmask + +This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level. + +- Bitmask: 0:PlaneMode,1:BodyFrameRoll + +## Q_TAILSIT_VFGAIN: Tailsitter vector thrust gain in forward flight + +This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter + +- Range: 0 1 + +- Increment: 0.01 + +## Q_TAILSIT_VHGAIN: Tailsitter vector thrust gain in hover + +This controls the amount of vectored thrust control used in hover for a vectored tailsitter + +- Range: 0 1 + +- Increment: 0.01 + +## Q_TAILSIT_VHPOW: Tailsitter vector thrust gain power + +This controls the amount of extra pitch given to the vectored control when at high pitch errors + +- Range: 0 4 + +- Increment: 0.1 + +## Q_TAILSIT_GSCMAX: Maximum tailsitter gain scaling + +Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options + +- Range: 1 5 + +## Q_TAILSIT_RLL_MX: Maximum Roll angle + +Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used. + +- Units: deg + +- Range: 0 80 + +## Q_TAILSIT_MOTMX: Tailsitter motor mask + +Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters. + +- Bitmask: 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12 + +## Q_TAILSIT_GSCMSK: Tailsitter gain scaling mask + +Bitmask of gain scaling methods to be applied: Throttle: scale gains with throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set, 3:Altitude correction, scale with air density + +- Bitmask: 0:Throttle,1:ATT_THR,2:Disk Theory,3:Altitude correction + +## Q_TAILSIT_GSCMIN: Minimum tailsitter gain scaling + +Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options + +- Range: 0.1 1 + +## Q_TAILSIT_DSKLD: Tailsitter disk loading + +This is the vehicle weight in kg divided by the total disk area of all propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4 + +- Units: kg/m/m + +- Range: 0 50 + +## Q_TAILSIT_RAT_FW: Tailsitter VTOL to forward flight transition rate + +The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight + +- Units: deg/s + +- Range: 10 500 + +## Q_TAILSIT_RAT_VT: Tailsitter forward flight to VTOL transition rate + +The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL + +- Units: deg/s + +- Range: 10 500 + +## Q_TAILSIT_THR_VT: Tailsitter forward flight to VTOL transition throttle + +Throttle used during FW->VTOL transition, -1 uses hover throttle + +- Units: % + +- Range: -1 100 + +## Q_TAILSIT_VT_R_P: Tailsitter VTOL control surface roll gain + +Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains + +- Range: 0 2 + +## Q_TAILSIT_VT_P_P: Tailsitter VTOL control surface pitch gain + +Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains + +- Range: 0 2 + +## Q_TAILSIT_VT_Y_P: Tailsitter VTOL control surface yaw gain + +Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains + +- Range: 0 2 + +## Q_TAILSIT_MIN_VO: Tailsitter Disk loading minimum outflow speed + +Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify minumum airspeed over control surfaces, this will be used to boost throttle, when descending for example, 0 disables + +- Range: 0 15 + +# QTILT Parameters + +## Q_TILT_ENABLE: Enable Tiltrotor functionality + +This enables Tiltrotor functionality + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## Q_TILT_MASK: Tiltrotor mask + +This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type. + +- Bitmask: 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12 + +## Q_TILT_RATE_UP: Tiltrotor upwards tilt rate + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover + +- Units: deg/s + +- Increment: 1 + +- Range: 10 300 + +## Q_TILT_MAX: Tiltrotor maximum VTOL angle + +This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE + +- Units: deg + +- Increment: 1 + +- Range: 20 80 + +## Q_TILT_TYPE: Tiltrotor type + +This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the tailsitter frame class (10) + +|Value|Meaning| +|:---:|:---:| +|0|Continuous| +|1|Binary| +|2|VectoredYaw| +|3|Bicopter| + +## Q_TILT_RATE_DN: Tiltrotor downwards tilt rate + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used. + +- Units: deg/s + +- Increment: 1 + +- Range: 10 300 + +## Q_TILT_YAW_ANGLE: Tilt minimum angle for vectored yaw + +This is the angle of the tilt servos when in VTOL mode and at minimum output (fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable vectored control for yaw in tilt quadplanes. This is also used to limit the forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes. + +- Range: 0 30 + +## Q_TILT_FIX_ANGLE: Fixed wing tiltrotor angle + +This is the angle the motors tilt down when at maximum output for forward flight. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on tilt-vectored aircraft + +- Units: deg + +- Range: 0 30 + +## Q_TILT_FIX_GAIN: Fixed wing tiltrotor gain + +This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes + +- Range: 0 1 + +## Q_TILT_WING_FLAP: Tiltrotor tilt angle that will be used as flap + +For use on tilt wings, the wing will tilt up to this angle for flap, transition will be complete when the wing reaches this angle from the forward fight position, 0 disables + +- Units: deg + +- Increment: 1 + +- Range: 0 15 + +# QWP Parameters + +## Q_WP_SPEED: Waypoint Horizontal Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission + +- Units: cm/s + +- Range: 10 2000 + +- Increment: 50 + +## Q_WP_RADIUS: Waypoint Radius + +Defines the distance from a waypoint, that when crossed indicates the wp has been hit. + +- Units: cm + +- Range: 5 1000 + +- Increment: 1 + +## Q_WP_SPEED_UP: Waypoint Climb Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission + +- Units: cm/s + +- Range: 10 1000 + +- Increment: 50 + +## Q_WP_SPEED_DN: Waypoint Descent Speed Target + +Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission + +- Units: cm/s + +- Range: 10 500 + +- Increment: 10 + +## Q_WP_ACCEL: Waypoint Acceleration + +Defines the horizontal acceleration in cm/s/s used during missions + +- Units: cm/s/s + +- Range: 50 500 + +- Increment: 10 + +## Q_WP_ACCEL_Z: Waypoint Vertical Acceleration + +Defines the vertical acceleration in cm/s/s used during missions + +- Units: cm/s/s + +- Range: 50 500 + +- Increment: 10 + +## Q_WP_RFND_USE: Waypoint missions use rangefinder for terrain following + +*Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## Q_WP_JERK: Waypoint Jerk + +Defines the horizontal jerk in m/s/s used during missions + +- Units: m/s/s/s + +- Range: 1 20 + +## Q_WP_TER_MARGIN: Waypoint Terrain following altitude margin + +*Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters) + +- Units: m + +- Range: 0.1 100 + +## Q_WP_ACCEL_C: Waypoint Cornering Acceleration + +Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value. + +- Units: cm/s/s + +- Range: 0 500 + +- Increment: 10 + +# QWVANE Parameters + +## Q_WVANE_ENABLE: Enable + +Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action. + +|Value|Meaning| +|:---:|:---:| +|-1|Only use during takeoffs or landing see weathervane takeoff and land override parameters| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## Q_WVANE_GAIN: Weathervaning gain + +This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s. + +- Range: 0.5 4 + +- Increment: 0.1 + +## Q_WVANE_ANG_MIN: Weathervaning min angle + +The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes. + +- Units: deg + +- Range: 0 10 + +- Increment: 0.1 + +## Q_WVANE_HGT_MIN: Weathervaning min height + +Above this height weathervaning is permitted. If RNGFND_LANDING is enabled or terrain is enabled then this parameter sets height AGL. Otherwise this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning + +- Units: m + +- Range: 0 50 + +- Increment: 1 + +## Q_WVANE_SPD_MAX: Weathervaning max ground speed + +Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane. + +- Units: m/s + +- Range: 0 50 + +- Increment: 0.1 + +## Q_WVANE_VELZ_MAX: Weathervaning max vertical speed + +The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent. + +- Units: m/s + +- Range: 0 5 + +- Increment: 0.1 + +## Q_WVANE_TAKEOFF: Takeoff override + +Override the weather vaning behaviour when in takeoffs + +|Value|Meaning| +|:---:|:---:| +|-1|No override| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## Q_WVANE_LAND: Landing override + +Override the weather vaning behaviour when in landing + +|Value|Meaning| +|:---:|:---:| +|-1|No override| +|0|Disabled| +|1|Nose into wind| +|2|Nose or tail into wind| +|3|Side into wind| +|4|tail into wind| + +## Q_WVANE_OPTIONS: Weathervaning options + +Options impacting weathervaning behaviour + +- Bitmask: 0:Use pitch when nose or tail-in for faster weathervaning + +# RALLY Parameters + +## RALLY_TOTAL: Rally Total + +*Note: This parameter is for advanced users* + +Number of rally points currently loaded + +## RALLY_LIMIT_KM: Rally Limit + +*Note: This parameter is for advanced users* + +Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used. + +- Units: km + +- Increment: 0.1 + +## RALLY_INCL_HOME: Rally Include Home + +Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL + +|Value|Meaning| +|:---:|:---:| +|0|DoNotIncludeHome| +|1|IncludeHome| + +# RC Parameters + +## RC_OVERRIDE_TIME: RC override timeout + +*Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled + +- Range: 0.0 120.0 + +- Units: s + +## RC_OPTIONS: RC options + +*Note: This parameter is for advanced users* + +RC input options + +- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol + +## RC_PROTOCOLS: RC protocols enabled + +*Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols. + +- Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio + +## RC_FS_TIMEOUT: RC Failsafe timeout + +RC failsafe will trigger this many seconds after loss of RC + +- Range: 0.5 10.0 + +- Units: s + +# RCn Parameters + +## RCn_MIN: RC min PWM + +*Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_TRIM: RC trim PWM + +*Note: This parameter is for advanced users* + +RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_MAX: RC max PWM + +*Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_REVERSED: RC reversed + +*Note: This parameter is for advanced users* + +Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## RCn_DZ: RC dead-zone + +*Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + +- Units: PWM + +- Range: 0 200 + +## RCn_OPTION: RC input option + +Function assigned to this RC channel + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|22|Parachute Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|29|Landing Gear| +|30|Lost Plane Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|38|ADSB Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|43|InvertedFlight Enable| +|46|RC Override Enable| +|51|MANUAL Mode| +|52|ACRO Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|58|Clear Waypoints| +|62|Compass Learn| +|64|Reverse Throttle| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|77|TAKEOFF Mode| +|78|RunCam Control| +|79|RunCam OSD Control| +|81|Disarm| +|82|QAssist 3pos| +|84|AirMode| +|85|Generator| +|86|Non Auto Terrain Follow Disable| +|87|Crow Select| +|88|Soaring Enable| +|89|Landing Flare| +|90|EKF Source Set| +|91|Airspeed Ratio Calibration| +|92|FBWA Mode| +|94|VTX Power| +|95|FBWA taildragger takeoff mode| +|96|Trigger re-reading of mode switch| +|98|TRAINING Mode| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|107|Enable FW Autotune| +|108|QRTL Mode| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|150|CRUISE Mode| +|153|ArmDisarm (4.2 and higher)| +|154|ArmDisarm with Quadplane AirMode (4.2 and higher)| +|155|Set roll pitch and yaw trim to current servo and RC| +|157|Force FS Action to FBWA| +|158|Optflow Calibration| +|160|Weathervane Enable| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|170|QSTABILIZE Mode| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|173|Plane AUTO Mode Landing Abort| +|174|Camera Image Tracking| +|175|Camera Lens| +|176|Quadplane Fwd Throttle Override enable| +|177|Mount LRF enable| +|179|ICEngine start / stop| +|180|Test autotuned gains after tune is complete| +|208|Flap| +|209|VTOL Forward Throttle| +|210|Airbrakes| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# RCMAP Parameters + +## RCMAP_ROLL: Roll channel + +*Note: This parameter is for advanced users* + +Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_PITCH: Pitch channel + +*Note: This parameter is for advanced users* + +Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_THROTTLE: Throttle channel + +*Note: This parameter is for advanced users* + +Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_YAW: Yaw channel + +*Note: This parameter is for advanced users* + +Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +# RELAY10 Parameters + +## RELAY10_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY10_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY10_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY10_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY11 Parameters + +## RELAY11_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY11_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY11_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY11_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY12 Parameters + +## RELAY12_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY12_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY12_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY12_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY13 Parameters + +## RELAY13_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY13_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY13_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY13_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY14 Parameters + +## RELAY14_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY14_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY14_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY14_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY15 Parameters + +## RELAY15_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY15_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY15_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY15_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY16 Parameters + +## RELAY16_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY16_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY16_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY16_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY1 Parameters + +## RELAY1_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY1_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY1_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY1_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY2 Parameters + +## RELAY2_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY2_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY2_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY2_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY3 Parameters + +## RELAY3_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY3_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY3_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY3_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY4 Parameters + +## RELAY4_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY4_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY4_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY4_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY5 Parameters + +## RELAY5_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY5_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY5_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY5_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY6 Parameters + +## RELAY6_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY6_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY6_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY6_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY7 Parameters + +## RELAY7_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY7_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY7_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY7_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY8 Parameters + +## RELAY8_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY8_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY8_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY8_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY9 Parameters + +## RELAY9_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|2|Ignition| +|3|Parachute| +|4|Camera| +|9|ICE Starter| + +## RELAY9_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY9_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY9_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RLL Parameters + +## RLL2SRV_TCONST: Roll Time Constant + +*Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help. + +- Range: 0.4 1.0 + +- Units: s + +- Increment: 0.1 + +## RLL2SRV_RMAX: Maximum Roll Rate + +*Note: This parameter is for advanced users* + +This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables this limit. + +- Range: 0 180 + +- Units: deg/s + +- Increment: 1 + +## RLL_RATE_P: Roll axis rate controller P gain + +Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + +- Range: 0.08 0.35 + +- Increment: 0.005 + +## RLL_RATE_I: Roll axis rate controller I gain + +Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate + +- Range: 0.01 0.6 + +- Increment: 0.01 + +## RLL_RATE_IMAX: Roll axis rate controller I gain maximum + +Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## RLL_RATE_D: Roll axis rate controller D gain + +Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate + +- Range: 0.001 0.03 + +- Increment: 0.001 + +## RLL_RATE_FF: Roll axis rate controller feed forward + +Roll axis rate controller feed forward + +- Range: 0 3.0 + +- Increment: 0.001 + +## RLL_RATE_FLTT: Roll axis rate controller target frequency in Hz + +Roll axis rate controller target frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## RLL_RATE_FLTE: Roll axis rate controller error frequency in Hz + +Roll axis rate controller error frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## RLL_RATE_FLTD: Roll axis rate controller derivative frequency in Hz + +Roll axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## RLL_RATE_SMAX: Roll slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## RLL_RATE_PDMX: Roll axis rate controller PD sum maximum + +Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## RLL_RATE_D_FF: Roll Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## RLL_RATE_NTF: Roll Target notch filter index + +*Note: This parameter is for advanced users* + +Roll Target notch filter index + +- Range: 1 8 + +## RLL_RATE_NEF: Roll Error notch filter index + +*Note: This parameter is for advanced users* + +Roll Error notch filter index + +- Range: 1 8 + +# RNGFND1 Parameters + +## RNGFND1_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND1_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND1_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND1_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND1_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND1_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND1_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND1_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND1_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND1_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND1_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND1_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND1_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND1_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND1_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND1_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND1_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND1_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND2 Parameters + +## RNGFND2_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND2_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND2_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND2_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND2_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND2_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND2_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND2_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND2_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND2_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND2_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND2_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND2_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND2_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND2_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND2_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND2_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND2_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND3 Parameters + +## RNGFND3_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND3_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND3_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND3_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND3_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND3_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND3_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND3_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND3_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND3_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND3_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND3_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND3_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND3_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND3_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND3_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND3_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND3_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND4 Parameters + +## RNGFND4_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND4_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND4_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND4_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND4_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND4_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND4_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND4_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND4_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND4_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND4_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND4_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND4_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND4_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND4_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND4_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND4_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND4_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND5 Parameters + +## RNGFND5_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND5_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND5_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND5_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND5_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND5_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND5_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND5_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND5_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND5_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND5_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND5_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND5_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND5_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND5_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND5_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND5_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND5_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND6 Parameters + +## RNGFND6_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND6_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND6_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND6_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND6_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND6_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND6_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND6_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND6_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND6_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND6_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND6_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND6_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND6_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND6_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND6_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND6_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND6_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND7 Parameters + +## RNGFND7_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND7_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND7_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND7_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND7_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND7_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND7_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND7_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND7_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND7_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND7_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND7_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND7_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND7_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND7_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND7_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND7_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND7_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND8 Parameters + +## RNGFND8_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND8_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND8_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND8_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND8_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND8_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND8_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND8_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND8_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND8_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND8_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND8_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND8_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND8_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND8_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND8_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND8_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND8_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND9 Parameters + +## RNGFND9_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND9_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND9_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND9_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND9_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND9_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND9_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND9_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND9_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND9_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND9_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND9_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND9_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND9_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND9_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND9_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND9_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND9_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFNDA Parameters + +## RNGFNDA_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFNDA_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFNDA_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFNDA_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFNDA_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFNDA_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFNDA_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFNDA_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFNDA_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFNDA_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFNDA_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFNDA_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFNDA_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFNDA_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFNDA_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFNDA_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFNDA_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFNDA_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RPM1 Parameters + +## RPM1_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM1_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM1_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM1_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM1_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM2 Parameters + +## RPM2_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM2_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM2_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM2_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM2_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM3 Parameters + +## RPM3_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM3_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM3_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM3_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM3_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM3_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM4 Parameters + +## RPM4_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM4_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM4_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM4_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM4_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM4_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RSSI Parameters + +## RSSI_TYPE: RSSI Type + +Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|AnalogPin| +|2|RCChannelPwmValue| +|3|ReceiverProtocol| +|4|PWMInputPin| +|5|TelemetryRadioRSSI| + +## RSSI_ANA_PIN: Receiver RSSI sensing pin + +Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|8|V5 Nano| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RSSI_PIN_LOW: RSSI pin's lowest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_PIN_HIGH: RSSI pin's highest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_CHANNEL: Receiver RSSI channel number + +The channel number where RSSI will be output by the radio receiver (5 and above). + +- Range: 0 16 + +## RSSI_CHAN_LOW: RSSI PWM low value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH + +- Units: PWM + +- Range: 0 2000 + +## RSSI_CHAN_HIGH: Receiver RSSI PWM high value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW + +- Units: PWM + +- Range: 0 2000 + +# SCHED Parameters + +## SCHED_DEBUG: Scheduler debug level + +*Note: This parameter is for advanced users* + +Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|ShowSlips| +|3|ShowOverruns| + +## SCHED_LOOP_RATE: Scheduling main loop rate + +*Note: This parameter is for advanced users* + +This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental. + +- Range: 50 400 + +- RebootRequired: True + +- Units: Hz + +## SCHED_OPTIONS: Scheduling options + +*Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler. + +- Bitmask: 0:Enable per-task perf info + +# SCR Parameters + +## SCR_ENABLE: Enable Scripting + +*Note: This parameter is for advanced users* + +Controls if scripting is enabled + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Lua Scripts| + +- RebootRequired: True + +## SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count + +*Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + +- Range: 1000 1000000 + +- Increment: 10000 + +## SCR_HEAP_SIZE: Scripting Heap Size + +*Note: This parameter is for advanced users* + +Amount of memory available for scripting + +- Range: 1024 1048576 + +- Increment: 1024 + +- RebootRequired: True + +## SCR_DEBUG_OPTS: Scripting Debug Level + +*Note: This parameter is for advanced users* + +Debugging options + +- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + +## SCR_USER1: Scripting User Parameter1 + +General purpose user variable input for scripts + +## SCR_USER2: Scripting User Parameter2 + +General purpose user variable input for scripts + +## SCR_USER3: Scripting User Parameter3 + +General purpose user variable input for scripts + +## SCR_USER4: Scripting User Parameter4 + +General purpose user variable input for scripts + +## SCR_USER5: Scripting User Parameter5 + +General purpose user variable input for scripts + +## SCR_USER6: Scripting User Parameter6 + +General purpose user variable input for scripts + +## SCR_DIR_DISABLE: Directory disable + +*Note: This parameter is for advanced users* + +This will stop scripts being loaded from the given locations + +- Bitmask: 0:ROMFS, 1:APM/scripts + +- RebootRequired: True + +## SCR_LD_CHECKSUM: Loaded script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables + +## SCR_RUN_CHECKSUM: Running script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables + +## SCR_THD_PRIORITY: Scripting thread priority + +*Note: This parameter is for advanced users* + +This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|IO Priority| +|2|Storage Priority| +|3|UART Priority| +|4|I2C Priority| +|5|SPI Priority| +|6|Timer Priority| +|7|Main Priority| +|8|Boost Priority| + +- RebootRequired: True + +## SCR_SDEV_EN: Scripting serial device enable + +*Note: This parameter is for advanced users* + +Enable scripting serial devices + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SCR_SDEV1_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV2_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV3_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# SERIAL Parameters + +## SERIAL0_BAUD: Serial0 baud rate + +The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL0_PROTOCOL: Console protocol selection + +Control what protocol to use on the console. + +|Value|Meaning| +|:---:|:---:| +|1|MAVLink1| +|2|MAVLink2| + +- RebootRequired: True + +## SERIAL1_PROTOCOL: Telem1 protocol selection + +Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +- RebootRequired: True + +## SERIAL1_BAUD: Telem1 Baud Rate + +The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL2_PROTOCOL: Telemetry 2 protocol selection + +Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL2_BAUD: Telemetry 2 Baud Rate + +The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection + +Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL3_BAUD: Serial 3 (GPS) Baud Rate + +The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL4_PROTOCOL: Serial4 protocol selection + +Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL4_BAUD: Serial 4 Baud Rate + +The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL5_PROTOCOL: Serial5 protocol selection + +Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL5_BAUD: Serial 5 Baud Rate + +The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL6_PROTOCOL: Serial6 protocol selection + +Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL6_BAUD: Serial 6 Baud Rate + +The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL1_OPTIONS: Telem1 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL2_OPTIONS: Telem2 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL3_OPTIONS: Serial3 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL4_OPTIONS: Serial4 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL5_OPTIONS: Serial5 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL6_OPTIONS: Serial6 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL_PASS1: Serial passthru first port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASS2: Serial passthru second port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASSTIMO: Serial passthru timeout + +*Note: This parameter is for advanced users* + +This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. + +- Range: 0 120 + +- Units: s + +## SERIAL7_PROTOCOL: Serial7 protocol selection + +Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL7_BAUD: Serial 7 Baud Rate + +The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL7_OPTIONS: Serial7 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL8_PROTOCOL: Serial8 protocol selection + +Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL8_BAUD: Serial 8 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL8_OPTIONS: Serial8 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL9_PROTOCOL: Serial9 protocol selection + +Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL9_BAUD: Serial 9 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL9_OPTIONS: Serial9 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +# SERVO Parameters + +## SERVO_AUTO_TRIM: Automatic servo trim + +*Note: This parameter is for advanced users* + +This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SERVO_RATE: Servo default output rate + +*Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs. + +- Range: 25 400 + +- Units: Hz + +## SERVO_DSHOT_RATE: Servo DShot output rate + +*Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz. + +|Value|Meaning| +|:---:|:---:| +|0|1Khz| +|1|loop-rate| +|2|double loop-rate| +|3|triple loop-rate| +|4|quadruple loop rate| + +## SERVO_DSHOT_ESC: Servo DShot ESC type + +*Note: This parameter is for advanced users* + +DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|BLHeli32/Kiss/AM32| +|2|BLHeli_S/BlueJay| +|3|BLHeli32/AM32/Kiss+EDT| +|4|BLHeli_S/BlueJay+EDT| + +## SERVO_GPIO_MASK: Servo GPIO mask + +*Note: This parameter is for advanced users* + +Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + +- Bitmask: 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + +- RebootRequired: True + +## SERVO_RC_FS_MSK: Servo RC Failsafe Mask + +*Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe. + +- Bitmask: 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + +## SERVO_32_ENABLE: Enable outputs 17 to 31 + +*Note: This parameter is for advanced users* + +This allows for up to 32 outputs, enabling parameters for outputs above 16 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SERVOn Parameters + +## SERVOn_MIN: Minimum PWM + +minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_MAX: Maximum PWM + +maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_TRIM: Trim PWM + +Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_REVERSED: Servo reverse + +Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## SERVOn_FUNCTION: Servo output function + +Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function + +|Value|Meaning| +|:---:|:---:| +|-1|GPIO| +|0|Disabled| +|1|RCPassThru| +|2|Flap| +|3|FlapAuto| +|4|Aileron| +|6|Mount1Yaw| +|7|Mount1Pitch| +|8|Mount1Roll| +|9|Mount1Retract| +|10|CameraTrigger| +|12|Mount2Yaw| +|13|Mount2Pitch| +|14|Mount2Roll| +|15|Mount2Retract| +|16|DifferentialSpoilerLeft1| +|17|DifferentialSpoilerRight1| +|19|Elevator| +|21|Rudder| +|22|SprayerPump| +|23|SprayerSpinner| +|24|FlaperonLeft| +|25|FlaperonRight| +|26|GroundSteering| +|27|Parachute| +|28|Gripper| +|29|LandingGear| +|30|EngineRunEnable| +|33|Motor1| +|34|Motor2| +|35|Motor3| +|36|Motor4| +|37|Motor5| +|38|Motor6| +|39|Motor7/TailTiltServo| +|40|Motor8| +|41|TiltMotorsFront| +|45|TiltMotorsRear| +|46|TiltMotorRearLeft| +|47|TiltMotorRearRight| +|51|RCIN1| +|52|RCIN2| +|53|RCIN3| +|54|RCIN4| +|55|RCIN5| +|56|RCIN6| +|57|RCIN7| +|58|RCIN8| +|59|RCIN9| +|60|RCIN10| +|61|RCIN11| +|62|RCIN12| +|63|RCIN13| +|64|RCIN14| +|65|RCIN15| +|66|RCIN16| +|67|Ignition| +|69|Starter| +|70|Throttle| +|73|ThrottleLeft| +|74|ThrottleRight| +|75|TiltMotorFrontLeft| +|76|TiltMotorFrontRight| +|77|ElevonLeft| +|78|ElevonRight| +|79|VTailLeft| +|80|VTailRight| +|82|Motor9| +|83|Motor10| +|84|Motor11| +|85|Motor12| +|86|DifferentialSpoilerLeft2| +|87|DifferentialSpoilerRight2| +|90|CameraISO| +|91|CameraAperture| +|92|CameraFocus| +|93|CameraShutterSpeed| +|94|Script1| +|95|Script2| +|96|Script3| +|97|Script4| +|98|Script5| +|99|Script6| +|100|Script7| +|101|Script8| +|102|Script9| +|103|Script10| +|104|Script11| +|105|Script12| +|106|Script13| +|107|Script14| +|108|Script15| +|109|Script16| +|110|Airbrakes| +|120|NeoPixel1| +|121|NeoPixel2| +|122|NeoPixel3| +|123|NeoPixel4| +|124|RateRoll| +|125|RatePitch| +|126|RateThrust| +|127|RateYaw| +|129|ProfiLED1| +|130|ProfiLED2| +|131|ProfiLED3| +|132|ProfiLEDClock| +|134|SERVOn_MIN| +|135|SERVOn_TRIM| +|136|SERVOn_MAX| +|138|Alarm| +|139|Alarm Inverted| +|140|RCIN1Scaled| +|141|RCIN2Scaled| +|142|RCIN3Scaled| +|143|RCIN4Scaled| +|144|RCIN5Scaled| +|145|RCIN6Scaled| +|146|RCIN7Scaled| +|147|RCIN8Scaled| +|148|RCIN9Scaled| +|149|RCIN10Scaled| +|150|RCIN11Scaled| +|151|RCIN12Scaled| +|152|RCIN13Scaled| +|153|RCIN14Scaled| +|154|RCIN15Scaled| +|155|RCIN16Scaled| + +- RebootRequired: True + +# SERVOBLH Parameters + +## SERVO_BLH_MASK: BLHeli Channel Bitmask + +*Note: This parameter is for advanced users* + +Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any) + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors + +If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SERVO_BLH_TEST: BLHeli internal interface test + +*Note: This parameter is for advanced users* + +Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestMotor1| +|2|TestMotor2| +|3|TestMotor3| +|4|TestMotor4| +|5|TestMotor5| +|6|TestMotor6| +|7|TestMotor7| +|8|TestMotor8| + +## SERVO_BLH_TMOUT: BLHeli protocol timeout + +This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout + +- Units: s + +- Range: 0 300 + +## SERVO_BLH_TRATE: BLHeli telemetry rate + +This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests + +- Units: Hz + +- Range: 0 500 + +## SERVO_BLH_DEBUG: BLHeli debug level + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SERVO_BLH_OTYPE: BLHeli output type override + +*Note: This parameter is for advanced users* + +When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|OneShot| +|2|OneShot125| +|3|Brushed| +|4|DShot150| +|5|DShot300| +|6|DShot600| +|7|DShot1200| + +- RebootRequired: True + +## SERVO_BLH_PORT: Control port + +*Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on. + +|Value|Meaning| +|:---:|:---:| +|0|Console| +|1|Mavlink Serial Channel1| +|2|Mavlink Serial Channel2| +|3|Mavlink Serial Channel3| +|4|Mavlink Serial Channel4| +|5|Mavlink Serial Channel5| + +## SERVO_BLH_POLES: BLHeli Motor Poles + +*Note: This parameter is for advanced users* + +This allows calculation of true RPM from ESC's eRPM. The default is 14. + +- Range: 1 127 + +- RebootRequired: True + +## SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels + +*Note: This parameter is for advanced users* + +Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels + +*Note: This parameter is for advanced users* + +Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels + +*Note: This parameter is for advanced users* + +Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +# SERVOFTW Parameters + +## SERVO_FTW_MASK: Servo channel output bitmask + +Servo channel mask specifying FETtec ESC output. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +- RebootRequired: True + +## SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask + +Servo channel mask to reverse rotation of FETtec ESC outputs. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +## SERVO_FTW_POLES: Nr. electrical poles + +Number of motor electrical poles + +- Range: 2 50 + +# SERVOROB Parameters + +## SERVO_ROB_POSMIN: Robotis servo position min + +Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +## SERVO_ROB_POSMAX: Robotis servo position max + +Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +# SERVOSBUS Parameters + +## SERVO_SBUS_RATE: SBUS default output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz. + +- Range: 25 250 + +- Units: Hz + +# SERVOVOLZ Parameters + +## SERVO_VOLZ_MASK: Channel Bitmask + +Enable of volz servo protocol to specific channels + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16,16:Channel17,17:Channel18,18:Channel19,19:Channel20,20:Channel21,21:Channel22,22:Channel23,23:Channel24,24:Channel25,25:Channel26,26:Channel27,28:Channel29,29:Channel30,30:Channel31,31:Channel32 + +## SERVO_VOLZ_RANGE: Range of travel + +Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator. + +- Units: deg + +# SIM Parameters + +## SIM_DRIFT_SPEED: Gyro drift speed + +Gyro drift rate of change in degrees/second/minute + +## SIM_DRIFT_TIME: Gyro drift time + +Gyro drift duration of one full drift cycle (period in minutes) + +## SIM_ENGINE_MUL: Engine failure thrust scaler + +Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor + +- Units: ms + +## SIM_WIND_SPD: Simulated Wind speed + +*Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + +- Units: m/s + +## SIM_WIND_DIR: Direction simulated wind is coming from + +*Note: This parameter is for advanced users* + +Allows you to set wind direction (true deg) in sim + +- Units: deg + +## SIM_WIND_TURB: Simulated Wind variation + +*Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + +- Units: m/s + +## SIM_WIND_TC: Wind variation time constant + +*Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + +- Units: s + +## SIM_SONAR_ROT: Sonar rotation + +Sonar rotation from rotations enumeration + +## SIM_BATT_VOLTAGE: Simulated battery voltage + +*Note: This parameter is for advanced users* + +Simulated battery (constant) voltage + +- Units: V + +## SIM_BATT_CAP_AH: Simulated battery capacity + +*Note: This parameter is for advanced users* + +Simulated battery capacity + +- Units: Ah + +## SIM_SONAR_GLITCH: Sonar glitch probablility + +*Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + +- Range: 0 1 + +## SIM_SONAR_RND: Sonar noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + +## SIM_RC_FAIL: Simulated RC signal failure + +*Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|No RC pusles| +|2|All Channels neutral except Throttle is 950us| + +## SIM_FLOAT_EXCEPT: Generate floating point exceptions + +*Note: This parameter is for advanced users* + +If set, if a numerical error occurs SITL will die with a floating point exception. + +## SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs + +*Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP_Periph + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## SIM_CAN_TYPE1: transport type for first CAN interface + +*Note: This parameter is for advanced users* + +transport type for first CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_CAN_TYPE2: transport type for second CAN interface + +*Note: This parameter is for advanced users* + +transport type for second CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_SONAR_SCALE: Sonar conversion scale + +Sonar conversion scale from distance to voltage + +- Units: m/V + +## SIM_FLOW_ENABLE: Opflow Enable + +Enable simulated Optical Flow sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_TERRAIN: Terrain Enable + +Enable using terrain for height + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_FLOW_RATE: Opflow Rate + +Opflow Data Rate + +- Units: Hz + +## SIM_FLOW_DELAY: Opflow Delay + +Opflow data delay + +- Units: ms + +## SIM_ADSB_COUNT: Number of ADSB aircrafts + +Total number of ADSB simulated aircraft + +## SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft + +Simulated standard deviation of radius in ADSB of another aircraft + +- Units: m + +## SIM_ADSB_ALT: ADSB altitude of another aircraft + +Simulated ADSB altitude of another aircraft + +- Units: m + +## SIM_PIN_MASK: GPIO emulation + +SITL GPIO emulation + +## SIM_ADSB_TX: ADSB transmit enable + +ADSB transceiever enable and disable + +|Value|Meaning| +|:---:|:---:| +|0|Transceiever disable| +|1|Transceiever enable| + +## SIM_SPEEDUP: Sim Speedup + +Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used + +- Range: 1 10 + +## SIM_IMU_POS_X: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (X-axis) + +- Units: m + +## SIM_IMU_POS_Y: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_IMU_POS_Z: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_FLOW_POS_X: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis) + +- Units: m + +## SIM_FLOW_POS_Y: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_FLOW_POS_Z: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_ENGINE_FAIL: Engine Fail Mask + +mask of motors which SIM_ENGINE_MUL will be applied to + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8 + +## SIM_TEMP_START: Start temperature + +*Note: This parameter is for advanced users* + +Baro start temperature + +- Units: degC + +## SIM_TEMP_BRD_OFF: Baro temperature offset + +*Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + +- Units: degC + +## SIM_TEMP_TCONST: Warmup time constant + +*Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + +- Units: degC + +## SIM_TEMP_BFACTOR: Baro temperature factor + +*Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM-20789 + +## SIM_WIND_DIR_Z: Simulated wind vertical direction + +*Note: This parameter is for advanced users* + +Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft. + +- Units: deg + +## SIM_WIND_T: Wind Profile Type + +Selects how wind varies from surface to WIND_T_ALT + +|Value|Meaning| +|:---:|:---:| +|0|square law| +|1|none| +|2|linear-see WIND_T_COEF| + +## SIM_WIND_T_ALT: Full Wind Altitude + +*Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level + +- Units: m + +## SIM_WIND_T_COEF: Linear Wind Curve Coeff + +*Note: This parameter is for advanced users* + +For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value + +## SIM_RC_CHANCOUNT: RC channel count + +SITL RC channel count + +## SIM_WOW_PIN: Weight on Wheels Pin + +*Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + +## SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting + +SITL enable bandwidth limitting on telemetry ports with non-zero values + +## SIM_SHOVE_X: Acceleration of shove x + +Acceleration of shove to vehicle in x axis + +- Units: m/s/s + +## SIM_SHOVE_Y: Acceleration of shove y + +Acceleration of shove to vehicle in y axis + +- Units: m/s/s + +## SIM_SHOVE_Z: Acceleration of shove z + +Acceleration of shove to vehicle in z axis + +- Units: m/s/s + +## SIM_SHOVE_TIME: Time length for shove + +Force to the vehicle over a period of time + +- Units: ms + +## SIM_FLOW_RND: Opflow noise + +Optical Flow sensor measurement noise + +- Units: rad/s + +## SIM_TWIST_X: Twist x + +Rotational acceleration of twist x axis + +- Units: rad/s/s + +## SIM_TWIST_Y: Twist y + +Rotational acceleration of twist y axis + +- Units: rad/s/s + +## SIM_TWIST_Z: Twist z + +Rotational acceleration of twist z axis + +- Units: rad/s/s + +## SIM_TWIST_TIME: Twist time + +Time that twist is applied on the vehicle + +- Units: ms + +## SIM_GND_BEHAV: Ground behavior + +Ground behavior of aircraft (tailsitter, no movement, forward only) + +## SIM_WAVE_ENABLE: Wave enable + +Wave enable and modes + +|Value|Meaning| +|:---:|:---:| +|0|disabled| +|1|roll and pitch| +|2|roll and pitch and heave| + +## SIM_WAVE_LENGTH: Wave length + +Wave length in SITL + +- Units: m + +## SIM_WAVE_AMP: Wave amplitude + +Wave amplitude in SITL + +- Units: m + +## SIM_WAVE_DIR: Wave direction + +Direction wave is coming from + +- Units: deg + +## SIM_WAVE_SPEED: Wave speed + +Wave speed in SITL + +- Units: m/s + +## SIM_TIDE_DIR: Tide direction + +Tide direction wave is coming from + +- Units: deg + +## SIM_TIDE_SPEED: Tide speed + +Tide speed in simulation + +- Units: m/s + +## SIM_OPOS_LAT: Original Position (Latitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup latitude + +## SIM_OPOS_LNG: Original Position (Longitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup longitude + +## SIM_OPOS_ALT: Original Position (Altitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup altitude (AMSL) + +## SIM_OPOS_HDG: Original Position (Heading) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup heading (0-360) + +## SIM_LOOP_DELAY: Extra delay per main loop + +Extra time delay per main loop + +- Units: us + +## SIM_EFI_TYPE: Type of Electronic Fuel Injection + +Different types of Electronic Fuel Injection (EFI) systems + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MegaSquirt EFI system| +|2|Löweheiser EFI system| +|8|Hirth engines| + +## SIM_VIB_MOT_HMNC: Motor harmonics + +Motor harmonics generated in SITL + +## SIM_VIB_MOT_MASK: Motor mask + +Motor mask, allowing external simulators to mark motors + +## SIM_VIB_MOT_MAX: Max motor vibration frequency + +Max frequency to use as baseline for adding motor noise for the gyros and accels + +- Units: Hz + +## SIM_INS_THR_MIN: Minimum throttle INS noise + +Minimum throttle for simulated ins noise + +## SIM_VIB_MOT_MULT: Vibration motor scale + +Amplitude scaling of motor noise relative to gyro/accel noise + +## SIM_ODOM_ENABLE: Odometry enable + +SITL odometry enabl + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_LED_LAYOUT: LED layout + +LED layout config value + +## SIM_THML_SCENARI: Thermal scenarios + +Scenario for thermalling simulation, for soaring + +## SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction + +SITL vicon position on vehicle in Down direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_GLIT_X: SITL vicon position glitch North + +*Note: This parameter is for advanced users* + +SITL vicon position glitch North + +- Units: m + +## SIM_VICON_GLIT_Y: SITL vicon position glitch East + +*Note: This parameter is for advanced users* + +SITL vicon position glitch East + +- Units: m + +## SIM_VICON_GLIT_Z: SITL vicon position glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon position glitch Down + +- Units: m + +## SIM_VICON_FAIL: SITL vicon failure + +*Note: This parameter is for advanced users* + +SITL vicon failure + +|Value|Meaning| +|:---:|:---:| +|0|Vicon Healthy| +|1|Vicon Failed| + +## SIM_VICON_YAW: SITL vicon yaw angle in earth frame + +*Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + +- Units: deg + +- Range: 0 360 + +## SIM_VICON_YAWERR: SITL vicon yaw error + +*Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + +- Units: deg + +- Range: -180 180 + +## SIM_VICON_TMASK: SITL vicon type mask + +*Note: This parameter is for advanced users* + +SITL vicon messages sent + +- Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY + +## SIM_VICON_VGLI_X: SITL vicon velocity glitch North + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + +- Units: m/s + +## SIM_VICON_VGLI_Y: SITL vicon velocity glitch East + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + +- Units: m/s + +## SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + +- Units: m/s + +## SIM_RATE_HZ: Loop rate + +SITL Loop rate + +- Units: Hz + +## SIM_IMU_COUNT: IMU count + +Number of simulated IMUs to create + +## SIM_BARO_COUNT: Baro count + +Number of simulated baros to create in SITL + +- Range: 0 3 + +## SIM_TIME_JITTER: Loop time jitter + +*Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + +- Units: us + +## SIM_ESC_TELEM: Simulated ESC Telemetry + +*Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + +## SIM_ESC_ARM_RPM: ESC RPM when armed + +*Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + +## SIM_UART_LOSS: UART byte loss percentage + +*Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + +- Units: % + +## SIM_ADSB_TYPES: Simulated ADSB Type mask + +*Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + +- Bitmask: 0:MAVLink,3:SageTechMXS + +## SIM_OSD_COLUMNS: Simulated OSD number of text columns + +Simulated OSD number of text columns + +- Range: 10 100 + +## SIM_OSD_ROWS: Simulated OSD number of text rows + +Simulated OSD number of text rows + +- Range: 10 100 + +## SIM_GPS_DISABLE: GPS 1 disable + +*Note: This parameter is for advanced users* + +Disables GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS_LAG_MS: GPS 1 Lag + +*Note: This parameter is for advanced users* + +GPS 1 lag + +- Units: ms + +## SIM_GPS_TYPE: GPS 1 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS_BYTELOSS: GPS Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + +- Units: % + +## SIM_GPS_NUMSATS: GPS 1 Num Satellites + +Number of satellites GPS 1 has in view + +## SIM_GPS_GLITCH_X: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (X-axis) + +## SIM_GPS_GLITCH_Y: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Y-axis) + +## SIM_GPS_GLITCH_Z: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Z-axis) + +## SIM_GPS_HZ: GPS 1 Hz + +GPS 1 Update rate + +- Units: Hz + +## SIM_GPS_DRIFTALT: GPS 1 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 1 altitude drift error + +- Units: m + +## SIM_GPS_POS_X: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS_POS_Y: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS_POS_Z: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS_NOISE: GPS 1 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + +- Units: m + +## SIM_GPS_LOCKTIME: GPS 1 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + +- Units: s + +## SIM_GPS_ALT_OFS: GPS 1 Altitude Offset + +GPS 1 Altitude Error + +- Units: m + +## SIM_GPS_HDG: GPS 1 Heading + +*Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS_ACC: GPS 1 Accuracy + +*Note: This parameter is for advanced users* + +GPS 1 Accuracy + +## SIM_GPS_VERR_X: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS_VERR_Y: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS_VERR_Z: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Z-axis) + +## SIM_GPS_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_DISABLE: GPS 2 disable + +*Note: This parameter is for advanced users* + +Disables GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS2_LAG_MS: GPS 2 Lag + +*Note: This parameter is for advanced users* + +GPS 2 lag in ms + +- Units: ms + +## SIM_GPS2_TYPE: GPS 2 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS2_BYTELOS: GPS 2 Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + +- Units: % + +## SIM_GPS2_NUMSATS: GPS 2 Num Satellites + +Number of satellites GPS 2 has in view + +## SIM_GPS2_GLTCH_X: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (X-axis) + +## SIM_GPS2_GLTCH_Y: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Y-axis) + +## SIM_GPS2_GLTCH_Z: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Z-axis) + +## SIM_GPS2_HZ: GPS 2 Hz + +GPS 2 Update rate + +- Units: Hz + +## SIM_GPS2_DRFTALT: GPS 2 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 2 altitude drift error + +- Units: m + +## SIM_GPS2_POS_X: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS2_POS_Y: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS2_POS_Z: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS2_NOISE: GPS 2 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + +- Units: m + +## SIM_GPS2_LCKTIME: GPS 2 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + +- Units: s + +## SIM_GPS2_ALT_OFS: GPS 2 Altitude Offset + +GPS 2 Altitude Error + +- Units: m + +## SIM_GPS2_HDG: GPS 2 Heading + +*Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_ACC: GPS 2 Accuracy + +*Note: This parameter is for advanced users* + +GPS 2 Accuracy + +## SIM_GPS2_VERR_X: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS2_VERR_Y: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS2_VERR_Z: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Z-axis) + +## SIM_INIT_LAT_OFS: Initial Latitude Offset + +GPS initial lat offset from origin + +## SIM_INIT_LON_OFS: Initial Longitude Offset + +GPS initial lon offset from origin + +## SIM_INIT_ALT_OFS: Initial Altitude Offset + +GPS initial alt offset from origin + +## SIM_GPS_LOG_NUM: GPS Log Number + +Log number for GPS:update_file() + +## SIM_GPS2_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_MAG_RND: Mag motor noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + +## SIM_MAG_DELAY: Mag measurement delay + +*Note: This parameter is for advanced users* + +Magnetometer measurement delay + +- Units: ms + +## SIM_MAG_ALY_HGT: Magnetic anomaly height + +*Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1/8 of the ground level value + +- Units: m + +## SIM_MAG1_ORIENT: MAG1 Orientation + +*Note: This parameter is for advanced users* + +MAG1 external compass orientation + +## SIM_MAG1_SCALING: MAG1 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + +## SIM_MAG1_DEVID: MAG1 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + +## SIM_MAG2_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + +## SIM_MAG3_DEVID: MAG3 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + +## SIM_MAG4_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + +## SIM_MAG5_DEVID: MAG5 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + +## SIM_MAG6_DEVID: MAG6 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + +## SIM_MAG7_DEVID: MAG7 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + +## SIM_MAG8_DEVID: MAG8 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + +## SIM_MAG1_FAIL: MAG1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG1 Failure| + +## SIM_MAG2_ORIENT: MAG2 Orientation + +*Note: This parameter is for advanced users* + +MAG2 external compass orientation + +## SIM_MAG2_FAIL: MAG2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG2 Failure| + +## SIM_MAG2_SCALING: MAG2 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + +## SIM_MAG3_FAIL: MAG3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG3 Failure| + +## SIM_MAG3_SCALING: MAG3 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + +## SIM_MAG3_ORIENT: MAG3 Orientation + +*Note: This parameter is for advanced users* + +MAG3 external compass orientation + +## SIM_MAG_SAVE_IDS: Save MAG devids on startup + +*Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_IMUT_START: IMU temperature start + +Starting IMU temperature of a curve + +## SIM_IMUT_END: IMU temperature end + +Ending IMU temperature of a curve + +## SIM_IMUT_TCONST: IMU temperature time constant + +IMU temperature time constant of the curve + +## SIM_IMUT_FIXED: IMU fixed temperature + +IMU fixed temperature by user + +## SIM_ACC1_BIAS_X: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC1_BIAS_Y: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC1_BIAS_Z: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC2_BIAS_X: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC2_BIAS_Y: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC2_BIAS_Z: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC3_BIAS_X: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC3_BIAS_Y: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC3_BIAS_Z: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR1_RND: Gyro 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR2_RND: Gyro 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR3_RND: Gyro 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC1_RND: Accel 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC2_RND: Accel 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC3_RND: Accel 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR1_SCALE_X: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR1_SCALE_Y: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR1_SCALE_Z: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR2_SCALE_X: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR2_SCALE_Y: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR2_SCALE_Z: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR3_SCALE_X: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR3_SCALE_Y: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR3_SCALE_Z: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACCEL1_FAIL: ACCEL1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL1 Failure| + +## SIM_ACCEL2_FAIL: ACCEL2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL2 Failure| + +## SIM_ACCEL3_FAIL: ACCEL3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL3 Failure| + +## SIM_GYR_FAIL_MSK: Gyro Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC_FAIL_MSK: Accelerometer Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC1_SCAL_X: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC1_SCAL_Y: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC1_SCAL_Z: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC2_SCAL_X: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC2_SCAL_Y: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC2_SCAL_Z: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC3_SCAL_X: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC3_SCAL_Y: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC3_SCAL_Z: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_JSON_MASTER: JSON master instance + +the instance number to take servos from + +## SIM_OH_MASK: SIM-on_hardware Output Enable Mask + +channels which are passed through to actual hardware when running sim on actual hardware + +## SIM_GYR_FILE_RW: Gyro data to/from files + +Read and write gyro data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_ACC_FILE_RW: Accelerometer data to/from files + +Read and write accelerometer data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_GYR1_BIAS_X: First Gyro bias on X axis + +*Note: This parameter is for advanced users* + +First Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Y: First Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Z: First Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR2_BIAS_X: Second Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR3_BIAS_X: Third Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC4_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC4_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC4_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL4_FAIL: ACCEL4 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL4 Failure| + +## SIM_GYR4_SCALE_X: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR4_SCALE_Y: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR4_SCALE_Z: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC4_RND: Accel 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR4_RND: Gyro 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC4_BIAS_X: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC4_BIAS_Y: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC4_BIAS_Z: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC5_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC5_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC5_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL5_FAIL: ACCEL5 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL5 Failure| + +## SIM_GYR5_SCALE_X: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR5_SCALE_Y: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR5_SCALE_Z: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC5_RND: Accel 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR5_RND: Gyro 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC5_BIAS_X: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC5_BIAS_Y: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC5_BIAS_Z: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + +- Units: rad/s + +## SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask + +Allow relay output operation when running SIM-on-hardware + +## SIM_CLAMP_CH: Simulated Clamp Channel + +If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + +# SIMARSPD2 Parameters + +## SIM_ARSPD2_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD2_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMARSPD Parameters + +## SIM_ARSPD_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMBAR2 Parameters + +## SIM_BAR2_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR2_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR2_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR2_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR2_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR2_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR2_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR2_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR2_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR2_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR2_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR2_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBAR3 Parameters + +## SIM_BAR3_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR3_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR3_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR3_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR3_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR3_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR3_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR3_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR3_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR3_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR3_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR3_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBARO Parameters + +## SIM_BARO_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BARO_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BARO_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BARO_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BARO_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BARO_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BARO_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BARO_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BARO_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BARO_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BARO_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BARO_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMGLD Parameters + +## SIM_GLD_BLN_BRST: balloon burst height + +balloon burst height + +- Units: m + +## SIM_GLD_BLN_RATE: balloon climb rate + +balloon climb rate + +- Units: m/s + +# SIMGRPE Parameters + +## SIM_GRPE_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPE_PIN: Gripper emp pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to. (start at 1) + +- Range: 0 15 + +# SIMGRPS Parameters + +## SIM_GRPS_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPS_PIN: Gripper servo pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to. (start at 1) + +- Range: 0 15 + +## SIM_GRPS_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_REVERSE: Gripper close direction + +*Note: This parameter is for advanced users* + +Reverse the closing direction. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reverse| + +# SIMPLD Parameters + +## SIM_PLD_ENABLE: Preland device Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Preland simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_PLD_LAT: Precland device center's latitude + +*Note: This parameter is for advanced users* + +Precland device center's latitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -90 90 + +## SIM_PLD_LON: Precland device center's longitude + +*Note: This parameter is for advanced users* + +Precland device center's longitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -180 180 + +## SIM_PLD_HEIGHT: Precland device center's height SITL origin + +*Note: This parameter is for advanced users* + +Precland device center's height above SITL origin. Assumes a 2x2m square as station base + +- Units: m + +- Increment: 1 + +- Range: 0 10000 + +## SIM_PLD_YAW: Precland device systems rotation from north + +*Note: This parameter is for advanced users* + +Precland device systems rotation from north + +- Units: deg + +- Increment: 1 + +- Range: -180 +180 + +## SIM_PLD_RATE: Precland device update rate + +*Note: This parameter is for advanced users* + +Precland device rate. e.g led patter refresh rate, RF message rate, etc. + +- Units: Hz + +- Range: 0 200 + +## SIM_PLD_TYPE: Precland device radiance type + +*Note: This parameter is for advanced users* + +Precland device radiance type: it can be a cylinder, a cone, or a sphere. + +|Value|Meaning| +|:---:|:---:| +|0|cylinder| +|1|cone| +|2|sphere| + +## SIM_PLD_ALT_LIMIT: Precland device alt range + +*Note: This parameter is for advanced users* + +Precland device maximum range altitude + +- Units: m + +- Range: 0 100 + +## SIM_PLD_DIST_LIMIT: Precland device lateral range + +*Note: This parameter is for advanced users* + +Precland device maximum lateral range + +- Units: m + +- Range: 5 100 + +## SIM_PLD_ORIENT: Precland device orientation + +*Note: This parameter is for advanced users* + +Precland device orientation vector + +|Value|Meaning| +|:---:|:---:| +|0|Front| +|4|Back| +|24|Up| + +## SIM_PLD_OPTIONS: SIM_Precland extra options + +*Note: This parameter is for advanced users* + +SIM_Precland extra options + +- Bitmask: 0: Enable target distance + +## SIM_PLD_SHIP: SIM_Precland follow ship + +*Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SIMRFL Parameters + +## SIM_RFL_OPTS: FlightAxis options + +*Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + +- Bitmask: 0: Reset position on startup, 1: Swap first 4 and last 4 servos (for quadplane testing), 2: Demix heli servos and send roll/pitch/collective/yaw, 3: Don't print frame rate stats + +# SIMSB Parameters + +## SIM_SB_MASS: mass + +mass of blimp not including lifting gas + +- Units: kg + +## SIM_SB_HMASS: helium mass + +mass of lifting gas + +- Units: kg + +## SIM_SB_ARM_LEN: arm length + +distance from center of mass to one motor + +- Units: m + +## SIM_SB_MOT_THST: motor thrust + +thrust at max throttle for one motor + +- Units: N + +## SIM_SB_DRAG_FWD: drag in forward direction + +drag on X axis + +## SIM_SB_DRAG_SIDE: drag in sidewards direction + +drag on Y axis + +## SIM_SB_DRAG_UP: drag in upward direction + +drag on Z axis + +## SIM_SB_MOI_YAW: moment of inertia in yaw + +moment of inertia in yaw + +## SIM_SB_MOI_ROLL: moment of inertia in roll + +moment of inertia in roll + +## SIM_SB_MOI_PITCH: moment of inertia in pitch + +moment of inertia in pitch + +## SIM_SB_ALT_TARG: altitude target + +altitude target + +- Units: m + +## SIM_SB_CLMB_RT: target climb rate + +target climb rate + +- Units: m/s + +## SIM_SB_YAW_RT: yaw rate + +maximum yaw rate with full left throttle at target altitude + +- Units: deg/s + +## SIM_SB_MOT_ANG: motor angle + +maximum motor tilt angle + +- Units: deg + +## SIM_SB_COL: center of lift + +center of lift position above CoG + +- Units: m + +## SIM_SB_WVANE: weathervaning offset + +center of drag for weathervaning + +- Units: m + +## SIM_SB_FLR: free lift rate + +amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift + +# SIMSERVO Parameters + +## SIM_SERVO_SPEED: servo speed + +servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit + +- Units: s + +## SIM_SERVO_DELAY: servo delay + +servo delay + +- Units: s + +## SIM_SERVO_FILTER: servo filter + +servo filter + +- Units: Hz + +# SIMSLUP Parameters + +## SIM_SLUP_ENABLE: Slung Payload Sim enable/disable + +*Note: This parameter is for advanced users* + +Slung Payload Sim enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SLUP_WEIGHT: Slung Payload weight + +*Note: This parameter is for advanced users* + +Slung Payload weight in kg + +- Units: kg + +- Range: 0 15 + +## SIM_SLUP_LINELEN: Slung Payload line length + +*Note: This parameter is for advanced users* + +Slung Payload line length in meters + +- Units: m + +- Range: 0 100 + +## SIM_SLUP_DRAG: Slung Payload drag coefficient + +*Note: This parameter is for advanced users* + +Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly + +- Units: m + +- Range: 0 10 + +## SIM_SLUP_SYSID: Slung Payload MAVLink system ID + +*Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + +- Range: 0 255 + +# SIMSPR Parameters + +## SIM_SPR_ENABLE: Sprayer Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Sprayer simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SPR_PUMP: Sprayer pump pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to. (start at 1) + +- Range: 0 15 + +## SIM_SPR_SPIN: Sprayer spinner servo pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to. (start at 1) + +- Range: 0 15 + +# SOAR Parameters + +## SOAR_ENABLE: Is the soaring mode enabled or not + +*Note: This parameter is for advanced users* + +Toggles the soaring mode on and off + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SOAR_VSPEED: Vertical v-speed + +*Note: This parameter is for advanced users* + +Rate of climb to trigger themalling speed + +- Units: m/s + +- Range: 0 10 + +## SOAR_Q1: Process noise + +*Note: This parameter is for advanced users* + +Standard deviation of noise in process for strength + +- Range: 0.0001 0.01 + +## SOAR_Q2: Process noise + +*Note: This parameter is for advanced users* + +Standard deviation of noise in process for position and radius + +- Range: 0.01 1 + +## SOAR_R: Measurement noise + +*Note: This parameter is for advanced users* + +Standard deviation of noise in measurement + +- Range: 0.01 1 + +## SOAR_DIST_AHEAD: Distance to thermal center + +*Note: This parameter is for advanced users* + +Initial guess of the distance to the thermal center + +- Units: m + +- Range: 0 100 + +## SOAR_MIN_THML_S: Minimum thermalling time + +*Note: This parameter is for advanced users* + +Minimum number of seconds to spend thermalling + +- Units: s + +- Range: 0 600 + +## SOAR_MIN_CRSE_S: Minimum cruising time + +*Note: This parameter is for advanced users* + +Minimum number of seconds to spend cruising + +- Units: s + +- Range: 0 600 + +## SOAR_POLAR_CD0: Zero lift drag coef. + +*Note: This parameter is for advanced users* + +Zero lift drag coefficient + +- Range: 0.005 0.5 + +## SOAR_POLAR_B: Induced drag coeffient + +*Note: This parameter is for advanced users* + +Induced drag coeffient + +- Range: 0.005 0.05 + +## SOAR_POLAR_K: Cl factor + +*Note: This parameter is for advanced users* + +Cl factor 2*m*g/(rho*S) + +- Units: m.m/s/s + +- Range: 20 400 + +## SOAR_ALT_MAX: Maximum soaring altitude, relative to the home location + +*Note: This parameter is for advanced users* + +Don't thermal any higher than this. + +- Units: m + +- Range: 0 5000.0 + +## SOAR_ALT_MIN: Minimum soaring altitude, relative to the home location + +*Note: This parameter is for advanced users* + +Don't get any lower than this. + +- Units: m + +- Range: 0 1000.0 + +## SOAR_ALT_CUTOFF: Maximum power altitude, relative to the home location + +*Note: This parameter is for advanced users* + +Cut off throttle at this alt. + +- Units: m + +- Range: 0 5000.0 + +## SOAR_MAX_DRIFT: (Optional) Maximum drift distance to allow when thermalling. + +*Note: This parameter is for advanced users* + +The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value. -1 to disable. + +- Range: 0 1000 + +## SOAR_MAX_RADIUS: (Optional) Maximum distance from home + +*Note: This parameter is for advanced users* + +RTL will be entered when a thermal is exited and the plane is more than this distance from home. -1 to disable. + +- Range: 0 1000 + +## SOAR_THML_BANK: Thermalling bank angle + +*Note: This parameter is for advanced users* + +This parameter sets the bank angle to use when thermalling. Typically 30 - 45 degrees works well. + +- Range: 20 50 + +- Units: deg + +## SOAR_THML_ARSPD: Specific setting for airspeed when soaring in THERMAL mode. + +*Note: This parameter is for advanced users* + +If non-zero this airspeed will be used when thermalling. A value of 0 will use AIRSPEED_CRUISE. + +- Range: 0 50 + +## SOAR_CRSE_ARSPD: Specific setting for airspeed when soaring in AUTO mode. + +*Note: This parameter is for advanced users* + +If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then AIRSPEED_CRUISE will be used while cruising between thermals. + +- Range: -1 50 + +## SOAR_THML_FLAP: Flap percent to be used during thermalling flight. + +*Note: This parameter is for advanced users* + +This sets the flap when in LOITER with soaring active. Overrides the usual auto flap behaviour. + +- Range: 0 100 + +# SRn Parameters + +## SRn_RAW_SENS: Raw sensor stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXT_STAT: Extended status stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RC_CHAN: RC Channel stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RAW_CTRL: Raw Control stream rate + +*Note: This parameter is for advanced users* + +MAVLink Raw Control stream rate of SERVO_OUT + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_POSITION: Position stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA1: Extra data type 1 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA2: Extra data type 2 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of VFR_HUD + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA3: Extra data type 3 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_PARAMS: Parameter stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of PARAM_VALUE + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_ADSB: ADSB stream rate + +*Note: This parameter is for advanced users* + +MAVLink ADSB stream rate + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +# STAT Parameters + +## STAT_BOOTCNT: Boot Count + +Number of times board has been booted + +- ReadOnly: True + +## STAT_FLTTIME: Total FlightTime + +Total FlightTime (seconds) + +- Units: s + +- ReadOnly: True + +## STAT_RUNTIME: Total RunTime + +Total time autopilot has run + +- Units: s + +- ReadOnly: True + +## STAT_RESET: Statistics Reset Time + +Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored) + +- Units: s + +- ReadOnly: True + +# STEER2SRV Parameters + +## STEER2SRV_TCONST: Steering Time Constant + +*Note: This parameter is for advanced users* + +This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve. + +- Range: 0.4 1.0 + +- Units: s + +- Increment: 0.1 + +## STEER2SRV_P: Steering turning gain + +The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle + +- Range: 0.1 10.0 + +- Increment: 0.1 + +## STEER2SRV_I: Integrator Gain + +This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle. + +- Range: 0 1.0 + +- Increment: 0.05 + +## STEER2SRV_D: Damping Gain + +This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle. + +- Range: 0 0.1 + +- Increment: 0.01 + +## STEER2SRV_IMAX: Integrator limit + +*Note: This parameter is for advanced users* + +This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim. + +- Range: 0 4500 + +- Increment: 10 + +- Units: cdeg + +## STEER2SRV_MINSPD: Minimum speed + +This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed. + +- Range: 0 5 + +- Increment: 0.1 + +- Units: m/s + +## STEER2SRV_FF: Steering feed forward + +The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed. + +- Range: 0.0 10.0 + +- Increment: 0.1 + +## STEER2SRV_DRTSPD: Derating speed + +*Note: This parameter is for advanced users* + +Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used. + +- Range: 0.0 30.0 + +- Increment: 0.1 + +- Units: m/s + +## STEER2SRV_DRTFCT: Derating factor + +*Note: This parameter is for advanced users* + +Degrees of steering wheel to derate at each additional m/s of speed above "Derating speed". Should be set so that at higher speeds the plane does not roll to the wing in turns. + +- Range: 0.0 50.0 + +- Increment: 0.1 + +- Units: deg/m/s + +## STEER2SRV_DRTMIN: Minimum angle of wheel + +*Note: This parameter is for advanced users* + +The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle. + +- Range: 0 4500 + +- Increment: 10 + +- Units: cdeg + +# TECS Parameters + +## TECS_CLMB_MAX: Maximum Climb Rate (metres/sec) + +Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend. + +- Increment: 0.1 + +- Range: 0.1 20.0 + +## TECS_SINK_MIN: Minimum Sink Rate (metres/sec) + +Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE. + +- Increment: 0.1 + +- Range: 0.1 10.0 + +## TECS_TIME_CONST: Controller time constant (sec) + +*Note: This parameter is for advanced users* + +Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior. + +- Range: 3.0 10.0 + +- Increment: 0.2 + +## TECS_THR_DAMP: Controller throttle damping + +*Note: This parameter is for advanced users* + +Damping gain for throttle demand loop. Increase to add throttle activity to dampen oscillations in speed and height. + +- Range: 0.1 1.0 + +- Increment: 0.1 + +## TECS_INTEG_GAIN: Controller integrator + +*Note: This parameter is for advanced users* + +Integrator gain to trim out long-term speed and height errors. + +- Range: 0.0 0.5 + +- Increment: 0.02 + +## TECS_VERT_ACC: Vertical Acceleration Limit (metres/sec^2) + +*Note: This parameter is for advanced users* + +Maximum vertical acceleration used to correct speed or height errors. + +- Range: 1.0 10.0 + +- Increment: 0.5 + +## TECS_HGT_OMEGA: Height complementary filter frequency (radians/sec) + +*Note: This parameter is for advanced users* + +This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height. + +- Range: 1.0 5.0 + +- Increment: 0.05 + +## TECS_SPD_OMEGA: Speed complementary filter frequency (radians/sec) + +*Note: This parameter is for advanced users* + +This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed. + +- Range: 0.5 2.0 + +- Increment: 0.05 + +## TECS_RLL2THR: Bank angle compensation gain + +*Note: This parameter is for advanced users* + +Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns. + +- Range: 5.0 30.0 + +- Increment: 1.0 + +## TECS_SPDWEIGHT: Weighting applied to speed control + +*Note: This parameter is for advanced users* + +Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1. + +- Range: 0.0 2.0 + +- Increment: 0.1 + +## TECS_PTCH_DAMP: Controller pitch damping + +*Note: This parameter is for advanced users* + +Damping gain for pitch control from TECS control. Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control. + +- Range: 0.1 1.0 + +- Increment: 0.1 + +## TECS_SINK_MAX: Maximum Descent Rate (metres/sec) + +Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX. + +- Increment: 0.1 + +- Range: 0.0 20.0 + +## TECS_LAND_ARSPD: Airspeed during landing approach (m/s) + +When performing an autonomus landing, this value is used as the goal airspeed during approach. Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as defined by LAND_OPTIONS bitmask. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is halfway between AIRSPEED_MIN and TRIM_CRUISE_CM speed for fixed wing autolandings. + +- Range: -1 127 + +- Increment: 1 + +## TECS_LAND_THR: Cruise throttle during landing approach (percentage) + +Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead. + +- Range: -1 100 + +- Increment: 0.1 + +## TECS_LAND_SPDWGT: Weighting applied to speed control during landing. + +*Note: This parameter is for advanced users* + +Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2. + +- Range: -1.0 2.0 + +- Increment: 0.1 + +## TECS_PITCH_MAX: Maximum pitch in auto flight + +*Note: This parameter is for advanced users* + +Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates. Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX. + +- Range: 0 45 + +- Increment: 1 + +## TECS_PITCH_MIN: Minimum pitch in auto flight + +*Note: This parameter is for advanced users* + +Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates. Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding. + +- Range: -45 0 + +- Increment: 1 + +## TECS_LAND_SINK: Sink rate for final landing stage + +*Note: This parameter is for advanced users* + +The sink rate in meters/second for the final stage of landing. + +- Range: 0.0 2.0 + +- Increment: 0.1 + +## TECS_LAND_TCONST: Land controller time constant (sec) + +*Note: This parameter is for advanced users* + +This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare + +- Range: 1.0 5.0 + +- Increment: 0.2 + +## TECS_LAND_DAMP: Controller sink rate to pitch gain during flare + +*Note: This parameter is for advanced users* + +This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare. + +- Range: 0.1 1.0 + +- Increment: 0.1 + +## TECS_LAND_PMAX: Maximum pitch during final stage of landing + +*Note: This parameter is for advanced users* + +This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits. + +- Range: -5 40 + +- Increment: 1 + +## TECS_APPR_SMAX: Sink rate max for landing approach stage + +*Note: This parameter is for advanced users* + +The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX. + +- Range: 0.0 20.0 + +- Units: m/s + +- Increment: 0.1 + +## TECS_LAND_SRC: Land sink rate change + +*Note: This parameter is for advanced users* + +When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value. + +- Range: -2.0 2.0 + +- Units: m/s/m + +- Increment: 0.1 + +## TECS_LAND_TDAMP: Controller throttle damping when landing + +*Note: This parameter is for advanced users* + +Damping gain for the throttle demand loop during an auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle activity to dampen oscillations in speed and height. When set to 0 landing throttle damping is controlled by TECS_THR_DAMP. + +- Range: 0.1 1.0 + +- Increment: 0.1 + +## TECS_LAND_IGAIN: Controller integrator during landing + +*Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best + +- Range: 0.0 0.5 + +- Increment: 0.02 + +## TECS_TKOFF_IGAIN: Controller integrator during takeoff + +*Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during takeoff. Increase to increase the rate at which speed and height offsets are trimmed out. + +- Range: 0.0 0.5 + +- Increment: 0.02 + +## TECS_LAND_PDAMP: Pitch damping gain when landing + +*Note: This parameter is for advanced users* + +This is the damping gain for the pitch demand loop during landing. Increase to add damping to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead. + +- Range: 0.1 1.0 + +- Increment: 0.1 + +## TECS_SYNAIRSPEED: Enable the use of synthetic airspeed + +*Note: This parameter is for advanced users* + +This enables the use of synthetic airspeed in TECS for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## TECS_OPTIONS: Extra TECS options + +*Note: This parameter is for advanced users* + +This allows the enabling of special features in the speed/height controller. + +- Bitmask: 0:GliderOnly,1:AllowDescentSpeedup + +## TECS_PTCH_FF_V0: Baseline airspeed for pitch feed-forward. + +*Note: This parameter is for advanced users* + +This parameter sets the airspeed at which no feed-forward is applied between demanded airspeed and pitch. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB_PITCH_DOWN. + +- Range: 5.0 50.0 + +## TECS_PTCH_FF_K: Gain for pitch feed-forward. + +*Note: This parameter is for advanced users* + +This parameter sets the gain between demanded airspeed and pitch. It has units of radians per metre per second and should generally be negative. A good starting value is -0.04 for gliders and -0.08 for draggy airframes. The default (0.0) disables this feed-forward. + +- Range: -5.0 0.0 + +## TECS_FLARE_HGT: Flare holdoff height + +*Note: This parameter is for advanced users* + +When height above ground is below this, the sink rate will be held at TECS_LAND_SINK. Use this to perform a hold-off manoeuvre when combined with small values for TECS_LAND_SINK. + +- Range: 0 15 + +- Units: m + +## TECS_HDEM_TCONST: Height Demand Time Constant + +*Note: This parameter is for advanced users* + +This sets the time constant of the low pass filter that is applied to the height demand input when bit 1 of TECS_OPTIONS is not selected. + +- Range: 1.0 5.0 + +- Units: s + +- Increment: 0.2 + +# TEMP Parameters + +## TEMP_LOG: Logging + +Enables temperature sensor logging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Log all instances| +|2|Log only instances with sensor source set to None| + +# TEMP1 Parameters + +## TEMP1_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP1_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP1_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP1_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP1_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP1_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP1_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP2 Parameters + +## TEMP2_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP2_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP2_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP2_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP2_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP2_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP2_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP3 Parameters + +## TEMP3_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP3_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP3_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP3_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP3_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP3_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP3_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP4 Parameters + +## TEMP4_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP4_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP4_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP4_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP4_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP4_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP4_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP5 Parameters + +## TEMP5_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP5_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP5_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP5_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP5_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP5_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP5_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP6 Parameters + +## TEMP6_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP6_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP6_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP6_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP6_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP6_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP6_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP7 Parameters + +## TEMP7_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP7_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP7_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP7_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP7_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP7_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP7_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP8 Parameters + +## TEMP8_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP8_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP8_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP8_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP8_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP8_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP8_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP9 Parameters + +## TEMP9_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP9_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP9_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP9_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP9_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP9_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP9_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TERRAIN Parameters + +## TERRAIN_ENABLE: Terrain data enable + +*Note: This parameter is for advanced users* + +enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## TERRAIN_SPACING: Terrain grid spacing + +*Note: This parameter is for advanced users* + +Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed. + +- Units: m + +- Increment: 1 + +## TERRAIN_OPTIONS: Terrain options + +*Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + +- Bitmask: 0:Disable Download + +## TERRAIN_MARGIN: Acceptance margin + +*Note: This parameter is for advanced users* + +Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used + +- Units: m + +- Range: 0.05 50000 + +## TERRAIN_OFS_MAX: Terrain reference offset maximum + +*Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment. + +- Units: m + +- Range: 0 50 + +## TERRAIN_CACHE_SZ: Terrain cache size + +*Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory + +- Range: 0 128 + +# TKOFF Parameters + +## TKOFF_ALT: Takeoff mode altitude + +This is the target altitude for TAKEOFF mode + +- Range: 0 200 + +- Increment: 1 + +- Units: m + +## TKOFF_LVL_ALT: Takeoff mode altitude level altitude + +This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition. + +- Range: 0 50 + +- Increment: 1 + +- Units: m + +## TKOFF_LVL_PITCH: Takeoff mode altitude initial pitch + +This is the target pitch during the takeoff. + +- Range: 0 30 + +- Increment: 1 + +- Units: deg + +## TKOFF_DIST: Takeoff mode distance + +This is the distance from the takeoff location where the plane will loiter. The loiter point will be in the direction of takeoff (the direction the plane is facing when the plane begins takeoff) + +- Range: 0 500 + +- Increment: 1 + +- Units: m + +## TKOFF_GND_PITCH: Takeoff run pitch demand + +Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments. + +- Units: deg + +- Range: -5.0 10.0 + +- Increment: 0.1 + +# TUNE Parameters + +## TUNE_PARAM: Transmitter tuning parameter or set of parameters + +This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RateRollPI| +|2|RateRollP| +|3|RateRollI| +|4|RateRollD| +|5|RatePitchPI| +|6|RatePitchP| +|7|RatePitchI| +|8|RatePitchD| +|9|RateYawPI| +|10|RateYawP| +|11|RateYawI| +|12|RateYawD| +|13|AngleRollP| +|14|AnglePitchP| +|15|AngleYawP| +|16|PosXYP| +|17|PosZP| +|18|VelXYP| +|19|VelXYI| +|20|VelZP| +|21|AccelZP| +|22|AccelZI| +|23|AccelZD| +|24|RatePitchFF| +|25|RateRollFF| +|26|RateYawFF| +|50|FixedWingRollP| +|51|FixedWingRollI| +|52|FixedWingRollD| +|53|FixedWingRollFF| +|54|FixedWingPitchP| +|55|FixedWingPitchI| +|56|FixedWingPitchD| +|57|FixedWingPitchFF| +|101|Set_RateRollPitch| +|102|Set_RateRoll| +|103|Set_RatePitch| +|104|Set_RateYaw| +|105|Set_AngleRollPitch| +|106|Set_VelXY| +|107|Set_AccelZ| +|108|Set_RatePitchDP| +|109|Set_RateRollDP| +|110|Set_RateYawDP| + +## TUNE_CHAN: Transmitter tuning channel + +This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## TUNE_CHAN_MIN: Transmitter tuning channel minimum pwm + +This sets the PWM lower limit for the tuning channel + +- Range: 900 2100 + +## TUNE_CHAN_MAX: Transmitter tuning channel maximum pwm + +This sets the PWM upper limit for the tuning channel + +- Range: 900 2100 + +## TUNE_SELECTOR: Transmitter tuning selector channel + +This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Chan1| +|2|Chan3| +|3|Chan3| +|4|Chan4| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## TUNE_RANGE: Transmitter tuning range + +This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel + +## TUNE_MODE_REVERT: Revert on mode change + +This controls whether tuning values will revert on a flight mode change. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## TUNE_ERR_THRESH: Controller error threshold + +This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message. + +- Range: 0 1 + +# VISO Parameters + +## VISO_TYPE: Visual odometry camera connection type + +*Note: This parameter is for advanced users* + +Visual odometry camera connection type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IntelT265| +|3|VOXL(ModalAI)| + +- RebootRequired: True + +## VISO_POS_X: Visual odometry camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Y: Visual odometry camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Z: Visual odometry camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_ORIENT: Visual odometery camera orientation + +*Note: This parameter is for advanced users* + +Visual odometery camera orientation + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|2|Right| +|4|Back| +|6|Left| +|24|Up| +|25|Down| + +## VISO_SCALE: Visual odometry scaling factor + +*Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + +## VISO_DELAY_MS: Visual odometry sensor delay + +*Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + +- Units: ms + +- Range: 0 250 + +## VISO_VEL_M_NSE: Visual odometry velocity measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m/s + +- Units: m/s + +- Range: 0.05 5.0 + +## VISO_POS_M_NSE: Visual odometry position measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: m + +- Range: 0.1 10.0 + +## VISO_YAW_M_NSE: Visual odometry yaw measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: rad + +- Range: 0.05 1.0 + +## VISO_QUAL_MIN: Visual odometry minimum quality + +*Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown + +- Units: % + +- Range: -1 100 + +# VTX Parameters + +## VTX_ENABLE: Is the Video Transmitter enabled or not + +Toggles the Video Transmitter on and off + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## VTX_POWER: Video Transmitter Power Level + +Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level + +- Range: 1 1000 + +## VTX_CHANNEL: Video Transmitter Channel + +Video Transmitter Channel + +- Range: 0 7 + +## VTX_BAND: Video Transmitter Band + +Video Transmitter Band + +|Value|Meaning| +|:---:|:---:| +|0|Band A| +|1|Band B| +|2|Band E| +|3|Airwave| +|4|RaceBand| +|5|Low RaceBand| +|6|1G3 Band A| +|7|1G3 Band B| +|8|Band X| +|9|3G3 Band A| +|10|3G3 Band B| + +## VTX_FREQ: Video Transmitter Frequency + +Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL + +- ReadOnly: True + +- Range: 1000 6000 + +## VTX_OPTIONS: Video Transmitter Options + +*Note: This parameter is for advanced users* + +Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour. + +- Bitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests,5:Use 1 stop-bit in SmartAudio,6:Ignore CRC in SmartAudio,7:Ignore status updates in CRSF and blindly set VTX options + +## VTX_MAX_POWER: Video Transmitter Max Power Level + +Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting. + +- Range: 25 1000 + +# YAW Parameters + +## YAW2SRV_SLIP: Sideslip control gain + +*Note: This parameter is for advanced users* + +Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned. + +- Range: 0 4 + +- Increment: 0.25 + +## YAW2SRV_INT: Sideslip control integrator + +*Note: This parameter is for advanced users* + +Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip. + +- Range: 0 2 + +- Increment: 0.25 + +## YAW2SRV_DAMP: Yaw damping + +*Note: This parameter is for advanced users* + +Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0. + +- Range: 0 2 + +- Increment: 0.25 + +## YAW2SRV_RLL: Yaw coordination gain + +*Note: This parameter is for advanced users* + +Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems. + +- Range: 0.8 1.2 + +- Increment: 0.05 + +## YAW2SRV_IMAX: Integrator limit + +*Note: This parameter is for advanced users* + +Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range. + +- Range: 0 4500 + +- Increment: 1 + +## YAW_RATE_ENABLE: Yaw rate enable + +*Note: This parameter is for advanced users* + +Enable yaw rate controller for aerobatic flight + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## YAW_RATE_P: Yaw axis rate controller P gain + +Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + +- Range: 0.08 0.35 + +- Increment: 0.005 + +## YAW_RATE_I: Yaw axis rate controller I gain + +Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate + +- Range: 0.01 0.6 + +- Increment: 0.01 + +## YAW_RATE_IMAX: Yaw axis rate controller I gain maximum + +Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output + +- Range: 0 1 + +- Increment: 0.01 + +## YAW_RATE_D: Yaw axis rate controller D gain + +Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate + +- Range: 0.001 0.03 + +- Increment: 0.001 + +## YAW_RATE_FF: Yaw axis rate controller feed forward + +Yaw axis rate controller feed forward + +- Range: 0 3.0 + +- Increment: 0.001 + +## YAW_RATE_FLTT: Yaw axis rate controller target frequency in Hz + +Yaw axis rate controller target frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## YAW_RATE_FLTE: Yaw axis rate controller error frequency in Hz + +Yaw axis rate controller error frequency in Hz + +- Range: 2 50 + +- Increment: 1 + +- Units: Hz + +## YAW_RATE_FLTD: Yaw axis rate controller derivative frequency in Hz + +Yaw axis rate controller derivative frequency in Hz + +- Range: 0 50 + +- Increment: 1 + +- Units: Hz + +## YAW_RATE_SMAX: Yaw slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## YAW_RATE_PDMX: Yaw axis rate controller PD sum maximum + +Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0 1 + +- Increment: 0.01 + +## YAW_RATE_D_FF: Yaw Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## YAW_RATE_NTF: Yaw Target notch filter index + +*Note: This parameter is for advanced users* + +Yaw Target notch filter index + +- Range: 1 8 + +## YAW_RATE_NEF: Yaw Error notch filter index + +*Note: This parameter is for advanced users* + +Yaw Error notch filter index + +- Range: 1 8 \ No newline at end of file diff --git a/Plane-4.6/Parameters.rst b/Plane-4.6/Parameters.rst new file mode 100644 index 0000000..cbb719f --- /dev/null +++ b/Plane-4.6/Parameters.rst @@ -0,0 +1,118411 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_ArduPlane: + +ArduPlane Parameters +-------------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: Ground station MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol\. Don\'t change this unless you also modify the ground station to match\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _AUTOTUNE_LEVEL: + +AUTOTUNE\_LEVEL: Autotune level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Level of aggressiveness of pitch and roll PID gains\. Lower values result in a \'softer\' tune\. Level 6 recommended for most planes\. A value of 0 means to keep the current values of RMAX and TCONST for the controllers\, tuning only the PID values + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AUTOTUNE_OPTIONS: + +AUTOTUNE\_OPTIONS: Autotune options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fixed Wing Autotune specific options\. Useful on QuadPlanes with higher INS\_GYRO\_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune\. + + ++-------------------------------------------+ +| Bitmask | ++===========================================+ +| +-----+---------------------------------+ | +| | Bit | Meaning | | +| +=====+=================================+ | +| | 0 | Disable FLTD update by Autotune | | +| +-----+---------------------------------+ | +| | 1 | Disable FLTT update by Autotune | | +| +-----+---------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Roll | | +| +-----+----------+ | +| | 1 | Pitch | | +| +-----+----------+ | +| | 2 | Yaw | | +| +-----+----------+ | +| | 3 | Steering | | +| +-----+----------+ | +| | 4 | Landing | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _KFF_RDDRMIX: + +KFF\_RDDRMIX: Rudder Mix +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amount of rudder to add during aileron movement\. Increase if nose initially yaws away from roll\. Reduces adverse yaw\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _KFF_THR2PTCH: + +KFF\_THR2PTCH: Throttle to Pitch Mix +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch up to add in proportion to throttle\. 100\% throttle will add this number of degrees to the pitch target\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.01 | -5 to 5 | ++-----------+---------+ + + + + +.. _STAB_PITCH_DOWN: + +STAB\_PITCH\_DOWN: Low throttle pitch down trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Degrees of down pitch added when throttle is below TRIM\_THROTTLE in FBWA and AUTOTUNE modes\. Scales linearly so full value is added when THR\_MIN is reached\. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls\. 2 degrees recommended for most planes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + +.. _GLIDE_SLOPE_MIN: + +GLIDE\_SLOPE\_MIN: Glide slope minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change\. The default value is 15 meters\, which helps to smooth out waypoint missions where small altitude changes happen near waypoints\. If you don\'t want glide slopes to be used in missions then you can set this to zero\, which will disable glide slope calculations\. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _GLIDE_SLOPE_THR: + +GLIDE\_SLOPE\_THR: Glide slope threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the height above the glide slope the plane may be before rebuilding a glide slope\. This is useful for smoothing out an autotakeoff + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _STICK_MIXING: + +STICK\_MIXING: Stick Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, this adds user stick input to the control surfaces in auto modes\, allowing the user to have some degree of flight control without changing modes\. There are two types of stick mixing available\. If you set STICK\_MIXING to 1 then it will use \"fly by wire\" mixing\, which controls the roll and pitch in the same way that the FBWA mode does\. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode\. If you set STICK\_MIXING to 3 then it will apply to the yaw while in quadplane modes only\, such as while doing an automatic VTOL takeoff or landing\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | FBWMixing | | +| +-------+---------------+ | +| | 3 | VTOL Yaw only | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _TKOFF_THR_MINSPD: + +TKOFF\_THR\_MINSPD: Takeoff throttle min speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum GPS ground speed in m\/s used by the speed check that un\-suppresses throttle in auto\-takeoff\. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult\, but it is preferable to use the TKOFF\_THR\_MINACC and TKOFF\_THR\_DELAY parameters for catapult launches due to the errors associated with GPS measurements\. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m\/s to provide additional protection against premature motor start\. Note that the GPS velocity will lag the real velocity by about 0\.5 seconds\. The ground speed check is delayed by the TKOFF\_THR\_DELAY parameter\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_THR_MINACC: + +TKOFF\_THR\_MINACC: Takeoff throttle min acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum forward acceleration in m\/s\/s before arming the ground speed check in auto\-takeoff\. This is meant to be used for hand launches\. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine\. For hand launches and bungee launches this should be set to around 15\. Also see TKOFF\_ACCEL\_CNT paramter for control of full \"shake to arm\"\. + + ++-----------+---------+--------------------------+ +| Increment | Range | Units | ++===========+=========+==========================+ +| 0.1 | 0 to 30 | meters per square second | ++-----------+---------+--------------------------+ + + + + +.. _TKOFF_THR_DELAY: + +TKOFF\_THR\_DELAY: Takeoff throttle delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the time delay \(in 1\/10ths of a second\) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF\_THR\_MINACC has passed\. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 \(0\.2 seconds\) to ensure that the aircraft is safely clear of the throwers arm before the motor can start\. For bungee launches a larger value can be used \(such as 30\) to give time for the bungee to release from the aircraft before the motor is started\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 0 to 127 | deciseconds | ++-----------+----------+-------------+ + + + + +.. _TKOFF_THR_MAX_T: + +TKOFF\_THR\_MAX\_T: Takeoff throttle maximum time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the time that maximum throttle will be forced during a fixed wing takeoff\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.5 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _TKOFF_THR_MIN: + +TKOFF\_THR\_MIN: Takeoff minimum throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes\, when TKOFF\_OPTIONS bit 0 is set\. Also\, the minimum throttle to use in a quadpane forward transition\. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition\. It is used when it is larger than THR\_MIN\, otherwise THR\_MIN is used instead\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_OPTIONS: + +TKOFF\_OPTIONS: Takeoff options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode of the takeoff in AUTO and TAKEOFF flight modes\. + + ++---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=============================================================================================================================================================================================================================================================================================+ +| +-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================================================================================================================================================================================================================================================+ | +| | 0 | When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. | | +| +-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _TKOFF_TDRAG_ELEV: + +TKOFF\_TDRAG\_ELEV: Takeoff tail dragger elevator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the amount of elevator to apply during the initial stage of a takeoff\. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering\. This option should be combined with the TKOFF\_TDRAG\_SPD1 option and the GROUND\_STEER\_ALT option along with tuning of the ground steering controller\. A value of zero means to bypass the initial \"tail hold\" stage of takeoff\. Set to zero for hand and catapult launch\. For tail\-draggers you should normally set this to 100\, meaning full up elevator during the initial stage of takeoff\. For most tricycle undercarriage aircraft a value of zero will work well\, but for some tricycle aircraft a small negative value \(say around \-20 to \-30\) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration\. Only use a negative value if you find that the nosewheel doesn\'t grip well during takeoff\. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel\. Add down elevator 10 percent at a time\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -100 to 100 | percent | ++-----------+-------------+---------+ + + + + +.. _TKOFF_TDRAG_SPD1: + +TKOFF\_TDRAG\_SPD1: Takeoff tail dragger speed1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground\. When TKOFF\_TDRAG\_SPD1 is reached the pitch of the aircraft will be held level until TKOFF\_ROTATE\_SPD is reached\, at which point the takeoff pitch specified in the mission will be used to \"rotate\" the pitch for takeoff climb\. Set TKOFF\_TDRAG\_SPD1 to zero to go straight to rotation\. This should be set to zero for hand launch and catapult launch\. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down\. For tail dragger aircraft it should be set just below the stall speed\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_ROTATE_SPD: + +TKOFF\_ROTATE\_SPD: Takeoff rotate speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the airspeed at which the aircraft will \"rotate\"\, setting climb pitch specified in the mission\. If TKOFF\_ROTATE\_SPD is zero then the climb pitch will be used as soon as takeoff is started\. For hand launch and catapult launches a TKOFF\_ROTATE\_SPD of zero should be set\. For all ground launches TKOFF\_ROTATE\_SPD should be set above the stall speed\, usually by about 10 to 30 percent\. During the run\, use TKOFF\_GND\_PITCH to keep the aircraft on the runway while below this airspeed\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_THR_SLEW: + +TKOFF\_THR\_SLEW: Takeoff throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the slew rate for the throttle during auto takeoff\. When this is zero the THR\_SLEWRATE parameter is used during takeoff\. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on takeoff\. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle\. A value of \-1 means no limit on slew rate in takeoff\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | -1 to 127 | percent per second | ++-----------+-----------+--------------------+ + + + + +.. _TKOFF_PLIM_SEC: + +TKOFF\_PLIM\_SEC: Takeoff pitch limit reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter reduces the pitch minimum limit of an auto\-takeoff just a few seconds before it reaches the target altitude\. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height\. When set to zero\, the mission pitch min is enforced all the way to and through the target altitude\, otherwise the pitch min slowly reduces to zero in the final segment\. This is the pitch\_min\, not the demand\. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.5 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _TKOFF_FLAP_PCNT: + +TKOFF\_FLAP\_PCNT: Takeoff flap percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of flaps \(as a percentage\) to apply in automatic takeoff + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LEVEL_ROLL_LIMIT: + +LEVEL\_ROLL\_LIMIT: Level flight roll limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the maximum bank angle in degrees during flight modes where level flight is desired\, such as in the final stages of landing\, and during auto takeoff\. This should be a small angle \(such as 5 degrees\) to prevent a wing hitting the runway during takeoff or landing\. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _USE_REV_THRUST: + +USE\_REV\_THRUST: Bitmask for when to allow negative reverse thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls when to use reverse thrust\. If set to zero then reverse thrust is never used\. If set to a non\-zero value then the bits correspond to flight stages where reverse thrust may be used\. The most commonly used value for USE\_REV\_THRUST is 2\, which means AUTO\_LAND only\. That enables reverse thrust in the landing stage of AUTO mode\. Another common choice is 1\, which means to use reverse thrust in all auto flight stages\. Reverse thrust is always used in MANUAL mode if enabled with THR\_MIN \< 0\. In non\-autothrottle controlled modes\, if reverse thrust is not used\, then THR\_MIN is effectively set to 0 for that mode\. + + ++--------------------------------+ +| Bitmask | ++================================+ +| +-----+----------------------+ | +| | Bit | Meaning | | +| +=====+======================+ | +| | 0 | AUTO_ALWAYS | | +| +-----+----------------------+ | +| | 1 | AUTO_LAND | | +| +-----+----------------------+ | +| | 2 | AUTO_LOITER_TO_ALT | | +| +-----+----------------------+ | +| | 3 | AUTO_LOITER_ALL | | +| +-----+----------------------+ | +| | 4 | AUTO_WAYPOINTS | | +| +-----+----------------------+ | +| | 5 | LOITER | | +| +-----+----------------------+ | +| | 6 | RTL | | +| +-----+----------------------+ | +| | 7 | CIRCLE | | +| +-----+----------------------+ | +| | 8 | CRUISE | | +| +-----+----------------------+ | +| | 9 | FBWB | | +| +-----+----------------------+ | +| | 10 | GUIDED | | +| +-----+----------------------+ | +| | 11 | AUTO_LANDING_PATTERN | | +| +-----+----------------------+ | +| | 12 | FBWA | | +| +-----+----------------------+ | +| | 13 | ACRO | | +| +-----+----------------------+ | +| | 14 | STABILIZE | | +| +-----+----------------------+ | +| | 15 | THERMAL | | +| +-----+----------------------+ | +| | ++--------------------------------+ + + + + +.. _ALT_OFFSET: + +ALT\_OFFSET: Altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is added to the target altitude in automatic flight\. It can be used to add a global altitude offset to a mission + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _WP_RADIUS: + +WP\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete\. To avoid the aircraft looping around the waypoint in case it misses by more than the WP\_RADIUS an additional check is made to see if the aircraft has crossed a \"finish line\" passing through the waypoint and perpendicular to the flight path from the previous waypoint\. If that finish line is crossed then the waypoint is considered complete\. Note that the navigation controller may decide to turn later than WP\_RADIUS before a waypoint\, based on how sharp the turn is and the speed of the aircraft\. It is safe to set WP\_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn\. If you set WP\_RADIUS too small then you will tend to overshoot the turns\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 1 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _WP_MAX_RADIUS: + +WP\_MAX\_RADIUS: Waypoint Maximum Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the maximum distance to a waypoint for the waypoint to be considered complete\. This overrides the \"cross the finish line\" logic that is normally used to consider a waypoint complete\. For normal AUTO behaviour this parameter should be set to zero\. Using a non\-zero value is only recommended when it is critical that the aircraft does approach within the given radius\, and should loop around until it has done so\. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _WP_LOITER_RAD: + +WP\_LOITER\_RAD: Waypoint Loiter Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from the waypoint center\, the plane will maintain during a loiter\. If you set this value to a negative number then the default loiter direction will be counter\-clockwise instead of clockwise\. + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _RTL_RADIUS: + +RTL\_RADIUS: RTL loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the radius of the loiter circle when in RTL mode\. If this is zero then WP\_LOITER\_RAD is used\. If the radius is negative then a counter\-clockwise is used\. If positive then a clockwise loiter is used\. + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _STALL_PREVENTION: + +STALL\_PREVENTION: Enable stall prevention +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables roll limits at low airspeed in roll limiting flight modes\. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED\_MIN that must be set correctly\. Without airspeed sensor\, uses synthetic airspeed from wind speed estimate that may both be inaccurate\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _AIRSPEED_CRUISE: + +AIRSPEED\_CRUISE: Target cruise airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target cruise airspeed in m\/s in automatic throttle modes\. Value is as an indicated \(calibrated\/apparent\) airspeed\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _AIRSPEED_MIN: + +AIRSPEED\_MIN: Minimum Airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum airspeed demanded in automatic throttle modes\. Should be set to 20\% higher than level flight stall speed\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 5 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AIRSPEED_MAX: + +AIRSPEED\_MAX: Maximum Airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum airspeed demanded in automatic throttle modes\. Should be set slightly less than level flight speed at THR\_MAX and also at least 50\% above AIRSPEED\_MIN to allow for accurate TECS altitude control\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 5 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AIRSPEED_STALL: + +AIRSPEED\_STALL: Stall airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking\. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed\. Typically set slightly higher then true stall speed\. Value is as an indicated \(calibrated\/apparent\) airspeed\. + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 75 | meters per second | ++---------+-------------------+ + + + + +.. _FBWB_ELEV_REV: + +FBWB\_ELEV\_REV: Fly By Wire elevator reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse sense of elevator in FBWB and CRUISE modes\. When set to 0 up elevator \(pulling back on the stick\) means to lower altitude\. When set to 1\, up elevator means to raise altitude\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TERRAIN_FOLLOW: + +TERRAIN\_FOLLOW: Use terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables terrain following for CRUISE mode\, FBWB mode\, RTL and for rally points\. To use this option you also need to set TERRAIN\_ENABLE to 1\, which enables terrain data fetching from the GCS\, and you need to have a GCS that supports sending terrain data to the aircraft\. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home\. In RTL the return to launch altitude will be considered to be a height above the terrain\. Rally point altitudes will be taken as height above the terrain\. This option does not affect mission items\, which have a per\-waypoint flag for whether they are height above home or height above the terrain\. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission\. + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | Enable all modes | | +| +-----+------------------+ | +| | 1 | FBWB | | +| +-----+------------------+ | +| | 2 | Cruise | | +| +-----+------------------+ | +| | 3 | Auto | | +| +-----+------------------+ | +| | 4 | RTL | | +| +-----+------------------+ | +| | 5 | Avoid_ADSB | | +| +-----+------------------+ | +| | 6 | Guided | | +| +-----+------------------+ | +| | 7 | Loiter | | +| +-----+------------------+ | +| | 8 | Circle | | +| +-----+------------------+ | +| | 9 | QRTL | | +| +-----+------------------+ | +| | 10 | QLand | | +| +-----+------------------+ | +| | 11 | Qloiter | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _TERRAIN_LOOKAHD: + +TERRAIN\_LOOKAHD: Terrain lookahead +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain\. A value of zero means no lookahead\, so the controller will track only the terrain directly below the aircraft\. The lookahead will never extend beyond the next waypoint when in AUTO mode\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 10000 | meters | ++------------+--------+ + + + + +.. _FBWB_CLIMB_RATE: + +FBWB\_CLIMB\_RATE: Fly By Wire B altitude change rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in m\/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection\. Note that the actual climb rate of the aircraft can be lower than this\, depending on your airspeed and throttle control settings\. If you have this parameter set to the default value of 2\.0\, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 1 to 10 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _THR_MIN: + +THR\_MIN: Minimum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. Negative values allow reverse thrust if hardware supports it\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -100 to 100 | percent | ++-----------+-------------+---------+ + + + + +.. _THR_MAX: + +THR\_MAX: Maximum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_THR_MAX: + +TKOFF\_THR\_MAX: Maximum Throttle for takeoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum throttle setting during automatic takeoff\. If this is zero then THR\_MAX is used for takeoff as well\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _THR_SLEWRATE: + +THR\_SLEWRATE: Throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum change in throttle percentage per second\. Lower limit based on 1 microsend of servo increase per loop\. Divide SCHED\_LOOP\_RATE by approximately 10 to determine minimum achievable value\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 127 | percent per second | ++-----------+----------+--------------------+ + + + + +.. _FLAP_SLEWRATE: + +FLAP\_SLEWRATE: Flap slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +maximum percentage change in flap output per second\. A setting of 25 means to not change the flap by more than 25\% of the full flap range in one second\. A value of 0 means no rate limiting\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | percent per second | ++-----------+----------+--------------------+ + + + + +.. _THR_SUPP_MAN: + +THR\_SUPP\_MAN: Throttle suppress manual passthru +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When throttle is suppressed in auto mode it is normally forced to zero\. If you enable this option\, then while suppressed it will be manual throttle\. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _THR_PASS_STAB: + +THR\_PASS\_STAB: Throttle passthru in stabilize +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is set then when in STABILIZE\, FBWA or ACRO modes the throttle is a direct passthru from the transmitter\. This means the THR\_MIN and THR\_MAX settings are not used in these modes\. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _THR_FAILSAFE: + +THR\_FAILSAFE: Throttle and RC Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0 disables the failsafe\. 1 enables failsafe on loss of RC input\. This is detected either by throttle values below THR\_FS\_VALUE\, loss of receiver valid pulses\/data\, or by the FS bit in receivers that provide it\, like SBUS\. A programmable failsafe action will occur and RC inputs\, if present\, will be ignored\. A value of 2 means that the RC inputs won\'t be used when RC failsafe is detected by any of the above methods\, but it won\'t trigger an RC failsafe action\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Disabled | | +| +-------+-------------------+ | +| | 1 | Enabled | | +| +-------+-------------------+ | +| | 2 | EnabledNoFailsafe | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _THR_FS_VALUE: + +THR\_FS\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level on the throttle input channel below which throttle failsafe triggers\. Note that this should be well below the normal minimum for your throttle channel\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 925 to 2200 | ++-----------+-------------+ + + + + +.. _TRIM_THROTTLE: + +TRIM\_THROTTLE: Throttle cruise percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED\_CRUISE\. Caution\: low battery voltages at the end of flights may require higher throttle to maintain airspeed\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _THROTTLE_NUDGE: + +THROTTLE\_NUDGE: Throttle nudge enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, this uses the throttle input in auto\-throttle modes to \'nudge\' the throttle or airspeed to higher or lower values\. When you have an airspeed sensor the nudge affects the target airspeed\, so that throttle inputs above 50\% will increase the target airspeed from AIRSPEED\_CRUISE up to a maximum of AIRSPEED\_MAX\. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50\%\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FS_SHORT_ACTN: + +FS\_SHORT\_ACTN: Short failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The action to take on a short \(FS\_SHORT\_TIMEOUT\) failsafe event\. A short failsafe event can be triggered either by loss of RC control \(see THR\_FS\_VALUE\) or by loss of GCS control \(see FS\_GCS\_ENABL\)\. If in CIRCLE or RTL mode this parameter is ignored\. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS\_SHORT\_ACTN is 0 or 1\, a change to FBWA mode with zero throttle if FS\_SHORT\_ACTN is 2\, and a change to FBWB mode if FS\_SHORT\_ACTN is 4\. In all other modes \(AUTO\, GUIDED and LOITER\) a short failsafe event will cause no mode change if FS\_SHORT\_ACTN is set to 0\, will cause a change to CIRCLE mode if set to 1\, will change to FBWA mode with zero throttle if set to 2\, or will change to FBWB if set to 4\. Please see the documentation for FS\_LONG\_ACTN for the behaviour after FS\_LONG\_TIMEOUT seconds of failsafe\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5\(QRTL\) or 20\(RTL\) are set\. + + ++----------------------------------------------------------------+ +| Values | ++================================================================+ +| +-------+----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================+ | +| | 0 | CIRCLE/no change(if already in AUTO|GUIDED|LOITER) | | +| +-------+----------------------------------------------------+ | +| | 1 | CIRCLE | | +| +-------+----------------------------------------------------+ | +| | 2 | FBWA at zero throttle | | +| +-------+----------------------------------------------------+ | +| | 3 | Disable | | +| +-------+----------------------------------------------------+ | +| | 4 | FBWB | | +| +-------+----------------------------------------------------+ | +| | ++----------------------------------------------------------------+ + + + + +.. _FS_SHORT_TIMEOUT: + +FS\_SHORT\_TIMEOUT: Short failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition has to persist before a short failsafe event will occur\. This defaults to 1\.5 seconds + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 100 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_LONG_ACTN: + +FS\_LONG\_ACTN: Long failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The action to take on a long \(FS\_LONG\_TIMEOUT seconds\) failsafe event\. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS\_LONG\_ACTN is 0 or 1\, and will change to FBWA if FS\_LONG\_ACTN is set to 2\. If the aircraft was in an auto mode \(such as AUTO or GUIDED\) when the failsafe started then it will continue in the auto mode if FS\_LONG\_ACTN is set to 0\, will change to RTL mode if FS\_LONG\_ACTN is set to 1 and will change to FBWA mode if FS\_LONG\_ACTN is set to 2\. If FS\_LONG\_ACTN is set to 3\, the parachute will be deployed \(make sure the chute is configured and enabled\)\. If FS\_LONG\_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO\, unless it is in the middle of a landing sequence\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5 \(QRTL\) or 20\(RTL\) are set\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Continue | | +| +-------+------------------+ | +| | 1 | ReturnToLaunch | | +| +-------+------------------+ | +| | 2 | Glide | | +| +-------+------------------+ | +| | 3 | Deploy Parachute | | +| +-------+------------------+ | +| | 4 | Auto | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _FS_LONG_TIMEOUT: + +FS\_LONG\_TIMEOUT: Long failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition has to persist before a long failsafe event will occur\. This defaults to 5 seconds\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 300 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_GCS_ENABL: + +FS\_GCS\_ENABL: GCS failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ground control station telemetry failsafe\. Failsafe will trigger after FS\_LONG\_TIMEOUT seconds of no MAVLink heartbeat messages\. There are three possible enabled settings\. Setting FS\_GCS\_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message\. Setting FS\_GCS\_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages\, or a RADIO\_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft\, which is indicated by the RADIO\_STATUS\.remrssi field being zero \(this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios\)\.Setting FS\_GCS\_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat\(like option one\)\, but only in AUTO mode\. WARNING\: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station\. If this option is enabled on an electric plane then you should enable ARMING\_REQUIRED\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | Disabled | | +| +-------+---------------------+ | +| | 1 | Heartbeat | | +| +-------+---------------------+ | +| | 2 | HeartbeatAndREMRSSI | | +| +-------+---------------------+ | +| | 3 | HeartbeatAndAUTO | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _FLTMODE_CH: + +FLTMODE\_CH: Flightmode channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | Channel 1 | | +| +-------+------------+ | +| | 2 | Channel 2 | | +| +-------+------------+ | +| | 3 | Channel 3 | | +| +-------+------------+ | +| | 4 | Channel 4 | | +| +-------+------------+ | +| | 5 | Channel 5 | | +| +-------+------------+ | +| | 6 | Channel 6 | | +| +-------+------------+ | +| | 7 | Channel 7 | | +| +-------+------------+ | +| | 8 | Channel 8 | | +| +-------+------------+ | +| | 9 | Channel 9 | | +| +-------+------------+ | +| | 10 | Channel 10 | | +| +-------+------------+ | +| | 11 | Channel 11 | | +| +-------+------------+ | +| | 12 | Channel 12 | | +| +-------+------------+ | +| | 13 | Channel 13 | | +| +-------+------------+ | +| | 14 | Channel 14 | | +| +-------+------------+ | +| | 15 | Channel 15 | | +| +-------+------------+ | +| | 16 | Channel 16 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _FLTMODE1: + +FLTMODE1: FlightMode1 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 1 \(910 to 1230 and above 2049\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE2: + +FLTMODE2: FlightMode2 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 2 \(1231 to 1360\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE3: + +FLTMODE3: FlightMode3 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 3 \(1361 to 1490\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE4: + +FLTMODE4: FlightMode4 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 4 \(1491 to 1620\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE5: + +FLTMODE5: FlightMode5 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 5 \(1621 to 1749\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _FLTMODE6: + +FLTMODE6: FlightMode6 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 6 \(1750 to 2049\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial flight mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Manual | | +| +-------+-----------------+ | +| | 1 | CIRCLE | | +| +-------+-----------------+ | +| | 2 | STABILIZE | | +| +-------+-----------------+ | +| | 3 | TRAINING | | +| +-------+-----------------+ | +| | 4 | ACRO | | +| +-------+-----------------+ | +| | 5 | FBWA | | +| +-------+-----------------+ | +| | 6 | FBWB | | +| +-------+-----------------+ | +| | 7 | CRUISE | | +| +-------+-----------------+ | +| | 8 | AUTOTUNE | | +| +-------+-----------------+ | +| | 10 | Auto | | +| +-------+-----------------+ | +| | 11 | RTL | | +| +-------+-----------------+ | +| | 12 | Loiter | | +| +-------+-----------------+ | +| | 13 | TAKEOFF | | +| +-------+-----------------+ | +| | 14 | AVOID_ADSB | | +| +-------+-----------------+ | +| | 15 | Guided | | +| +-------+-----------------+ | +| | 17 | QSTABILIZE | | +| +-------+-----------------+ | +| | 18 | QHOVER | | +| +-------+-----------------+ | +| | 19 | QLOITER | | +| +-------+-----------------+ | +| | 20 | QLAND | | +| +-------+-----------------+ | +| | 21 | QRTL | | +| +-------+-----------------+ | +| | 22 | QAUTOTUNE | | +| +-------+-----------------+ | +| | 23 | QACRO | | +| +-------+-----------------+ | +| | 24 | THERMAL | | +| +-------+-----------------+ | +| | 25 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _ROLL_LIMIT_DEG: + +ROLL\_LIMIT\_DEG: Maximum Bank Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum bank angle commanded in modes with stabilized limits\. Increase this value for sharper turns\, but decrease to prevent accelerated stalls\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _PTCH_LIM_MAX_DEG: + +PTCH\_LIM\_MAX\_DEG: Maximum Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch up angle commanded in modes with stabilized limits\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _PTCH_LIM_MIN_DEG: + +PTCH\_LIM\_MIN\_DEG: Minimum Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch down angle commanded in modes with stabilized limits + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -90 to 0 | degrees | ++-----------+----------+---------+ + + + + +.. _ACRO_ROLL_RATE: + +ACRO\_ROLL\_RATE: ACRO mode roll rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum roll rate at full stick deflection in ACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ACRO_PITCH_RATE: + +ACRO\_PITCH\_RATE: ACRO mode pitch rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum pitch rate at full stick deflection in ACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ACRO_YAW_RATE: + +ACRO\_YAW\_RATE: ACRO mode yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum yaw rate at full stick deflection in ACRO mode\. If this is zero then rudder is directly controlled by rudder stick input\. This option is only available if you also set YAW\_RATE\_ENABLE to 1\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 500 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _ACRO_LOCKING: + +ACRO\_LOCKING: ACRO mode attitude locking +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable attitude locking when sticks are released\. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled\. Quaternion based locking will hold any attitude + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | Enabled | | +| +-------+------------+ | +| | 2 | Quaternion | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _GROUND_STEER_ALT: + +GROUND\_STEER\_ALT: Ground steer altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude at which to use the ground steering controller on the rudder\. If non\-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _GROUND_STEER_DPS: + +GROUND\_STEER\_DPS: Ground steer rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ground steering rate in degrees per second for full rudder stick deflection + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 360 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _MIXING_GAIN: + +MIXING\_GAIN: Mixing Gain +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The gain for the Vtail and elevon output mixers\. The default is 0\.5\, which ensures that the mixer doesn\'t saturate\, allowing both input channels to go to extremes while retaining control over the output\. Hardware mixers often have a 1\.0 gain\, which gives more servo throw\, but can saturate\. If you don\'t have enough throw on your servos with VTAIL\_OUTPUT or ELEVON\_OUTPUT enabled then you can raise the gain using MIXING\_GAIN\. The mixer allows outputs in the range 900 to 2100 microseconds\. + + ++------------+ +| Range | ++============+ +| 0.5 to 1.2 | ++------------+ + + + + +.. _RUDDER_ONLY: + +RUDDER\_ONLY: Rudder only aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable rudder only mode\. The rudder will control attitude in attitude controlled modes \(such as FBWA\)\. You should setup your transmitter to send roll stick inputs to the RCMAP\_YAW channel \(normally channel 4\)\. The rudder servo should be attached to the RCMAP\_YAW channel as well\. Note that automatic ground steering will be disabled for rudder only aircraft\. You should also set KFF\_RDDRMIX to 1\.0\. You will also need to setup the YAW2SRV\_DAMP yaw damping appropriately for your aircraft\. A value of 0\.5 for YAW2SRV\_DAMP is a good starting point\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MIXING_OFFSET: + +MIXING\_OFFSET: Mixing Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The offset for the Vtail and elevon output mixers\, as a percentage\. This can be used in combination with MIXING\_GAIN to configure how the control surfaces respond to input\. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value\. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing\. The default value of zero will leave the aileron\-input response equal to the elevator\-input response\. + + ++---------------+-------------+ +| Range | Units | ++===============+=============+ +| -1000 to 1000 | decipercent | ++---------------+-------------+ + + + + +.. _DSPOILR_RUD_RATE: + +DSPOILR\_RUD\_RATE: Differential spoilers rudder rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the amount of deflection that the rudder output will apply to the differential spoilers\, as a percentage\. The default value of 100 results in full rudder applying full deflection\. A value of 0 will result in the differential spoilers exactly following the elevons \(no rudder effect\)\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -100 to 100 | percent | ++-------------+---------+ + + + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmap of what on\-board log types to enable\. This value is made up of the sum of each of the log types you want to be saved\. It is usually best just to enable all basic log types by setting this to 65535\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Fast Attitude | | +| +-----+---------------------+ | +| | 1 | Medium Attitude | | +| +-----+---------------------+ | +| | 2 | GPS | | +| +-----+---------------------+ | +| | 3 | Performance | | +| +-----+---------------------+ | +| | 4 | Control Tuning | | +| +-----+---------------------+ | +| | 5 | Navigation Tuning | | +| +-----+---------------------+ | +| | 7 | IMU | | +| +-----+---------------------+ | +| | 8 | Mission Commands | | +| +-----+---------------------+ | +| | 9 | Battery Monitor | | +| +-----+---------------------+ | +| | 10 | Compass | | +| +-----+---------------------+ | +| | 11 | TECS | | +| +-----+---------------------+ | +| | 12 | Camera | | +| +-----+---------------------+ | +| | 13 | RC Input-Output | | +| +-----+---------------------+ | +| | 14 | Rangefinder | | +| +-----+---------------------+ | +| | 19 | Raw IMU | | +| +-----+---------------------+ | +| | 20 | Fullrate Attitude | | +| +-----+---------------------+ | +| | 21 | Video Stabilization | | +| +-----+---------------------+ | +| | 22 | Fullrate Notch | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _SCALING_SPEED: + +SCALING\_SPEED: speed used for speed scaling calculations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed in m\/s to use when calculating surface speed scaling\. Note that changing this value will affect all PID values + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _MIN_GROUNDSPEED: + +MIN\_GROUNDSPEED: Minimum ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum ground speed when under airspeed control + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _PTCH_TRIM_DEG: + +PTCH\_TRIM\_DEG: Pitch angle offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in degrees used for in\-flight pitch trimming for level flight\. Correct ground leveling is an alternative to changing this parameter\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -45 to 45 | degrees | ++-----------+---------+ + + + + +.. _RTL_ALTITUDE: + +RTL\_ALTITUDE: RTL altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target altitude above home for RTL mode\. Maintains current altitude if set to \-1\. Rally point altitudes are used if plane does not return to home\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _CRUISE_ALT_FLOOR: + +CRUISE\_ALT\_FLOOR: Minimum altitude for FBWB and CRUISE mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum altitude in meters \(above home\) that FBWB and CRUISE modes will allow\. If you attempt to descend below this altitude then the plane will level off\. It will also force a climb to this altitude if below in these modes\. A value of zero means no limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _FLAP_1_PERCNT: + +FLAP\_1\_PERCNT: Flap 1 percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP\_1\_SPEED is reached\. Use zero to disable flaps + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FLAP_1_SPEED: + +FLAP\_1\_SPEED: Flap 1 speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP\_1\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _FLAP_2_PERCNT: + +FLAP\_2\_PERCNT: Flap 2 percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP\_2\_SPEED is reached\. Use zero to disable flaps + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FLAP_2_SPEED: + +FLAP\_2\_SPEED: Flap 2 speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP\_2\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _OVERRIDE_CHAN: + +OVERRIDE\_CHAN: IO override channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set to a non\-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co\-processor fails\. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos\. Note that IO manual control will be automatically activated if the FMU crashes for any reason\. This parameter allows you to test for correct manual behaviour without actually crashing the FMU\. This parameter is can be set to a non\-zero value either for ground testing purposes or for giving the effect of an external override control board\. Note that you may set OVERRIDE\_CHAN to the same channel as FLTMODE\_CH to get IO based override when in flight mode 6\. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated\, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 16 | ++-----------+---------+ + + + + +.. _RTL_AUTOLAND: + +RTL\_AUTOLAND: RTL auto land +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically begin landing sequence after arriving at RTL location\. This requires the addition of a DO\_LAND\_START mission item\, which acts as a marker for the start of a landing sequence\. The closest landing sequence will be chosen to the current location\. If this is set to 0 and there is a DO\_LAND\_START mission item then you will get an arming check failure\. You can set to a value of 3 to avoid the arming check failure and use the DO\_LAND\_START for go\-around without it changing RTL behaviour\. For a value of 1 a rally point will be used instead of HOME if in range \(see rally point documentation\)\. + + ++---------------------------------------------+ +| Values | ++=============================================+ +| +-------+---------------------------------+ | +| | Value | Meaning | | +| +=======+=================================+ | +| | 0 | Disable | | +| +-------+---------------------------------+ | +| | 1 | Fly HOME then land | | +| +-------+---------------------------------+ | +| | 2 | Go directly to landing sequence | | +| +-------+---------------------------------+ | +| | 3 | OnlyForGoAround | | +| +-------+---------------------------------+ | +| | ++---------------------------------------------+ + + + + +.. _CRASH_ACC_THRESH: + +CRASH\_ACC\_THRESH: Crash Deceleration Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X\-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash\. This value should be much higher than normal negative x\-axis forces during normal flight\, check flight log files to determine the average IMU\.x values for your aircraft and motor type\. Higher value means less sensative \(triggers on higher impact\)\. For electric planes that don\'t vibrate much during fight a value of 25 is good \(that\'s about 2\.5G\)\. For petrol\/nitro planes you\'ll want a higher value\. Set to 0 to disable the collision detector\. + + ++-----------+-----------+--------------------------+ +| Increment | Range | Units | ++===========+===========+==========================+ +| 1 | 10 to 127 | meters per square second | ++-----------+-----------+--------------------------+ + + + + +.. _CRASH_DETECT: + +CRASH\_DETECT: Crash Detection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically detect a crash during AUTO flight and perform the bitmask selected action\(s\)\. Disarm will turn off motor for safety and to help against burning out ESC and motor\. Set to 0 to disable crash detection\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Disarm | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _RNGFND_LANDING: + +RNGFND\_LANDING: Enable rangefinder for landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables the use of a rangefinder for automatic landing\. The rangefinder will be used both on the landing approach and for final flare + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotEnforced | | +| +-------+-------------+ | +| | 1 | Enforced | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RUDD_DT_GAIN: + +RUDD\_DT\_GAIN: rudder differential thrust gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +gain control from rudder to differential thrust + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _MANUAL_RCMASK: + +MANUAL\_RCMASK: Manual R\/C pass\-through mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of R\/C channels to pass directly to corresponding output channel when in MANUAL mode\. When in any mode except MANUAL the channels selected with this option behave normally\. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing\. Note that when this option is used you need to be very careful with pre\-flight checks to ensure that the output is correct both in MANUAL and non\-MANUAL modes\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Chan1 | | +| +-----+---------+ | +| | 1 | Chan2 | | +| +-----+---------+ | +| | 2 | Chan3 | | +| +-----+---------+ | +| | 3 | Chan4 | | +| +-----+---------+ | +| | 4 | Chan5 | | +| +-----+---------+ | +| | 5 | Chan6 | | +| +-----+---------+ | +| | 6 | Chan7 | | +| +-----+---------+ | +| | 7 | Chan8 | | +| +-----+---------+ | +| | 8 | Chan9 | | +| +-----+---------+ | +| | 9 | Chan10 | | +| +-----+---------+ | +| | 10 | Chan11 | | +| +-----+---------+ | +| | 11 | Chan12 | | +| +-----+---------+ | +| | 12 | Chan13 | | +| +-----+---------+ | +| | 13 | Chan14 | | +| +-----+---------+ | +| | 14 | Chan15 | | +| +-----+---------+ | +| | 15 | Chan16 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _HOME_RESET_ALT: + +HOME\_RESET\_ALT: Home reset altitude threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When the aircraft is within this altitude of the home waypoint\, while disarmed it will automatically update the home position\. Set to 0 to continously reset it\. + + ++-----------+--------+--------------------------+ +| Range | Units | Values | ++===========+========+==========================+ +| -1 to 127 | meters | +-------+--------------+ | +| | | | Value | Meaning | | +| | | +=======+==============+ | +| | | | -1 | Never reset | | +| | | +-------+--------------+ | +| | | | 0 | Always reset | | +| | | +-------+--------------+ | +| | | | ++-----------+--------+--------------------------+ + + + + +.. _FLIGHT_OPTIONS: + +FLIGHT\_OPTIONS: Flight mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Flight mode specific options + + ++-----------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=======================================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================================================================+ | +| | 0 | Rudder mixing in direct flight modes only (Manual/Stabilize/Acro) | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 1 | Use centered throttle in Cruise or FBWB to indicate trim airspeed | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 2 | Disable attitude check for takeoff arming | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 3 | Force target airspeed to trim airspeed in Cruise or FBWB | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 4 | Climb to RTL_ALTITUDE before turning for RTL | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 5 | Enable yaw damper in acro mode | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 6 | Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor. | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 7 | EnableDefaultAirspeed for takeoff | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 8 | Remove the PTCH_TRIM_DEG on the GCS horizon | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 9 | Remove the PTCH_TRIM_DEG on the OSD horizon | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 10 | Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 11 | Disable suppression of fixed wing rate gains in ground mode | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 12 | Enable FBWB style loiter altitude control | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 13 | Indicate takeoff waiting for neutral rudder with flight control surfaces | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | 14 | In AUTO - climb to next waypoint altitude immediately instead of linear climb | | +| +-----+-------------------------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------------------------+ + + + + +.. _TKOFF_ACCEL_CNT: + +TKOFF\_ACCEL\_CNT: Takeoff throttle acceleration count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the number of acceleration events to require for arming with TKOFF\_THR\_MINACC\. The default is 1\, which means a single forward acceleration above TKOFF\_THR\_MINACC will arm\. By setting this higher than 1 you can require more forward\/backward movements to arm\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _DSPOILER_CROW_W1: + +DSPOILER\_CROW\_W1: Differential spoiler crow flaps outer weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 25\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _DSPOILER_CROW_W2: + +DSPOILER\_CROW\_W2: Differential spoiler crow flaps inner weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 45\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_TIMEOUT: + +TKOFF\_TIMEOUT: Takeoff timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the timeout for an automatic takeoff\. If this is non\-zero and the aircraft does not reach a ground speed of at least 4 m\/s within this number of seconds then the takeoff is aborted and the vehicle disarmed\. If the value is zero then no timeout applies\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _DSPOILER_OPTS: + +DSPOILER\_OPTS: Differential spoiler and crow flaps options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Differential spoiler and crow flaps options\. Progressive crow flaps only first \(0\-50\% flap in\) then crow flaps \(50 \- 100\% flap in\)\. + + ++-----------------------------------------------------------+ +| Bitmask | ++===========================================================+ +| +-----+-------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=================================================+ | +| | 0 | Pitch input | | +| +-----+-------------------------------------------------+ | +| | 1 | use both control surfaces on each wing for roll | | +| +-----+-------------------------------------------------+ | +| | 2 | Progressive crow flaps | | +| +-----+-------------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _DSPOILER_AILMTCH: + +DSPOILER\_AILMTCH: Differential spoiler aileron matching +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons\, 100 is use full range\, upwards travel is unaffected + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FWD_BAT_VOLT_MAX: + +FWD\_BAT\_VOLT\_MAX: Forward throttle battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 0.1 | 6 to 35 | volt | ++-----------+---------+-------+ + + + + +.. _FWD_BAT_VOLT_MIN: + +FWD\_BAT\_VOLT\_MIN: Forward throttle battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.5 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 0.1 | 6 to 35 | volt | ++-----------+---------+-------+ + + + + +.. _FWD_BAT_IDX: + +FWD\_BAT\_IDX: Forward throttle battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation for the forward throttle + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | First battery | | +| +-------+----------------+ | +| | 1 | Second battery | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.6 | Strict | | +| +-------+---------+ | +| | 0.8 | Default | | +| +-------+---------+ | +| | 1.0 | Relaxed | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RTL_CLIMB_MIN: + +RTL\_CLIMB\_MIN: RTL minimum climb +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle will climb this many m during the initial climb portion of the RTL\. During this time the roll will be limited to LEVEL\_ROLL\_LIMIT degrees\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _MAN_EXPO_ROLL: + +MAN\_EXPO\_ROLL: Manual control expo for roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for roll input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _MAN_EXPO_PITCH: + +MAN\_EXPO\_PITCH: Manual input expo for pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for pitch input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _MAN_EXPO_RUDDER: + +MAN\_EXPO\_RUDDER: Manual input expo for rudder +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for rudder input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _ONESHOT_MASK: + +ONESHOT\_MASK: Oneshot output mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of output channels to use oneshot on + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _AUTOTUNE_AXES: + +AUTOTUNE\_AXES: Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _RNGFND_LND_ORNT: + +RNGFND\_LND\_ORNT: rangefinder landing orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The orientation of rangefinder to use for landing detection\. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters\. Custom orientation can be used with Custom1 or Custom2\. The orientation must match at least one of the available rangefinders\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 4 | Back | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | 101 | Custom1 | | +| +-------+---------+ | +| | 102 | Custom2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Manual | | +| +-----+------------+ | +| | 1 | Circle | | +| +-----+------------+ | +| | 2 | Stabilize | | +| +-----+------------+ | +| | 3 | Training | | +| +-----+------------+ | +| | 4 | ACRO | | +| +-----+------------+ | +| | 5 | FBWA | | +| +-----+------------+ | +| | 6 | FBWB | | +| +-----+------------+ | +| | 7 | CRUISE | | +| +-----+------------+ | +| | 8 | AUTOTUNE | | +| +-----+------------+ | +| | 9 | Auto | | +| +-----+------------+ | +| | 10 | Loiter | | +| +-----+------------+ | +| | 11 | Takeoff | | +| +-----+------------+ | +| | 12 | AVOID_ADSB | | +| +-----+------------+ | +| | 13 | Guided | | +| +-----+------------+ | +| | 14 | THERMAL | | +| +-----+------------+ | +| | 15 | QSTABILIZE | | +| +-----+------------+ | +| | 16 | QHOVER | | +| +-----+------------+ | +| | 17 | QLOITER | | +| +-----+------------+ | +| | 18 | QACRO | | +| +-----+------------+ | +| | 19 | QAUTOTUNE | | +| +-----+------------+ | +| | ++----------------------+ + + + + + +.. _parameters_ADSB_: + +ADSB\_ Parameters +----------------- + + +.. _ADSB_TYPE: + +ADSB\_TYPE: ADSB Type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Type of ADS\-B hardware for ADSB\-in and ADSB\-out configuration and operation\. If any type is selected then MAVLink based ADSB\-in messages will always be enabled + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | uAvionix-MAVLink | | +| +-------+--------------------+ | +| | 2 | Sagetech | | +| +-------+--------------------+ | +| | 3 | uAvionix-UCP | | +| +-------+--------------------+ | +| | 4 | Sagetech MX Series | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _ADSB_LIST_MAX: + +ADSB\_LIST\_MAX: ADSB vehicle list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +ADSB list size of nearest vehicles\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _ADSB_LIST_RADIUS: + +ADSB\_LIST\_RADIUS: ADSB vehicle list radius filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 100000 | meters | ++-------------+--------+ + + + + +.. _ADSB_ICAO_ID: + +ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID unique vehicle identification number of this aircraft\. This is an integer limited to 24bits\. If set to 0 then one will be randomly generated\. If set to \-1 then static information is not sent\, transceiver is assumed pre\-programmed\. + + ++----------------+ +| Range | ++================+ +| -1 to 16777215 | ++----------------+ + + + + +.. _ADSB_EMIT_TYPE: + +ADSB\_EMIT\_TYPE: Emitter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | NoInfo | | +| +-------+------------------+ | +| | 1 | Light | | +| +-------+------------------+ | +| | 2 | Small | | +| +-------+------------------+ | +| | 3 | Large | | +| +-------+------------------+ | +| | 4 | HighVortexlarge | | +| +-------+------------------+ | +| | 5 | Heavy | | +| +-------+------------------+ | +| | 6 | HighlyManuv | | +| +-------+------------------+ | +| | 7 | Rotocraft | | +| +-------+------------------+ | +| | 8 | RESERVED | | +| +-------+------------------+ | +| | 9 | Glider | | +| +-------+------------------+ | +| | 10 | LightAir | | +| +-------+------------------+ | +| | 11 | Parachute | | +| +-------+------------------+ | +| | 12 | UltraLight | | +| +-------+------------------+ | +| | 13 | RESERVED | | +| +-------+------------------+ | +| | 14 | UAV | | +| +-------+------------------+ | +| | 15 | Space | | +| +-------+------------------+ | +| | 16 | RESERVED | | +| +-------+------------------+ | +| | 17 | EmergencySurface | | +| +-------+------------------+ | +| | 18 | ServiceSurface | | +| +-------+------------------+ | +| | 19 | PointObstacle | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _ADSB_LEN_WIDTH: + +ADSB\_LEN\_WIDTH: Aircraft length and width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters\. In most cases\, use a value of 1 for smallest size\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | NO_DATA | | +| +-------+----------+ | +| | 1 | L15W23 | | +| +-------+----------+ | +| | 2 | L25W28P5 | | +| +-------+----------+ | +| | 3 | L25W34 | | +| +-------+----------+ | +| | 4 | L35W33 | | +| +-------+----------+ | +| | 5 | L35W38 | | +| +-------+----------+ | +| | 6 | L45W39P5 | | +| +-------+----------+ | +| | 7 | L45W45 | | +| +-------+----------+ | +| | 8 | L55W45 | | +| +-------+----------+ | +| | 9 | L55W52 | | +| +-------+----------+ | +| | 10 | L65W59P5 | | +| +-------+----------+ | +| | 11 | L65W67 | | +| +-------+----------+ | +| | 12 | L75W72P5 | | +| +-------+----------+ | +| | 13 | L75W80 | | +| +-------+----------+ | +| | 14 | L85W80 | | +| +-------+----------+ | +| | 15 | L85W90 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ADSB_OFFSET_LAT: + +ADSB\_OFFSET\_LAT: GPS antenna lateral offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna lateral offset\. This describes the physical location offset from center of the GPS antenna on the aircraft\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | NoData | | +| +-------+---------+ | +| | 1 | Left2m | | +| +-------+---------+ | +| | 2 | Left4m | | +| +-------+---------+ | +| | 3 | Left6m | | +| +-------+---------+ | +| | 4 | Center | | +| +-------+---------+ | +| | 5 | Right2m | | +| +-------+---------+ | +| | 6 | Right4m | | +| +-------+---------+ | +| | 7 | Right6m | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ADSB_OFFSET_LON: + +ADSB\_OFFSET\_LON: GPS antenna longitudinal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna longitudinal offset\. This is usually set to 1\, Applied By Sensor + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | NO_DATA | | +| +-------+-----------------+ | +| | 1 | AppliedBySensor | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _ADSB_RF_SELECT: + +ADSB\_RF\_SELECT: Transceiver RF selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and\/or Rx\. Rx\-only devices should override this to always be Rx\-only\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Rx | | +| +-----+---------+ | +| | 1 | Tx | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _ADSB_SQUAWK: + +ADSB\_SQUAWK: Squawk code +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 0 to 7777 | octal | ++-----------+-------+ + + + + +.. _ADSB_RF_CAPABLE: + +ADSB\_RF\_CAPABLE: RF capabilities +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Describes your hardware RF In\/Out capabilities\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | UAT_in | | +| +-----+------------+ | +| | 1 | 1090ES_in | | +| +-----+------------+ | +| | 2 | UAT_out | | +| +-----+------------+ | +| | 3 | 1090ES_out | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _ADSB_LIST_ALT: + +ADSB\_LIST\_ALT: ADSB vehicle list altitude filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter\. Vehicles detected above this altitude will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _ADSB_ICAO_SPECL: + +ADSB\_ICAO\_SPECL: ICAO\_ID of special vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID of special vehicle that ignores ADSB\_LIST\_RADIUS and ADSB\_LIST\_ALT\. The vehicle is always tracked\. Use 0 to disable\. + + +.. _ADSB_LOG: + +ADSB\_LOG: ADS\-B logging +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +0\: no logging\, 1\: log only special ID\, 2\:log all + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | no logging | | +| +-------+---------------------+ | +| | 1 | log only special ID | | +| +-------+---------------------+ | +| | 2 | log all | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ADSB_OPTIONS: + +ADSB\_OPTIONS: ADS\-B Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | Ping200X Send GPS | | +| +-----+----------------------------------+ | +| | 1 | Squawk 7400 on RC failsafe | | +| +-----+----------------------------------+ | +| | 2 | Squawk 7400 on GCS failsafe | | +| +-----+----------------------------------+ | +| | 3 | Sagetech MXS use External Config | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----------------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=============================================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================================================================================+ | +| | 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | 1 | Enable AFS for all autonomous modes (not just AUTO) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | Use GPS for DCM position | | +| +-------+-------------------------------------+ | +| | 2 | Use GPS for DCM position and height | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | Enable EKF2 | | +| +-------+--------------+ | +| | 3 | Enable EKF3 | | +| +-------+--------------+ | +| | 11 | ExternalAHRS | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 0 | DisableDCMFallbackFW | | +| +-----+-----------------------------+ | +| | 1 | DisableDCMFallbackVTOL | | +| +-----+-----------------------------+ | +| | 2 | DontDisableAirspeedUsingEKF | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 1 | NMEA AIVDM message | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----------------------------------------------+ +| Bitmask | ++===============================================+ +| +-----+-------------------------------------+ | +| | Bit | Meaning | | +| +=====+=====================================+ | +| | 0 | Log all AIVDM messages | | +| +-----+-------------------------------------+ | +| | 1 | Log only unsupported AIVDM messages | | +| +-----+-------------------------------------+ | +| | 2 | Log decoded messages | | +| +-----+-------------------------------------+ | +| | ++-----------------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_BBOX_SPD: + +ARMING\_BBOX\_SPD: Blackbox speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging\. WARNING\: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 1 to 20 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _ARMING_REQUIRE: + +ARMING\_REQUIRE: Require Arming Motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, send 0 PWM \(no signal\) to throttle channel when disarmed\. On planes with ICE enabled and the throttle while disarmed option set in ICE\_OPTIONS\, the motor will always get THR\_MIN when disarmed\. Arming will occur using either rudder stick arming \(if enabled\) or GCS command when all mandatory and ARMING\_CHECK items are satisfied\. Note\, when setting this parameter to 0\, a reboot is required to immediately arm the plane\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | minimum PWM when disarmed | | +| +-------+---------------------------+ | +| | 2 | 0 PWM when disarmed | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Disabled | | +| +-------+-------------+ | +| | 1 | ArmingOnly | | +| +-------+-------------+ | +| | 2 | ArmOrDisarm | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | Land | | +| +-----+---------------+ | +| | 1 | VTOL Land | | +| +-----+---------------+ | +| | 2 | DO_LAND_START | | +| +-----+---------------+ | +| | 3 | Takeoff | | +| +-----+---------------+ | +| | 4 | VTOL Takeoff | | +| +-----+---------------+ | +| | 5 | Rallypoint | | +| +-----+---------------+ | +| | 6 | RTL | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | All | | +| +-----+------------------------+ | +| | 1 | Barometer | | +| +-----+------------------------+ | +| | 2 | Compass | | +| +-----+------------------------+ | +| | 3 | GPS lock | | +| +-----+------------------------+ | +| | 4 | INS | | +| +-----+------------------------+ | +| | 5 | Parameters | | +| +-----+------------------------+ | +| | 6 | RC Channels | | +| +-----+------------------------+ | +| | 7 | Board voltage | | +| +-----+------------------------+ | +| | 8 | Battery Level | | +| +-----+------------------------+ | +| | 9 | Airspeed | | +| +-----+------------------------+ | +| | 10 | Logging Available | | +| +-----+------------------------+ | +| | 11 | Hardware safety switch | | +| +-----+------------------------+ | +| | 12 | GPS Configuration | | +| +-----+------------------------+ | +| | 13 | System | | +| +-----+------------------------+ | +| | 14 | Mission | | +| +-----+------------------------+ | +| | 15 | Rangefinder | | +| +-----+------------------------+ | +| | 16 | Camera | | +| +-----+------------------------+ | +| | 17 | AuxAuth | | +| +-----+------------------------+ | +| | 19 | FFT | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++---------------------------------------------------+ +| Bitmask | ++===================================================+ +| +-----+-----------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================+ | +| | 0 | Disable prearm display | | +| +-----+-----------------------------------------+ | +| | 1 | Do not send status text on state change | | +| +-----+-----------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Crash Dump arming check active | | +| +-------+-------------------------------------+ | +| | 1 | Crash Dump arming check deactivated | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | FirstSensor | | +| +-------+-------------+ | +| | 1 | 2ndSensor | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of options to use with airspeed\. 0\:Disable use based on airspeed\/groundspeed mismatch \(see ARSPD\_WIND\_MAX\)\, 1\:Automatically reenable use based on airspeed\/groundspeed mismatch recovery \(see ARSPD\_WIND\_MAX\) 2\:Disable voltage correction\, 3\:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 \(requires AHRS\_EKF\_TYPE \= 3\)\, 4\:Report cal offset to GCS + + ++--------------------------------------+ +| Bitmask | ++======================================+ +| +-----+----------------------------+ | +| | Bit | Meaning | | +| +=====+============================+ | +| | 0 | SpeedMismatchDisable | | +| +-----+----------------------------+ | +| | 1 | AllowSpeedMismatchRecovery | | +| +-----+----------------------------+ | +| | 2 | DisableVoltageCorrection | | +| +-----+----------------------------+ | +| | 3 | UseEkf3Consistency | | +| +-----+----------------------------+ | +| | 4 | ReportOffset | | +| +-----+----------------------------+ | +| | ++--------------------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy\. Using ARSPD\_OPTION this health value can be used to disable the sensor\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning\. If 0 ARSPD\_WIND\_MAX is used\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of standard deviations applied to the re\-enable EKF consistency check that is used when ARSPD\_OPTIONS bit position 3 is set\. Larger values will make the re\-enabling of the airspeed sensor faster\, but increase the likelihood of re\-enabling a degraded sensor\. The value can be tuned by using the ARSP\.TR log message by setting ARSPD\_WIND\_GATE to a value that is higher than the value for ARSP\.TR observed with a healthy airspeed sensor\. Occasional transients in ARSP\.TR above the value set by ARSPD\_WIND\_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10\% duty cycle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: Automatic airspeed ratio calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: Automatic airspeed ratio calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_AVD_: + +AVD\_ Parameters +---------------- + + +.. _AVD_ENABLE: + +AVD\_ENABLE: Enable Avoidance using ADSB +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _AVD_F_ACTION: + +AVD\_F\_ACTION: Collision Avoidance Behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + + ++----------------------------------------+ +| Values | ++========================================+ +| +-------+----------------------------+ | +| | Value | Meaning | | +| +=======+============================+ | +| | 0 | None | | +| +-------+----------------------------+ | +| | 1 | Report | | +| +-------+----------------------------+ | +| | 2 | Climb Or Descend | | +| +-------+----------------------------+ | +| | 3 | Move Horizontally | | +| +-------+----------------------------+ | +| | 4 | Move Perpendicularly in 3D | | +| +-------+----------------------------+ | +| | 5 | RTL | | +| +-------+----------------------------+ | +| | 6 | Hover | | +| +-------+----------------------------+ | +| | ++----------------------------------------+ + + + + +.. _AVD_W_ACTION: + +AVD\_W\_ACTION: Collision Avoidance Behavior \- Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Report | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _AVD_F_RCVRY: + +AVD\_F\_RCVRY: Recovery behaviour after a fail event +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | Remain in AVOID_ADSB | | +| +-------+-----------------------------+ | +| | 1 | Resume previous flight mode | | +| +-------+-----------------------------+ | +| | 2 | RTL | | +| +-------+-----------------------------+ | +| | 3 | Resume if AUTO else Loiter | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _AVD_OBS_MAX: + +AVD\_OBS\_MAX: Maximum number of obstacles to track +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of obstacles to track + + +.. _AVD_W_TIME: + +AVD\_W\_TIME: Time Horizon Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\) + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_F_TIME: + +AVD\_F\_TIME: Time Horizon Fail +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_W_DIST_XY: + +AVD\_W\_DIST\_XY: Distance Warn XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before W\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_XY: + +AVD\_F\_DIST\_XY: Distance Fail XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before F\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_W_DIST_Z: + +AVD\_W\_DIST\_Z: Distance Warn Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_W is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_Z: + +AVD\_F\_DIST\_Z: Distance Fail Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_F is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_ALT_MIN: + +AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum AMSL \(above mean sea level\) altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | FirstBaro | | +| +-------+-----------+ | +| | 1 | 2ndBaro | | +| +-------+-----------+ | +| | 2 | 3rdBaro | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Bus0 | | +| +-------+----------+ | +| | 1 | Bus1 | | +| +-------+----------+ | +| | 6 | Bus6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | BMP085 | | +| +-----+---------+ | +| | 1 | BMP280 | | +| +-----+---------+ | +| | 2 | MS5611 | | +| +-----+---------+ | +| | 3 | MS5607 | | +| +-----+---------+ | +| | 4 | MS5637 | | +| +-----+---------+ | +| | 5 | FBM320 | | +| +-----+---------+ | +| | 6 | DPS280 | | +| +-----+---------+ | +| | 7 | LPS25H | | +| +-----+---------+ | +| | 8 | Keller | | +| +-----+---------+ | +| | 9 | MS5837 | | +| +-----+---------+ | +| | 10 | BMP388 | | +| +-----+---------+ | +| | 11 | SPL06 | | +| +-----+---------+ | +| | 12 | MSP | | +| +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Treat MS5611 as MS5607 | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_WATT_MAX: + +BATT2\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_WATT_MAX: + +BATT3\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_WATT_MAX: + +BATT4\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_WATT_MAX: + +BATT5\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_WATT_MAX: + +BATT6\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_WATT_MAX: + +BATT7\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_WATT_MAX: + +BATT8\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_WATT_MAX: + +BATT9\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_WATT_MAX: + +BATTA\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_WATT_MAX: + +BATTB\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_WATT_MAX: + +BATTC\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_WATT_MAX: + +BATTD\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_WATT_MAX: + +BATTE\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_WATT_MAX: + +BATTF\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_WATT_MAX: + +BATTG\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_WATT_MAX: + +BATT\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | RTL | | +| +-------+-----------------+ | +| | 2 | Land | | +| +-------+-----------------+ | +| | 3 | Terminate | | +| +-------+-----------------+ | +| | 4 | QLand | | +| +-------+-----------------+ | +| | 5 | Parachute | | +| +-------+-----------------+ | +| | 6 | Loiter to QLand | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | 50Hz | | +| +-------+----------+ | +| | 2 | 75Hz | | +| +-------+----------+ | +| | 3 | 100Hz | | +| +-------+----------+ | +| | 4 | 150Hz | | +| +-------+----------+ | +| | 5 | 200Hz | | +| +-------+----------+ | +| | 6 | 250Hz | | +| +-------+----------+ | +| | 7 | 300Hz | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Output1 | | +| +-----+----------+ | +| | 1 | Output2 | | +| +-----+----------+ | +| | 2 | Output3 | | +| +-----+----------+ | +| | 3 | Output4 | | +| +-----+----------+ | +| | 4 | Output5 | | +| +-----+----------+ | +| | 5 | Output6 | | +| +-----+----------+ | +| | 6 | Output7 | | +| +-----+----------+ | +| | 7 | Output8 | | +| +-----+----------+ | +| | 8 | Output9 | | +| +-----+----------+ | +| | 9 | Output10 | | +| +-----+----------+ | +| | 10 | Output11 | | +| +-----+----------+ | +| | 11 | Output12 | | +| +-----+----------+ | +| | 12 | Output13 | | +| +-----+----------+ | +| | 13 | Output14 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | AUTO | | +| +-------+----------------+ | +| | 1 | PX4V1 | | +| +-------+----------------+ | +| | 2 | Pixhawk | | +| +-------+----------------+ | +| | 3 | Cube/Pixhawk2 | | +| +-------+----------------+ | +| | 4 | Pixracer | | +| +-------+----------------+ | +| | 5 | PixhawkMini | | +| +-------+----------------+ | +| | 6 | Pixhawk2Slim | | +| +-------+----------------+ | +| | 13 | Intel Aero FC | | +| +-------+----------------+ | +| | 14 | Pixhawk Pro | | +| +-------+----------------+ | +| | 20 | AUAV2.1 | | +| +-------+----------------+ | +| | 21 | PCNC1 | | +| +-------+----------------+ | +| | 22 | MINDPXV2 | | +| +-------+----------------+ | +| | 23 | SP01 | | +| +-------+----------------+ | +| | 24 | CUAVv5/FMUV5 | | +| +-------+----------------+ | +| | 30 | VRX BRAIN51 | | +| +-------+----------------+ | +| | 32 | VRX BRAIN52 | | +| +-------+----------------+ | +| | 33 | VRX BRAIN52E | | +| +-------+----------------+ | +| | 34 | VRX UBRAIN51 | | +| +-------+----------------+ | +| | 35 | VRX UBRAIN52 | | +| +-------+----------------+ | +| | 36 | VRX CORE10 | | +| +-------+----------------+ | +| | 38 | VRX BRAIN54 | | +| +-------+----------------+ | +| | 39 | PX4 FMUV6 | | +| +-------+----------------+ | +| | 100 | PX4 OLDDRIVERS | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | EnableNoFWUpdate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----------------------------------------------------+ +| Bitmask | ++=====================================================+ +| +-----+-------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================+ | +| | 0 | ActiveForSafetyDisable | | +| +-----+-------------------------------------------+ | +| | 1 | ActiveForSafetyEnable | | +| +-----+-------------------------------------------+ | +| | 2 | ActiveWhenArmed | | +| +-----+-------------------------------------------+ | +| | 3 | Force safety on when the aircraft disarms | | +| +-----+-------------------------------------------+ | +| | ++-----------------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 3.3V | | +| +-------+---------+ | +| | 1 | 5V | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----------------------------------------------------------------+ +| Bitmask | ++=================================================================+ +| +-----+-------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================================+ | +| | 0 | Enable hardware watchdog | | +| +-----+-------------------------------------------------------+ | +| | 1 | Disable MAVftp | | +| +-----+-------------------------------------------------------+ | +| | 2 | Enable set of internal parameters | | +| +-----+-------------------------------------------------------+ | +| | 3 | Enable Debug Pins | | +| +-----+-------------------------------------------------------+ | +| | 4 | Unlock flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 5 | Write protect firmware flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 6 | Write protect bootloader flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 7 | Skip board validation | | +| +-----+-------------------------------------------------------+ | +| | 8 | Disable board arming gpio output change on arm/disarm | | +| +-----+-------------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | StandardFW | | +| +-------+------------+ | +| | 1 | DshotFW | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | CYRF6936 | | +| +-------+----------+ | +| | 2 | CC2500 | | +| +-------+----------+ | +| | 3 | BK2425 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | DSM2 | | +| +-------+---------+ | +| | 2 | DSMX | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotDisabled | | +| +-------+-------------+ | +| | 1 | Disabled | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MinChannel | | +| +-------+--------------+ | +| | 2 | MidChannel | | +| +-------+--------------+ | +| | 3 | MaxChannel | | +| +-------+--------------+ | +| | 4 | MinChannelCW | | +| +-------+--------------+ | +| | 5 | MidChannelCW | | +| +-------+--------------+ | +| | 6 | MaxChannelCW | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | Mode1 | | +| +-------+---------+ | +| | 2 | Mode2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | Disabled | | +| +-------+-----------+ | +| | 1 | TestChan1 | | +| +-------+-----------+ | +| | 2 | TestChan2 | | +| +-------+-----------+ | +| | 3 | TestChan3 | | +| +-------+-----------+ | +| | 4 | TestChan4 | | +| +-------+-----------+ | +| | 5 | TestChan5 | | +| +-------+-----------+ | +| | 6 | TestChan6 | | +| +-------+-----------+ | +| | 7 | TestChan7 | | +| +-------+-----------+ | +| | 8 | TestChan8 | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | GPS | | +| +-----+---------------------+ | +| | 1 | MAVLINK_SYSTEM_TIME | | +| +-----+---------------------+ | +| | 2 | HW | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Always | | +| +-------+-------------------+ | +| | 1 | Only when in AUTO | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | RunCam Split Micro/RunCam with UART | | +| +-------+-------------------------------------+ | +| | 2 | RunCam Split | | +| +-------+-------------------------------------+ | +| | 3 | RunCam Split4 4k | | +| +-------+-------------------------------------+ | +| | 4 | RunCam Hybrid/RunCam Thumb Pro | | +| +-------+-------------------------------------+ | +| | 5 | Runcam 2 4k | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Power Button | | +| +-----+-----------------+ | +| | 1 | WiFi Button | | +| +-----+-----------------+ | +| | 2 | Change Mode | | +| +-----+-----------------+ | +| | 3 | 5-Key OSD | | +| +-----+-----------------+ | +| | 4 | Settings Access | | +| +-----+-----------------+ | +| | 5 | DisplayPort | | +| +-----+-----------------+ | +| | 6 | Start Recording | | +| +-----+-----------------+ | +| | 7 | Stop Recording | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Stick yaw right | | +| +-----+-----------------------+ | +| | 1 | Stick roll right | | +| +-----+-----------------------+ | +| | 2 | 3-position switch | | +| +-----+-----------------------+ | +| | 3 | 2-position switch | | +| +-----+-----------------------+ | +| | 4 | Autorecording enabled | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++--------+-----------------------------------+ +| Range | Values | ++========+===================================+ +| 0 to 4 | +-------+-----------------------+ | +| | | Value | Meaning | | +| | +=======+=======================+ | +| | | 0 | Log None | | +| | +-------+-----------------------+ | +| | | 1 | Log Error | | +| | +-------+-----------------------+ | +| | | 2 | Log Warning and below | | +| | +-------+-----------------------+ | +| | | 3 | Log Info and below | | +| | +-------+-----------------------+ | +| | | 4 | Log Everything | | +| | +-------+-----------------------+ | +| | | ++--------+-----------------------------------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | First interface | | +| +-------+------------------+ | +| | 2 | Second interface | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CHUTE_: + +CHUTE\_ Parameters +------------------ + + +.. _CHUTE_ENABLED: + +CHUTE\_ENABLED: Parachute release enabled or disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release enabled or disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CHUTE_TYPE: + +CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release mechanism type \(relay number in versions prior to 4\.5\, or servo\)\. Values 0\-3 all are relay\. Relay number used for release is set by RELAYx\_FUNCTION in 4\.5 or later\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Relay | | +| +-------+---------+ | +| | 10 | Servo | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CHUTE_SERVO_ON: + +CHUTE\_SERVO\_ON: Parachute Servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_SERVO_OFF: + +CHUTE\_SERVO\_OFF: Servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is not released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_ALT_MIN: + +CHUTE\_ALT\_MIN: Parachute min altitude in meters above home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32000 | meters | ++-----------+------------+--------+ + + + + +.. _CHUTE_DELAY_MS: + +CHUTE\_DELAY\_MS: Parachute release delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay in millseconds between motor stop and chute release + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 1 | 0 to 5000 | milliseconds | ++-----------+-----------+--------------+ + + + + +.. _CHUTE_CRT_SINK: + +CHUTE\_CRT\_SINK: Critical sink speed rate in m\/s to trigger emergency parachute +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Release parachute when critical sink rate is reached + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 15 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CHUTE_OPTIONS: + +CHUTE\_OPTIONS: Parachute options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optional behaviour for parachute + + ++------------------------------------------------+ +| Bitmask | ++================================================+ +| +-----+--------------------------------------+ | +| | Bit | Meaning | | +| +=====+======================================+ | +| | 0 | hold open forever after release | | +| +-----+--------------------------------------+ | +| | 1 | skip disarm before parachute release | | +| +-----+--------------------------------------+ | +| | ++------------------------------------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Disabled | | +| +-------+-------------------+ | +| | 1 | Internal-Learning | | +| +-------+-------------------+ | +| | 2 | EKF-Learning | | +| +-------+-------------------+ | +| | 3 | InFlight-Learning | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------------+--------------------------+ +| Calibration | Values | ++=============+==========================+ +| 1 | +-------+--------------+ | +| | | Value | Meaning | | +| | +=======+==============+ | +| | | 0 | Disabled | | +| | +-------+--------------+ | +| | | 1 | Use Throttle | | +| | +-------+--------------+ | +| | | 2 | Use Current | | +| | +-------+--------------+ | +| | | ++-------------+--------------------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-----------+---------+-------------------------+ +| Increment | Range | Values | ++===========+=========+=========================+ +| 0.1 | 4 to 32 | +-------+-------------+ | +| | | | Value | Meaning | | +| | | +=======+=============+ | +| | | | 4 | Very Strict | | +| | | +-------+-------------+ | +| | | | 8 | Strict | | +| | | +-------+-------------+ | +| | | | 16 | Default | | +| | | +-------+-------------+ | +| | | | 32 | Relaxed | | +| | | +-------+-------------+ | +| | | | ++-----------+---------+-------------------------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++------------------------+ +| Bitmask | ++========================+ +| +-----+--------------+ | +| | Bit | Meaning | | +| +=====+==============+ | +| | 0 | HMC5883 | | +| +-----+--------------+ | +| | 1 | LSM303D | | +| +-----+--------------+ | +| | 2 | AK8963 | | +| +-----+--------------+ | +| | 3 | BMM150 | | +| +-----+--------------+ | +| | 4 | LSM9DS1 | | +| +-----+--------------+ | +| | 5 | LIS3MDL | | +| +-----+--------------+ | +| | 6 | AK09916 | | +| +-----+--------------+ | +| | 7 | IST8310 | | +| +-----+--------------+ | +| | 8 | ICM20948 | | +| +-----+--------------+ | +| | 9 | MMC3416 | | +| +-----+--------------+ | +| | 11 | DroneCAN | | +| +-----+--------------+ | +| | 12 | QMC5883 | | +| +-----+--------------+ | +| | 14 | MAG3110 | | +| +-----+--------------+ | +| | 15 | IST8308 | | +| +-----+--------------+ | +| | 16 | RM3100 | | +| +-----+--------------+ | +| | 17 | MSP | | +| +-----+--------------+ | +| | 18 | ExternalAHRS | | +| +-----+--------------+ | +| | 19 | MMC5XX3 | | +| +-----+--------------+ | +| | 20 | QMC5883P | | +| +-----+--------------+ | +| | 21 | BMM350 | | +| +-----+--------------+ | +| | ++------------------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++----------------------------------------------------------------+ +| Values | ++================================================================+ +| +-------+----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================+ | +| | 0 | Disabled | | +| +-------+----------------------------------------------------+ | +| | 1 | CheckOnly | | +| +-------+----------------------------------------------------+ | +| | 2 | CheckAndFix | | +| +-------+----------------------------------------------------+ | +| | 3 | use same tolerance to auto rotate 45 deg rotations | | +| +-------+----------------------------------------------------+ | +| | ++----------------------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----------------------------------------------------------------------------------------------------+ +| Bitmask | ++=====================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================================================+ | +| | 0 | CalRequireGPS | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Driver1 | | +| +-------+----------+ | +| | 2 | Driver2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | EnforceArming | | +| +-----+---------------------------+ | +| | 1 | AllowNonGPSPosition | | +| +-----+---------------------------+ | +| | 2 | LockUASIDOnFirstBasicIDRx | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | VectorNav | | +| +-------+--------------+ | +| | 2 | MicroStrain5 | | +| +-------+--------------+ | +| | 5 | InertialLabs | | +| +-------+--------------+ | +| | 7 | MicroStrain7 | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Vector Nav use uncompensated values for accel gyro and mag. | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | IMU | | +| +-----+---------+ | +| | 2 | Baro | | +| +-----+---------+ | +| | 3 | Compass | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | Serial-MS | | +| +-------+---------------+ | +| | 2 | NWPMU | | +| +-------+---------------+ | +| | 3 | Serial-Lutan | | +| +-------+---------------+ | +| | 5 | DroneCAN | | +| +-------+---------------+ | +| | 6 | Currawong-ECU | | +| +-------+---------------+ | +| | 7 | Scripting | | +| +-------+---------------+ | +| | 8 | Hirth | | +| +-------+---------------+ | +| | 9 | MAVLink | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | GPS 3D Vel and 2D Pos | | +| +-------+-----------------------+ | +| | 1 | GPS 2D vel and 2D pos | | +| +-------+-----------------------+ | +| | 2 | GPS 2D pos | | +| +-------+-----------------------+ | +| | 3 | No GPS | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Use Baro | | +| +-------+------------------+ | +| | 1 | Use Range Finder | | +| +-------+------------------+ | +| | 2 | Use GPS | | +| +-------+------------------+ | +| | 3 | Use Range Beacon | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | When flying | | +| +-------+-----------------------------+ | +| | 1 | When manoeuvring | | +| +-------+-----------------------------+ | +| | 2 | Never | | +| +-------+-----------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+-----------------------------+ | +| | 4 | Always | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | DisableExternalNavigation | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++---------------------------------------------------------------------------------------------+ +| Values | ++=============================================================================================+ +| +-------+---------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=================================================================================+ | +| | 0 | When flying | | +| +-------+---------------------------------------------------------------------------------+ | +| | 1 | When manoeuvring | | +| +-------+---------------------------------------------------------------------------------+ | +| | 2 | Never | | +| +-------+---------------------------------------------------------------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+---------------------------------------------------------------------------------+ | +| | 4 | Always | | +| +-------+---------------------------------------------------------------------------------+ | +| | 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Always | | +| +-----+-----------------+ | +| | 1 | WhenNoYawSensor | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | EnableGPSAffinity | | +| +-----+------------------------+ | +| | 1 | EnableBaroAffinity | | +| +-----+------------------------+ | +| | 2 | EnableCompassAffinity | | +| +-----+------------------------+ | +| | 3 | EnableAirspeedAffinity | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | JammingExpected | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++------------------------------------------+ +| Bitmask | ++==========================================+ +| +-----+--------------------------------+ | +| | Bit | Meaning | | +| +=====+================================+ | +| | 0 | FuseAllVelocities | | +| +-----+--------------------------------+ | +| | 1 | AlignExtNavPosWhenUsingOptFlow | | +| +-----+--------------------------------+ | +| | ++------------------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++------------------------------------------------+ +| Bitmask | ++================================================+ +| +-----+--------------------------------------+ | +| | Bit | Meaning | | +| +=====+======================================+ | +| | 0 | Max altitude | | +| +-----+--------------------------------------+ | +| | 1 | Circle Centered on Home | | +| +-----+--------------------------------------+ | +| | 2 | Inclusion/Exclusion Circles+Polygons | | +| +-----+--------------------------------------+ | +| | 3 | Min altitude | | +| +-----+--------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Report Only | | +| +-------+--------------------+ | +| | 1 | RTL | | +| +-------+--------------------+ | +| | 6 | Guided | | +| +-------+--------------------+ | +| | 7 | GuidedThrottlePass | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _FENCE_ALT_MAX: + +FENCE\_ALT\_MAX: Fence Maximum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum altitude allowed before geofence triggers + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 10 to 1000 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _FENCE_ALT_MIN: + +FENCE\_ALT\_MIN: Fence Minimum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude allowed before geofence triggers + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FENCE_RET_RALLY: + +FENCE\_RET\_RALLY: Fence Return to Rally +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the vehicle return to fence return point or rally point + + ++-----------+--------+---------------------------------+ +| Increment | Range | Values | ++===========+========+=================================+ +| 1 | 0 to 1 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | Fence Return Point | | +| | | +-------+---------------------+ | +| | | | 1 | Nearest Rally Point | | +| | | +-------+---------------------+ | +| | | | ++-----------+--------+---------------------------------+ + + + + +.. _FENCE_RET_ALT: + +FENCE\_RET\_ALT: Fence Return Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude the vehicle will transit to when a fence breach occurs + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_AUTOENABLE: + +FENCE\_AUTOENABLE: Fence Auto\-Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auto\-enable of fences\. AutoEnableOnTakeoff enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings the fences will be disabled\. AutoEnableDisableFloorOnLanding enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings only the Minimum Altitude fence will be disabled\. AutoEnableOnlyWhenArmed enables all configured fences on arming\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, but no fences are disabled during autolandings\. However\, fence breaches are ignored while executing prior breach recovery actions which may include autolandings\. + + ++-----------+--------+---------------------------------------------+ +| Increment | Range | Values | ++===========+========+=============================================+ +| 1 | 0 to 3 | +-------+---------------------------------+ | +| | | | Value | Meaning | | +| | | +=======+=================================+ | +| | | | 0 | AutoEnableOff | | +| | | +-------+---------------------------------+ | +| | | | 1 | AutoEnableOnTakeoff | | +| | | +-------+---------------------------------+ | +| | | | 2 | AutoEnableDisableFloorOnLanding | | +| | | +-------+---------------------------------+ | +| | | | 3 | AutoEnableOnlyWhenArmed | | +| | | +-------+---------------------------------+ | +| | | | ++-----------+--------+---------------------------------------------+ + + + + +.. _FENCE_OPTIONS: + +FENCE\_OPTIONS: Fence options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When bit 0 is set sisable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. + + ++------------------------------------------------------------------------------------+ +| Bitmask | ++====================================================================================+ +| +-----+--------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+==========================================================================+ | +| | 0 | Disable mode change following fence action until fence breach is cleared | | +| +-----+--------------------------------------------------------------------------+ | +| | 1 | Allow union of inclusion areas | | +| +-----+--------------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Auto | | +| +-------+--------------------------+ | +| | 1 | Center Frequency | | +| +-------+--------------------------+ | +| | 2 | Lower-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 3 | Upper-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 4 | Roll-Axis | | +| +-------+--------------------------+ | +| | 5 | Pitch-Axis | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable post-filter FFT | | +| +-----+------------------------+ | +| | 1 | Check motor noise | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | PX4Flow | | +| +-------+----------+ | +| | 2 | Pixart | | +| +-------+----------+ | +| | 3 | Bebop | | +| +-------+----------+ | +| | 4 | CXOF | | +| +-------+----------+ | +| | 5 | MAVLink | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MSP | | +| +-------+----------+ | +| | 8 | UPFLOW | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | 0 | North-East-Down | | +| +-------+----------------------------------+ | +| | 1 | Relative to lead vehicle heading | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Face Lead Vehicle | | +| +-------+----------------------+ | +| | 2 | Same as Lead vehicle | | +| +-------+----------------------+ | +| | 3 | Direction of Flight | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | absolute | | +| +-------+----------+ | +| | 1 | relative | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | None | | +| +-------+------------------------------------------+ | +| | 1 | Mount Follows lead vehicle on mode enter | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | 27 | 27 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++----------------------------------------+ +| Bitmask | ++========================================+ +| +-----+------------------------------+ | +| | Bit | Meaning | | +| +=====+==============================+ | +| | 0 | EnableAirspeedAndGroundspeed | | +| +-----+------------------------------+ | +| | ++----------------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | IE 650w 800w Fuel Cell | | +| +-------+------------------------+ | +| | 2 | IE 2.4kW Fuel Cell | | +| +-------+------------------------+ | +| | 3 | Richenpower | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Suppress Maintenance-Required Warnings | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Portable | | +| +-------+------------+ | +| | 2 | Stationary | | +| +-------+------------+ | +| | 3 | Pedestrian | | +| +-------+------------+ | +| | 4 | Automotive | | +| +-------+------------+ | +| | 5 | Sea | | +| +-------+------------+ | +| | 6 | Airborne1G | | +| +-------+------------+ | +| | 7 | Airborne2G | | +| +-------+------------+ | +| | 8 | Airborne4G | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++---------------------------------------------+ +| Values | ++=============================================+ +| +-------+---------------------------------+ | +| | Value | Meaning | | +| +=======+=================================+ | +| | 0 | Use primary | | +| +-------+---------------------------------+ | +| | 1 | UseBest | | +| +-------+---------------------------------+ | +| | 2 | Blend | | +| +-------+---------------------------------+ | +| | 4 | Use primary if 3D fix or better | | +| +-------+---------------------------------+ | +| | ++---------------------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | send to first GPS | | +| +-------+-------------------+ | +| | 1 | send to 2nd GPS | | +| +-------+-------------------+ | +| | 127 | send to all | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None (0x0000) | | +| +-------+------------------------+ | +| | -1 | All (0xFFFF) | | +| +-------+------------------------+ | +| | -256 | External only (0xFF00) | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | Ignore | | +| +-------+------------------------------------------+ | +| | 1 | Always log | | +| +-------+------------------------------------------+ | +| | 2 | Stop logging when disarmed (SBF only) | | +| +-------+------------------------------------------+ | +| | 5 | Only log every five samples (uBlox only) | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | Do not save config | | +| +-------+-----------------------+ | +| | 1 | Save config | | +| +-------+-----------------------+ | +| | 2 | Save only when needed | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++------------------------------------------------------------------+ +| Values | ++==================================================================+ +| +-------+------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================================+ | +| | 0 | Disables automatic configuration | | +| +-------+------------------------------------------------------+ | +| | 1 | Enable automatic configuration for Serial GPSes only | | +| +-------+------------------------------------------------------+ | +| | 2 | Enable automatic configuration for DroneCAN as well | | +| +-------+------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Horiz Pos | | +| +-----+-----------+ | +| | 1 | Vert Pos | | +| +-----+-----------+ | +| | 2 | Speed | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++---------------------------------------------------------------------------------------+ +| Bitmask | ++=======================================================================================+ +| +-----+-----------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================================+ | +| | 0 | Use UART2 for moving baseline on ublox | | +| +-----+-----------------------------------------------------------------------------+ | +| | 1 | Use base station for GPS yaw on SBF | | +| +-----+-----------------------------------------------------------------------------+ | +| | 2 | Use baudrate 115200 | | +| +-----+-----------------------------------------------------------------------------+ | +| | 3 | Use dedicated CAN port b/w GPSes for moving baseline | | +| +-----+-----------------------------------------------------------------------------+ | +| | 4 | Use ellipsoid height instead of AMSL | | +| +-----+-----------------------------------------------------------------------------+ | +| | 5 | Override GPS satellite health of L5 band from L1 health | | +| +-----+-----------------------------------------------------------------------------+ | +| | 6 | Enable RTCM full parse even for a single channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-----------+-----------------------+ +| Increment | Values | ++===========+=======================+ +| 1 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | FirstGPS | | +| | +-------+-----------+ | +| | | 1 | SecondGPS | | +| | +-------+-----------+ | +| | | ++-----------+-----------------------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Servo | | +| +-------+---------+ | +| | 2 | EPM | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_GUIDED_: + +GUIDED\_ Parameters +------------------- + + +.. _GUIDED_P: + +GUIDED\_P: PID Proportional Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +P Gain which produces an output value that is proportional to the current error value + + +.. _GUIDED_I: + +GUIDED\_I: PID Integral Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +I Gain which produces an output that is proportional to both the magnitude and the duration of the error + + +.. _GUIDED_D: + +GUIDED\_D: PID Derivative Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +D Gain which produces an output that is proportional to the rate of change of the error + + +.. _GUIDED_FF: + +GUIDED\_FF: FF FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +FF Gain which produces an output value that is proportional to the demanded input + + +.. _GUIDED_IMAX: + +GUIDED\_IMAX: PID Integral Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum\/minimum value that the I term can output + + +.. _GUIDED_FLTT: + +GUIDED\_FLTT: PID Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_FLTE: + +GUIDED\_FLTE: PID Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_FLTD: + +GUIDED\_FLTD: PID Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_SMAX: + +GUIDED\_SMAX: Slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _GUIDED_PDMX: + +GUIDED\_PDMX: PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum\/minimum value that the sum of the P and D term can output + + +.. _GUIDED_D_FF: + +GUIDED\_D\_FF: PID Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _GUIDED_NTF: + +GUIDED\_NTF: PID Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PID Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _GUIDED_NEF: + +GUIDED\_NEF: PID Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PID Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_ICE_: + +ICE\_ Parameters +---------------- + + +.. _ICE_ENABLE: + +ICE\_ENABLE: Enable ICEngine control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables internal combustion engine control + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _ICE_STARTER_TIME: + +ICE\_STARTER\_TIME: Time to run starter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the number of seconds to run the starter when trying to start the engine + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0.1 to 5 | seconds | ++----------+---------+ + + + + +.. _ICE_START_DELAY: + +ICE\_START\_DELAY: Time to wait between starts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay between start attempts + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | seconds | ++---------+---------+ + + + + +.. _ICE_RPM_THRESH: + +ICE\_RPM\_THRESH: RPM threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the measured RPM above which the engine is considered to be running + + ++---------------+ +| Range | ++===============+ +| 100 to 100000 | ++---------------+ + + + + +.. _ICE_RPM_CHAN: + +ICE\_RPM\_CHAN: RPM instance channel to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is which of the RPM instances to use for detecting the RPM of the engine + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | RPM1 | | +| +-------+---------+ | +| | 2 | RPM2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ICE_START_PCT: + +ICE\_START\_PCT: Throttle percentage for engine start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the percentage throttle output for engine start + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _ICE_IDLE_PCT: + +ICE\_IDLE\_PCT: Throttle percentage for engine idle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum percentage throttle output while running\, this includes being disarmed\, but not safe + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _ICE_IDLE_RPM: + +ICE\_IDLE\_RPM: RPM Setpoint for Idle Governor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This configures the RPM that will be commanded by the idle governor\. Set to \-1 to disable + + +.. _ICE_IDLE_DB: + +ICE\_IDLE\_DB: Deadband for Idle Governor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This configures the deadband that is tolerated before adjusting the idle setpoint + + +.. _ICE_IDLE_SLEW: + +ICE\_IDLE\_SLEW: Slew Rate for idle control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This configures the slewrate used to adjust the idle setpoint in percentage points per second + + +.. _ICE_OPTIONS: + +ICE\_OPTIONS: ICE options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for ICE control\. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R\/C failsafe\. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode\. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO\_ENGINE\_CONTROL command\. + + ++---------------------------------------------------------------------+ +| Bitmask | ++=====================================================================+ +| +-----+-----------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================+ | +| | 0 | Disable ignition in RC failsafe | | +| +-----+-----------------------------------------------------------+ | +| | 1 | Disable redline governor | | +| +-----+-----------------------------------------------------------+ | +| | 2 | Throttle control in MANUAL while disarmed with safety off | | +| +-----+-----------------------------------------------------------+ | +| | 3 | Disable while disarmed | | +| +-----+-----------------------------------------------------------+ | +| | 4 | Crank direction Reverse | | +| +-----+-----------------------------------------------------------+ | +| | ++---------------------------------------------------------------------+ + + + + +.. _ICE_STARTCHN_MIN: + +ICE\_STARTCHN\_MIN: Input channel for engine start minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a minimum PWM value for engine start channel for an engine stop to be commanded\. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop\. A value of zero means any PWM above 800 and below 1300 triggers an engine stop\. To stop the engine start channel must above the larger of this value and 800 and below 1300\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1300 | ++-----------+ + + + + +.. _ICE_REDLINE_RPM: + +ICE\_REDLINE\_RPM: RPM of the redline limit for the engine +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum RPM for the engine provided by the manufacturer\. A value of 0 disables this feature\. See ICE\_OPTIONS to enable or disable the governor\. + + ++--------------+------------------------+ +| Range | Units | ++==============+========================+ +| 0 to 2000000 | Revolutions Per Minute | ++--------------+------------------------+ + + + + +.. _ICE_STRT_MX_RTRY: + +ICE\_STRT\_MX\_RTRY: Maximum number of retries +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If set 0 then there is no limit to retrials\. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Never | | +| +-------+---------------+ | +| | 1 | Start-up only | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++--------------------------------------------------------------------+ +| Values | ++====================================================================+ +| +-------+--------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================================+ | +| | 0 | Don't adjust the trims | | +| +-------+--------------------------------------------------------+ | +| | 1 | Assume first orientation was level | | +| +-------+--------------------------------------------------------+ | +| | 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | | +| +-------+--------------------------------------------------------+ | +| | ++--------------------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | IMU 1 | | +| +-------+---------+ | +| | 2 | IMU 2 | | +| +-------+---------+ | +| | 3 | IMU 3 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | FirstIMU | | +| +-----+------------+ | +| | 1 | SecondIMU | | +| +-----+------------+ | +| | 2 | ThirdIMU | | +| +-----+------------+ | +| | 3 | FourthIMU | | +| +-----+------------+ | +| | 4 | FifthIMU | | +| +-----+------------+ | +| | 5 | SixthIMU | | +| +-----+------------+ | +| | 6 | SeventhIMU | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 1kHz | | +| +-------+---------+ | +| | 1 | 2kHz | | +| +-------+---------+ | +| | 2 | 4kHz | | +| +-------+---------+ | +| | 3 | 8kHz | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | PersistTemps | | +| +-----+---------------+ | +| | 1 | PersistAccels | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Log primary gyro only | | +| +-----+-----------------------+ | +| | 1 | Log all gyros | | +| +-----+-----------------------+ | +| | 2 | Post filter | | +| +-----+-----------------------+ | +| | 3 | Pre and post filter | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | IMU1 | | +| +-----+---------+ | +| | 1 | IMU2 | | +| +-----+---------+ | +| | 2 | IMU3 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | | +| +-----+-------------------------------------------------------------+ | +| | 1 | Sample post-filtering | | +| +-----+-------------------------------------------------------------+ | +| | 2 | Sample pre- and post-filter | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LAND_: + +LAND\_ Parameters +----------------- + + +.. _LAND_SLOPE_RCALC: + +LAND\_SLOPE\_RCALC: Landing slope re\-calc threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your altitude is lower than the intended slope path\. This value is the threshold of the correction to re\-calculate the landing approach slope\. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching\/throttling up to snap back to resume the original slope path\. Otherwise\, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re\-calculate to give a shallower slope\. This also smoothes out the approach when flying over objects such as trees\. Recommend a value of 2m\. + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.5 | 0 to 5 | meters | ++-----------+--------+--------+ + + + + +.. _LAND_ABORT_DEG: + +LAND\_ABORT\_DEG: Landing auto\-abort slope threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your actual altitude is higher than the intended slope path\. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self\-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope\. An auto\-abort go\-around will only happen once\, next attempt will not auto\-abort again\. This operation happens entirely automatically in AUTO mode\. This value is the delta degrees threshold to trigger the go\-around compared to the original slope\. Example\: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go\-around\. Set to 0 to disable\. Requires LAND\_SLOPE\_RCALC \> 0\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _LAND_PITCH_DEG: + +LAND\_PITCH\_DEG: Landing Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used in autoland to give the minimum pitch in the final stage of landing \(after the flare\)\. This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft\. Note that it is a minimum pitch only \- the landing code will control pitch above this value to try to achieve the configured landing sink rate\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 10 | -20 to 20 | degrees | ++-----------+-----------+---------+ + + + + +.. _LAND_FLARE_ALT: + +LAND\_FLARE\_ALT: Landing flare altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude in autoland at which to lock heading and flare to the LAND\_PITCH\_DEG pitch\. Note that this option is secondary to LAND\_FLARE\_SEC\. For a good landing it preferable that the flare is triggered by LAND\_FLARE\_SEC\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _LAND_FLARE_SEC: + +LAND\_FLARE\_SEC: Landing flare time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical time before landing point at which to lock heading and flare with the motor stopped\. This is vertical time\, and is calculated based solely on the current height above the ground and the current descent rate\. Set to 0 if you only wish to flare based on altitude \(see LAND\_FLARE\_ALT\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _LAND_PF_ALT: + +LAND\_PF\_ALT: Landing pre\-flare altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. The pre\-flare flight stage trigger works just like LAND\_FLARE\_ALT but higher\. Disabled when LAND\_PF\_ARSPD is 0\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _LAND_PF_SEC: + +LAND\_PF\_SEC: Landing pre\-flare time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical time to ground to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. This pre\-flare flight stage trigger works just like LAND\_FLARE\_SEC but earlier\. Disabled when LAND\_PF\_ARSPD is 0\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _LAND_PF_ARSPD: + +LAND\_PF\_ARSPD: Landing pre\-flare airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired airspeed during pre\-flare flight stage\. This is useful to reduce airspeed just before the flare\. Use 0 to disable\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _LAND_THR_SLEW: + +LAND\_THR\_SLEW: Landing throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the slew rate for the throttle during auto landing\. When this is zero the THR\_SLEWRATE parameter is used during landing\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on landing\. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_DISARMDELAY: + +LAND\_DISARMDELAY: Landing disarm delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +After a landing has completed using a LAND waypoint\, automatically disarm after this many seconds have passed\. Use 0 to not disarm\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _LAND_THEN_NEUTRL: + +LAND\_THEN\_NEUTRL: Set servos to neutral after landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, after an autoland and auto\-disarm via LAND\_DISARMDELAY happens then set all servos to neutral\. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain\. + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | Servos to Neutral | | +| +-------+--------------------+ | +| | 2 | Servos to Zero PWM | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _LAND_ABORT_THR: + +LAND\_ABORT\_THR: Landing abort using throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow a landing abort to trigger with an input throttle \>\= 90\%\. This works with or without stick\-mixing enabled\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LAND_FLAP_PERCNT: + +LAND\_FLAP\_PERCNT: Landing flap percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of flaps \(as a percentage\) to apply in the landing approach and flare of an automatic landing + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_OPTIONS: + +LAND\_OPTIONS: Landing options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of options to use with landing\. + + ++------------------------------------------------------------------------------------------+ +| Bitmask | ++==========================================================================================+ +| +-----+--------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+================================================================================+ | +| | 0 | honor min throttle during landing flare | | +| +-----+--------------------------------------------------------------------------------+ | +| | 1 | Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX | | +| +-----+--------------------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------------------+ + + + + +.. _LAND_FLARE_AIM: + +LAND\_FLARE\_AIM: Flare aim point adjustment percentage\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre\. When set to 100\% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS\_LAND\_SINK\. when set to 0\%\, no aim point adjustment is made\. If the plane consistently touches down short of the aim point reduce the parameter and vice verse\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_WIND_COMP: + +LAND\_WIND\_COMP: Headwind Compensation when Landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This param controls how much headwind compensation is used when landing\. Headwind speed component multiplied by this parameter is added to TECS\_LAND\_ARSPD command\. Set to Zero to disable\. Note\: The target landing airspeed command is still limited to AIRSPEED\_MAX\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_TYPE: + +LAND\_TYPE: Auto\-landing type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the auto\-landing type to use + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Standard Glide Slope | | +| +-------+----------------------+ | +| | 1 | Deepstall | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_LAND_DS_: + +LAND\_DS\_ Parameters +--------------------- + + +.. _LAND_DS_V_FWD: + +LAND\_DS\_V\_FWD: Deepstall forward velocity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The forward velocity of the aircraft while stalled + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_SLOPE_A: + +LAND\_DS\_SLOPE\_A: Deepstall slope a +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The a component of distance \= a\*wind \+ b + + +.. _LAND_DS_SLOPE_B: + +LAND\_DS\_SLOPE\_B: Deepstall slope b +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The a component of distance \= a\*wind \+ b + + +.. _LAND_DS_APP_EXT: + +LAND\_DS\_APP\_EXT: Deepstall approach extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The horizontal distance from which the aircraft will approach before the stall + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 10 to 200 | meters | ++-----------+--------+ + + + + +.. _LAND_DS_V_DWN: + +LAND\_DS\_V\_DWN: Deepstall velocity down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The downward velocity of the aircraft while stalled + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_SLEW_SPD: + +LAND\_DS\_SLEW\_SPD: Deepstall slew speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed at which the elevator slews to deepstall + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 2 | seconds | ++--------+---------+ + + + + +.. _LAND_DS_ELEV_PWM: + +LAND\_DS\_ELEV\_PWM: Deepstall elevator PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The PWM value in microseconds for the elevator at full deflection in deepstall + + ++-------------+---------------------+ +| Range | Units | ++=============+=====================+ +| 900 to 2100 | PWM in microseconds | ++-------------+---------------------+ + + + + +.. _LAND_DS_ARSP_MAX: + +LAND\_DS\_ARSP\_MAX: Deepstall enabled airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum aispeed where the deepstall steering controller is allowed to have control + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_ARSP_MIN: + +LAND\_DS\_ARSP\_MIN: Deepstall minimum derating airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall lowest airspeed where the deepstall controller isn\'t allowed full control + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_L1: + +LAND\_DS\_L1: Deepstall L1 period +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall L1 navigational controller period + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | seconds | ++---------+---------+ + + + + +.. _LAND_DS_L1_I: + +LAND\_DS\_L1\_I: Deepstall L1 I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall L1 integratior gain + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _LAND_DS_YAW_LIM: + +LAND\_DS\_YAW\_LIM: Deepstall yaw rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The yaw rate limit while navigating in deepstall + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 0 to 90 | degrees per second | ++---------+--------------------+ + + + + +.. _LAND_DS_L1_TCON: + +LAND\_DS\_L1\_TCON: Deepstall L1 time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant for deepstall L1 control + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 1 | seconds | ++--------+---------+ + + + + +.. _LAND_DS_P: + +LAND\_DS\_P: P gain +~~~~~~~~~~~~~~~~~~~ + + +P gain + + +.. _LAND_DS_I: + +LAND\_DS\_I: I gain +~~~~~~~~~~~~~~~~~~~ + + +I gain + + +.. _LAND_DS_D: + +LAND\_DS\_D: D gain +~~~~~~~~~~~~~~~~~~~ + + +D gain + + +.. _LAND_DS_IMAX: + +LAND\_DS\_IMAX: IMax +~~~~~~~~~~~~~~~~~~~~ + + +Maximum integrator value + + +.. _LAND_DS_ABORTALT: + +LAND\_DS\_ABORTALT: Deepstall minimum abort altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum altitude which the aircraft must be above to abort a deepstall landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _LAND_DS_AIL_SCL: + +LAND\_DS\_AIL\_SCL: Aileron landing gain scalaing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A scalar to reduce or increase the aileron control + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + + +.. _parameters_LGR_: + +LGR\_ Parameters +---------------- + + +.. _LGR_ENABLE: + +LGR\_ENABLE: Enable landing gear +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable landing gear control + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_STARTUP: + +LGR\_STARTUP: Landing Gear Startup position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Landing Gear Startup behaviour control + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | WaitForPilotInput | | +| +-------+-------------------+ | +| | 1 | Retract | | +| +-------+-------------------+ | +| | 2 | Deploy | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _LGR_DEPLOY_PIN: + +LGR\_DEPLOY\_PIN: Chassis deployment feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for detection of gear deployment\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_DEPLOY_POL: + +LGR\_DEPLOY\_POL: Chassis deployment feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when gear are deployed\. If set to 0 then then deployed gear level is low\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _LGR_WOW_PIN: + +LGR\_WOW\_PIN: Weight on wheels feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for feedback of weight on wheels condition\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LGR_WOW_POL: + +LGR\_WOW\_POL: Weight on wheels feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when there is weight on wheels\. If set to 0 then then weight on wheels level is low\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _LGR_DEPLOY_ALT: + +LGR\_DEPLOY\_ALT: Landing gear deployment altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be deployed\. This should be lower than the RETRACT\_ALT\. If zero then altitude is not used for deploying landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_RETRACT_ALT: + +LGR\_RETRACT\_ALT: Landing gear retract altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be retracted\. This should be higher than the DEPLOY\_ALT\. If zero then altitude is not used for retracting landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_OPTIONS: + +LGR\_OPTIONS: Landing gear auto retract\/deploy options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to retract or deploy landing gear in Auto or Guided mode + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Retract after Takeoff | | +| +-----+-----------------------+ | +| | 1 | Deploy during Land | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | File | | +| +-----+---------+ | +| | 1 | MAVLink | | +| +-----+---------+ | +| | 2 | Block | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 1 | Enabled | | +| +-------+--------------------------------------+ | +| | 2 | Disabled on USB connection | | +| +-------+--------------------------------------+ | +| | 3 | Discard log on reboot if never armed | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Resume Mission | | +| +-------+-----------------+ | +| | 1 | Restart Mission | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++---------------------------------------------------------+ +| Bitmask | ++=========================================================+ +| +-----+-----------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================================+ | +| | 0 | Clear Mission on reboot | | +| +-----+-----------------------------------------------+ | +| | 1 | Use distance to land calc on battery failsafe | | +| +-----+-----------------------------------------------+ | +| | 2 | ContinueAfterLand | | +| +-----+-----------------------------------------------+ | +| | ++---------------------------------------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | 1 | | +| +-------+---------+ | +| | 2 | 2 | | +| +-------+---------+ | +| | 3 | 3 | | +| +-------+---------+ | +| | 4 | 4 | | +| +-------+---------+ | +| | 5 | 5 | | +| +-------+---------+ | +| | 6 | 6 | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | EnableTelemetryMode | | +| +-----+---------------------+ | +| | 1 | unused | | +| +-----+---------------------+ | +| | 2 | EnableBTFLFonts | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_NAVL1_: + +NAVL1\_ Parameters +------------------ + + +.. _NAVL1_PERIOD: + +NAVL1\_PERIOD: L1 control period +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Period in seconds of L1 tracking loop\. This parameter is the primary control for agressiveness of turns in auto mode\. This needs to be larger for less responsive airframes\. The default of 20 is quite conservative\, but for most RC aircraft will lead to reasonable flight\. For smaller more agile aircraft a value closer to 15 is appropriate\, or even as low as 10 for some very agile aircraft\. When tuning\, change this value in small increments\, as a value that is much too small \(say 5 or 10 below the right value\) can lead to very radical turns\, and a risk of stalling\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 1 to 60 | seconds | ++-----------+---------+---------+ + + + + +.. _NAVL1_DAMPING: + +NAVL1\_DAMPING: L1 control damping ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping ratio for L1 control\. Increase this in increments of 0\.05 if you are getting overshoot in path tracking\. You should not need a value below 0\.7 or above 0\.85\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.6 to 1.0 | ++-----------+------------+ + + + + +.. _NAVL1_XTRACK_I: + +NAVL1\_XTRACK\_I: L1 control crosstrack integrator gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Crosstrack error integrator gain\. This gain is applied to the crosstrack error to ensure it converges to zero\. Set to zero to disable\. Smaller values converge slower\, higher values will cause crosstrack error oscillation\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.1 | ++-----------+----------+ + + + + +.. _NAVL1_LIM_BANK: + +NAVL1\_LIM\_BANK: Loiter Radius Bank Angle Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sealevel bank angle limit for a continous loiter\. \(Used to calculate airframe loading limits at higher altitudes\)\. Setting to 0\, will instead just scale the loiter radius directly + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 89 | degrees | ++---------+---------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | UDP echo test | | +| +-----+------------------+ | +| | 1 | TCP echo test | | +| +-----+------------------+ | +| | 2 | TCP discard test | | +| +-----+------------------+ | +| | 3 | TCP reflect test | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | EnablePPP Ethernet gateway | | +| +-----+-------------------------------+ | +| | 1 | Enable CAN1 multicast gateway | | +| +-----+-------------------------------+ | +| | 2 | Enable CAN2 multicast gateway | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPGGA | | +| +-----+---------+ | +| | 1 | GPRMC | | +| +-----+---------+ | +| | 2 | PASHR | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Off | | +| +-------+---------+ | +| | 1 | Low | | +| +-------+---------+ | +| | 2 | Medium | | +| +-------+---------+ | +| | 3 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Built-in buzzer | | +| +-----+-----------------+ | +| | 1 | DShot | | +| +-----+-----------------+ | +| | 2 | DroneCAN | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | Standard | | +| +-------+-----------------------------+ | +| | 1 | MAVLink/Scripting/AP_Periph | | +| +-------+-----------------------------+ | +| | 2 | OutbackChallenge | | +| +-------+-----------------------------+ | +| | 3 | TrafficLight | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | ssd1306 | | +| +-------+---------+ | +| | 2 | sh1106 | | +| +-------+---------+ | +| | 10 | SITL | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Aircraft | | +| +-------+----------+ | +| | 2 | Rover | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Built-in LED | | +| +-----+---------------------+ | +| | 1 | Internal ToshibaLED | | +| +-----+---------------------+ | +| | 2 | External ToshibaLED | | +| +-----+---------------------+ | +| | 3 | External PCA9685 | | +| +-----+---------------------+ | +| | 4 | Oreo LED | | +| +-----+---------------------+ | +| | 5 | DroneCAN | | +| +-----+---------------------+ | +| | 6 | NCP5623 External | | +| +-----+---------------------+ | +| | 7 | NCP5623 Internal | | +| +-----+---------------------+ | +| | 8 | NeoPixel | | +| +-----+---------------------+ | +| | 9 | ProfiLED | | +| +-----+---------------------+ | +| | 10 | Scripting | | +| +-----+---------------------+ | +| | 11 | DShot | | +| +-----+---------------------+ | +| | 12 | ProfiLED_SPI | | +| +-----+---------------------+ | +| | 13 | LP5562 External | | +| +-----+---------------------+ | +| | 14 | LP5562 Internal | | +| +-----+---------------------+ | +| | 15 | IS31FL3195 External | | +| +-----+---------------------+ | +| | 16 | IS31FL3195 Internal | | +| +-----+---------------------+ | +| | 17 | DiscreteRGB | | +| +-----+---------------------+ | +| | 18 | NeoPixelRGB | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | LowIsOn | | +| +-------+----------+ | +| | 1 | HighIsOn | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 5 | Chan5 | | +| +-------+---------+ | +| | 6 | Chan6 | | +| +-------+---------+ | +| | 7 | Chan7 | | +| +-------+---------+ | +| | 8 | Chan8 | | +| +-------+---------+ | +| | 9 | Chan9 | | +| +-------+---------+ | +| | 10 | Chan10 | | +| +-------+---------+ | +| | 11 | Chan11 | | +| +-------+---------+ | +| | 12 | Chan12 | | +| +-------+---------+ | +| | 13 | Chan13 | | +| +-------+---------+ | +| | 14 | Chan14 | | +| +-------+---------+ | +| | 15 | Chan15 | | +| +-------+---------+ | +| | 16 | Chan16 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++---------------------------------------------------------------------------------------------------------+ +| Values | ++=========================================================================================================+ +| +-------+---------------------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================================================================+ | +| | 0 | switch to next screen if channel value was changed | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 1 | select screen based on pwm ranges specified for each screen | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 2 | switch to next screen after low to high transition and every 1s while channel value is high | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++--------------------------------------------------------------+ +| Bitmask | ++==============================================================+ +| +-----+----------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================+ | +| | 0 | UseDecimalPack | | +| +-----+----------------------------------------------------+ | +| | 1 | InvertedWindArrow | | +| +-----+----------------------------------------------------+ | +| | 2 | InvertedAHRoll | | +| +-----+----------------------------------------------------+ | +| | 3 | Convert feet to miles at 5280ft instead of 10000ft | | +| +-----+----------------------------------------------------+ | +| | 4 | DisableCrosshair | | +| +-----+----------------------------------------------------+ | +| | 5 | TranslateArrows | | +| +-----+----------------------------------------------------+ | +| | 6 | AviationStyleAH | | +| +-----+----------------------------------------------------+ | +| | 7 | Prefix LQ with RF Mode | | +| +-----+----------------------------------------------------+ | +| | ++--------------------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Metric | | +| +-------+----------+ | +| | 1 | Imperial | | +| +-------+----------+ | +| | 2 | SI | | +| +-------+----------+ | +| | 3 | Aviation | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | MAVLink | | +| +-------+-------------+ | +| | 2 | IRLock | | +| +-------+-------------+ | +| | 3 | SITL_Gazebo | | +| +-------+-------------+ | +| | 4 | SITL | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | RawSensor | | +| +-------+--------------+ | +| | 1 | KalmanFilter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | -1 | DefaultBus | | +| +-------+-------------+ | +| | 0 | InternalI2C | | +| +-------+-------------+ | +| | 1 | ExternalI2C | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++----------------------------------------------------+ +| Values | ++====================================================+ +| +-------+----------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================+ | +| | 0 | Land Vertically (Not strict) | | +| +-------+----------------------------------------+ | +| | 1 | Retry Landing(Normal Strictness) | | +| +-------+----------------------------------------+ | +| | 2 | Do not land (just Hover) (Very Strict) | | +| +-------+----------------------------------------+ | +| | ++----------------------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++--------------------------------------------------------------------------------+ +| Values | ++================================================================================+ +| +-------+--------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================================+ | +| | 0 | Go to the last location where landing target was detected | | +| +-------+--------------------------------------------------------------------+ | +| | 1 | Go towards the approximate location of the detected landing target | | +| +-------+--------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----------------------------------------------------------+ +| Bitmask | ++===========================================================+ +| +-----+-------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=================================================+ | +| | 0 | Moving Landing Target | | +| +-----+-------------------------------------------------+ | +| | 1 | Allow Precision Landing after manual reposition | | +| +-----+-------------------------------------------------+ | +| | 2 | Maintain high speed in final descent | | +| +-----+-------------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_PTCH: + +PTCH Parameters +--------------- + + +.. _PTCH2SRV_TCONST: + +PTCH2SRV\_TCONST: Pitch Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved pitch angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _PTCH2SRV_RMAX_UP: + +PTCH2SRV\_RMAX\_UP: Pitch up max rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum nose up pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _PTCH2SRV_RMAX_DN: + +PTCH2SRV\_RMAX\_DN: Pitch down max rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum nose down pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _PTCH2SRV_RLL: + +PTCH2SRV\_RLL: Roll compensation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gain added to pitch to keep aircraft from descending or ascending in turns\. Increase in increments of 0\.05 to reduce altitude loss\. Decrease for altitude gain\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.7 to 1.5 | ++-----------+------------+ + + + + +.. _PTCH_RATE_P: + +PTCH\_RATE\_P: Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _PTCH_RATE_I: + +PTCH\_RATE\_I: Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _PTCH_RATE_IMAX: + +PTCH\_RATE\_IMAX: Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PTCH_RATE_D: + +PTCH\_RATE\_D: Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _PTCH_RATE_FF: + +PTCH\_RATE\_FF: Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _PTCH_RATE_FLTT: + +PTCH\_RATE\_FLTT: Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_FLTE: + +PTCH\_RATE\_FLTE: Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_FLTD: + +PTCH\_RATE\_FLTD: Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_SMAX: + +PTCH\_RATE\_SMAX: Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _PTCH_RATE_PDMX: + +PTCH\_RATE\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PTCH_RATE_D_FF: + +PTCH\_RATE\_D\_FF: Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _PTCH_RATE_NTF: + +PTCH\_RATE\_NTF: Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PTCH_RATE_NEF: + +PTCH\_RATE\_NEF: Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_PUP_: + +PUP\_ Parameters +---------------- + + +.. _PUP_ENABLE: + +PUP\_ENABLE: Enable pullup after altitude wait +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable pullup after altitude wait + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _PUP_ELEV_OFS: + +PUP\_ELEV\_OFS: Elevator deflection used before starting pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Elevator deflection offset from \-1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup\. + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _PUP_NG_LIM: + +PUP\_NG\_LIM: Maximum normal load factor during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup\. + + ++------------+ +| Range | ++============+ +| 1.0 to 4.0 | ++------------+ + + + + +.. _PUP_NG_JERK_LIM: + +PUP\_NG\_JERK\_LIM: Maximum normal load factor rate of change during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP\_NG\_LIM at the rate of change set by this parameter\. The parameter value specified will be scaled internally by 1\/EAS2TAS\. + + ++-------------+------------+ +| Range | Units | ++=============+============+ +| 0.1 to 10.0 | per second | ++-------------+------------+ + + + + +.. _PUP_PITCH: + +PUP\_PITCH: Target pitch angle during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will attempt achieve this pitch angle during the pull\-up maneouvre\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| -5 to 15 | degrees | ++----------+---------+ + + + + +.. _PUP_ARSPD_START: + +PUP\_ARSPD\_START: Pullup target airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target airspeed for initial airspeed wait + + ++----------+-------------------+ +| Range | Units | ++==========+===================+ +| 0 to 100 | meters per second | ++----------+-------------------+ + + + + +.. _PUP_PITCH_START: + +PUP\_PITCH\_START: Pullup target pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target pitch for initial pullup + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| -80 to 0 | degrees | ++----------+---------+ + + + + + +.. _parameters_Q_: + +Q\_ Parameters +-------------- + + +.. _Q_ENABLE: + +Q\_ENABLE: Enable QuadPlane +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables QuadPlane functionality\, assuming multicopter motors start on output 5\. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disable | | +| +-------+------------------+ | +| | 1 | Enable | | +| +-------+------------------+ | +| | 2 | Enable VTOL AUTO | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _Q_ANGLE_MAX: + +Q\_ANGLE\_MAX: Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle in all VTOL flight modes + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 1000 to 8000 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _Q_TRANSITION_MS: + +Q\_TRANSITION\_MS: Transition time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transition time in milliseconds after minimum airspeed is reached + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 500 to 30000 | milliseconds | ++--------------+--------------+ + + + + +.. _Q_PILOT_SPD_UP: + +Q\_PILOT\_SPD\_UP: Pilot maximum vertical speed up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum ascending vertical velocity the pilot may request in m\/s + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.5 to 5 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_PILOT_SPD_DN: + +Q\_PILOT\_SPD\_DN: Pilot maximum vertical speed down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical velocity the pilot may request in m\/s going down\. If 0\, uses Q\_PILOT\_SPD\_UP value\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.5 to 5 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_PILOT_ACCEL_Z: + +Q\_PILOT\_ACCEL\_Z: Pilot vertical acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vertical acceleration used when pilot is controlling the altitude + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0.5 to 5 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _Q_RC_SPEED: + +Q\_RC\_SPEED: RC output speed in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the PWM refresh rate in Hz for QuadPlane quad motors + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 10 | 50 to 500 | hertz | ++-----------+-----------+-------+ + + + + +.. _Q_ASSIST_SPEED: + +Q\_ASSIST\_SPEED: Quadplane assistance speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes\. The default value of 0 disables assistance but will generate a pre\-arm failure to encourage users to set this parameter to \-1\, or a positive\, non\-zero value\. If this is set to \-1 then all Q\_ASSIST features are disabled except during transitions\. A high non\-zero\,positive value will lead to more false positives which can waste battery\. A lower value will result in less false positive\, but will result in assistance taking longer to trigger\. If unsure then set to 3 m\/s below the minimum airspeed you will fly at\. If you don\'t have an airspeed sensor then use 5 m\/s below the minimum airspeed you fly at\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_YAW_RATE_MAX: + +Q\_YAW\_RATE\_MAX: Maximum yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum yaw rate for pilot input on rudder stick in degrees\/second + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 50 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_LAND_FINAL_SPD: + +Q\_LAND\_FINAL\_SPD: Land final speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the final stage of landing in m\/s + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.3 to 2 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_LAND_FINAL_ALT: + +Q\_LAND\_FINAL\_ALT: Land final altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude at which we should switch to Q\_LAND\_SPEED descent rate + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 0.1 | 0.5 to 50 | meters | ++-----------+-----------+--------+ + + + + +.. _Q_TRAN_PIT_MAX: + +Q\_TRAN\_PIT\_MAX: Transition max pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch during transition to auto fixed wing flight + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_FRAME_CLASS: + +Q\_FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls major frame class for multicopter component + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Undefined | | +| +-------+--------------------------+ | +| | 1 | Quad | | +| +-------+--------------------------+ | +| | 2 | Hexa | | +| +-------+--------------------------+ | +| | 3 | Octa | | +| +-------+--------------------------+ | +| | 4 | OctaQuad | | +| +-------+--------------------------+ | +| | 5 | Y6 | | +| +-------+--------------------------+ | +| | 7 | Tri | | +| +-------+--------------------------+ | +| | 10 | Single/Dual | | +| +-------+--------------------------+ | +| | 12 | DodecaHexa | | +| +-------+--------------------------+ | +| | 14 | Deca | | +| +-------+--------------------------+ | +| | 15 | Scripting Matrix | | +| +-------+--------------------------+ | +| | 17 | Dynamic Scripting Matrix | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _Q_FRAME_TYPE: + +Q\_FRAME\_TYPE: Frame Type \(\+\, X or V\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls motor mixing for multicopter component + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | Plus | | +| +-------+---------------------------+ | +| | 1 | X | | +| +-------+---------------------------+ | +| | 2 | V | | +| +-------+---------------------------+ | +| | 3 | H | | +| +-------+---------------------------+ | +| | 4 | V-Tail | | +| +-------+---------------------------+ | +| | 5 | A-Tail | | +| +-------+---------------------------+ | +| | 10 | Y6B | | +| +-------+---------------------------+ | +| | 11 | Y6F | | +| +-------+---------------------------+ | +| | 12 | BetaFlightX | | +| +-------+---------------------------+ | +| | 13 | DJIX | | +| +-------+---------------------------+ | +| | 14 | ClockwiseX | | +| +-------+---------------------------+ | +| | 15 | I | | +| +-------+---------------------------+ | +| | 16 | MOTOR_FRAME_TYPE_NYT_PLUS | | +| +-------+---------------------------+ | +| | 17 | MOTOR_FRAME_TYPE_NYT_X | | +| +-------+---------------------------+ | +| | 18 | BetaFlightXReversed | | +| +-------+---------------------------+ | +| | 19 | Y4 | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _Q_VFWD_GAIN: + +Q\_VFWD\_GAIN: Forward velocity hold gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q\_FWD\_THR\_USE parameter\. This Q\_VFD\_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller\. Set to 0 to disable this function\. A value of 0\.05 is a good place to start if you want to use the forward motor for position control\. No forward motor will be used in QSTABILIZE or QHOVER modes\. Use with QLOITER for position hold with the forward motor\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_RTL_ALT: + +Q\_RTL\_ALT: QRTL return altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude which QRTL mode heads to initially + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_RTL_MODE: + +Q\_RTL\_MODE: VTOL RTL mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If this is set to 1 then an RTL will change to QRTL when within RTL\_RADIUS meters of the RTL destination\, VTOL approach\: vehicle will RTL at RTL alt and circle with a radius of Q\_FW\_LND\_APR\_RAD down to Q\_RTL\_ALT and then transition into the wind and QRTL\, see \'AUTO VTOL Landing\'\, QRTL Always\: do a QRTL instead of RTL + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | Enabled | | +| +-------+---------------+ | +| | 2 | VTOL approach | | +| +-------+---------------+ | +| | 3 | QRTL Always | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _Q_GUIDED_MODE: + +Q\_GUIDED\_MODE: Enable VTOL in GUIDED mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables use of VTOL in guided mode\. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _Q_ESC_CAL: + +Q\_ESC\_CAL: ESC Calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is used to calibrate the throttle range of the VTOL motors\. Please read https\:\/\/ardupilot\.org\/plane\/docs\/quadplane\-esc\-calibration\.html before using\. This parameter is automatically set back to 0 on every boot\. This parameter only takes effect in QSTABILIZE mode\. When set to 1 the output of all motors will come directly from the throttle stick when armed\, and will be zero when disarmed\. When set to 2 the output of all motors will be maximum when armed and zero when disarmed\. Make sure you remove all properllers before using\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | ThrottleInput | | +| +-------+---------------+ | +| | 2 | FullInput | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _Q_VFWD_ALT: + +Q\_VFWD\_ALT: Forward velocity alt cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls altitude to disable forward velocity assist when below this relative altitude\. This is useful to keep the forward velocity propeller from hitting the ground\. Rangefinder height data is incorporated when available\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.25 | 0 to 10 | meters | ++-----------+---------+--------+ + + + + +.. _Q_LAND_ICE_CUT: + +Q\_LAND\_ICE\_CUT: Cut IC engine on landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls stopping an internal combustion engine in the final landing stage of a VTOL\. This is important for aircraft where the forward thrust engine may experience prop\-strike if left running during landing\. This requires the engine controls are enabled using the ICE\_\* parameters\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _Q_ASSIST_ANGLE: + +Q\_ASSIST\_ANGLE: Quadplane assistance angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance\. This will only be used if Q\_ASSIST\_SPEED is also positive and non\-zero\. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q\_ASSIST\_DELAY seconds\. Set to zero to disable angle assistance\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_MAV_TYPE: + +Q\_MAV\_TYPE: MAVLink type identifier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the mavlink type given in HEARTBEAT messages\. For some GCS types a particular setting will be needed for correct operation\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | AUTO | | +| +-------+----------------+ | +| | 1 | FIXED_WING | | +| +-------+----------------+ | +| | 2 | QUADROTOR | | +| +-------+----------------+ | +| | 3 | COAXIAL | | +| +-------+----------------+ | +| | 4 | HELICOPTER | | +| +-------+----------------+ | +| | 7 | AIRSHIP | | +| +-------+----------------+ | +| | 8 | FREE_BALLOON | | +| +-------+----------------+ | +| | 9 | ROCKET | | +| +-------+----------------+ | +| | 10 | GROUND_ROVER | | +| +-------+----------------+ | +| | 11 | SURFACE_BOAT | | +| +-------+----------------+ | +| | 12 | SUBMARINE | | +| +-------+----------------+ | +| | 16 | FLAPPING_WING | | +| +-------+----------------+ | +| | 17 | KITE | | +| +-------+----------------+ | +| | 19 | VTOL_DUOROTOR | | +| +-------+----------------+ | +| | 20 | VTOL_QUADROTOR | | +| +-------+----------------+ | +| | 21 | VTOL_TILTROTOR | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _Q_OPTIONS: + +Q\_OPTIONS: quadplane options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=======================================================================================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================================================================================================================+ | +| | 0 | Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 1 | Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 2 | Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 3 | Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 4 | Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 5 | USE QRTL-instead of QLAND for rc failsafe when in VTOL modes | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 6 | Use Governor-use ICE Idle Governor in MANUAL for forward motor | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 7 | Force Qassist-on always | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 8 | Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 10 | Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 11 | Delay Spoolup-delay VTOL spoolup for 2 seconds after arming | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 12 | Disable speed based Qassist when using synthethic airspeed estimates | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 13 | Disable Ground Effect Compensation-on baro altitude reports | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 14 | Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 15 | ThrLandControl-enable throttle stick control of landing rate | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 16 | DisableApproach-disable use of approach and airbrake stages in VTOL landing | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 17 | EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 18 | ARMVTOL-arm only in VTOL or AUTO modes | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 19 | CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 20 | Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL) | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 21 | Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes. | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | 22 | Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed. | | +| +-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _Q_TRANS_DECEL: + +Q\_TRANS\_DECEL: Transition deceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight\. + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0.2 to 5 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _Q_TRIM_PITCH: + +Q\_TRIM\_PITCH: Quadplane AHRS trim pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch\. NOTE\! this is relative to calibrated AHRS trim\, not forward flight trim which includes PTCH\_TRIM\_DEG\. For tailsitters\, this is relative to a baseline of 90 degrees in AHRS\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | -10 to +10 | degrees | ++-----------+------------+---------+ + + + + +.. _Q_FW_LND_APR_RAD: + +Q\_FW\_LND\_APR\_RAD: Quadplane fixed wing landing approach radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This provides the radius used\, when using a fixed wing landing approach\. If set to 0 then the WP\_LOITER\_RAD will be selected\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 5 | 0 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_TRANS_FAIL: + +Q\_TRANS\_FAIL: Quadplane transition failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum time allowed for forward transitions\, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q\_TRANS\_FAIL\_ACT or finish the transition depending on Q\_OPTIONS bit 19\. 0 for no limit\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 20 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_THROTTLE_EXPO: + +Q\_THROTTLE\_EXPO: Throttle expo strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of curvature in throttle curve\: 0 is linear\, 1 is cubic + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| .1 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_ACRO_RLL_RATE: + +Q\_ACRO\_RLL\_RATE: QACRO mode roll rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum roll rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_ACRO_PIT_RATE: + +Q\_ACRO\_PIT\_RATE: QACRO mode pitch rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum pitch rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_ACRO_YAW_RATE: + +Q\_ACRO\_YAW\_RATE: QACRO mode yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum yaw rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TKOFF_FAIL_SCL: + +Q\_TKOFF\_FAIL\_SCL: Takeoff time failure scalar +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND\. If set to 0 there is no limit on takeoff time\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 5.1 | 1.1 to 5.0 | ++-----------+------------+ + + + + +.. _Q_TKOFF_ARSP_LIM: + +Q\_TKOFF\_ARSP\_LIM: Takeoff airspeed limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed limit during takeoff\. If the airspeed exceeds this level the vehicle will switch to QLAND\. This is useful for ensuring that you don\'t takeoff into excessively strong wind\. If set to 0 there is no limit on airspeed during takeoff\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 20 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _Q_ASSIST_ALT: + +Q\_ASSIST\_ALT: Quadplane assistance altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude below which quadplane assistance will be triggered\. This acts the same way as Q\_ASSIST\_ANGLE and Q\_ASSIST\_SPEED\, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running\. A value of zero disables this feature\. The altitude is calculated as being above ground level\. The height above ground is given from a Lidar used if available and RNGFND\_LANDING\=1\. Otherwise it comes from terrain data if TERRAIN\_FOLLOW\=1 and comes from height above home otherwise\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 120 | meters | ++-----------+----------+--------+ + + + + +.. _Q_ASSIST_DELAY: + +Q\_ASSIST\_DELAY: Quadplane assistance delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is delay between the assistance thresholds being met and the assistance starting\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_FWD_MANTHR_MAX: + +Q\_FWD\_MANTHR\_MAX: VTOL manual forward throttle max percent +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for manual forward throttle\; used with RC option FWD\_THR \(209\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _Q_BACKTRANS_MS: + +Q\_BACKTRANS\_MS: SLT and Tiltrotor back transition pitch limit duration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a postion control mode\. 0 Disables\. + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _Q_TRANS_FAIL_ACT: + +Q\_TRANS\_FAIL\_ACT: Quadplane transition failure action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the mode that is changed to when Q\_TRANS\_FAIL time elapses\, if set\. See also Q\_OPTIONS bit 19\: CompleteTransition if Q\_TRANS\_FAIL + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | -1 | Warn only | | +| +-------+-----------+ | +| | 0 | QLand | | +| +-------+-----------+ | +| | 1 | QRTL | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _Q_LAND_ALTCHG: + +Q\_LAND\_ALTCHG: Land detection altitude change threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum altitude change allowed during land detection\. You can raise this value if you find that landing detection takes a long time to complete\. It is the maximum change in altitude over a period of 4 seconds for landing to be detected + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 0.05 | 0.1 to 0.6 | meters | ++-----------+------------+--------+ + + + + +.. _Q_NAVALT_MIN: + +Q\_NAVALT\_MIN: Minimum navigation altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the altitude in meters above which navigation begins in auto takeoff\. Below this altitude the target roll and pitch will be zero\. A value of zero disables the feature + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _Q_PLT_Y_RATE: + +Q\_PLT\_Y\_RATE: Pilot controlled yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot controlled yaw rate max\. Used in all pilot controlled modes except QAcro + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _Q_PLT_Y_EXPO: + +Q\_PLT\_Y\_EXPO: Pilot controlled yaw expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + + ++-------------+-----------------------+ +| Range | Values | ++=============+=======================+ +| -0.5 to 1.0 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | Disabled | | +| | +-------+-----------+ | +| | | 0.1 | Very Low | | +| | +-------+-----------+ | +| | | 0.2 | Low | | +| | +-------+-----------+ | +| | | 0.3 | Medium | | +| | +-------+-----------+ | +| | | 0.4 | High | | +| | +-------+-----------+ | +| | | 0.5 | Very High | | +| | +-------+-----------+ | +| | | ++-------------+-----------------------+ + + + + +.. _Q_PLT_Y_RATE_TC: + +Q\_PLT\_Y\_RATE\_TC: Pilot yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response\. + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _Q_RTL_ALT_MIN: + +Q\_RTL\_ALT\_MIN: QRTL minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home\. If outside 150\% the larger of WP\_LOITER\_RAD and RTL\_RADIUS the vehicle will VTOL climb to Q\_RTL\_ALT\. This parameter has no effect if the vehicle is in forward flight\. Should be between Q\_LAND\_FINAL\_ALT and Q\_RTL\_ALT + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_FWD_THR_GAIN: + +Q\_FWD\_THR\_GAIN: Q mode fwd throttle gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the gain from forward accel\/tilt to forward throttle in certain Q modes\. The Q modes this feature operates in is controlled by the Q\_FWD\_THR\_USE parameter\. Vehicles using separate forward thrust motors\, eg quadplanes\, should set this parameter to \(all up weight\) \/ \(maximum combined thrust of forward motors\) with a value of 2 being typical\. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to \(all up weight\) \/ \(weight lifted by tilting rotors\) which for most aircraft can be approximated as \(total number of lifting rotors\) \/ \(number of lifting rotors that tilt\)\. When using this method of forward throttle control\, the forward tilt angle limit is controlled by the Q\_FWD\_PIT\_LIM parameter\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 5.0 | ++-----------+------------+ + + + + +.. _Q_FWD_PIT_LIM: + +Q\_FWD\_PIT\_LIM: Q mode forward pitch limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When forward throttle is being controlled by the Q\_FWD\_THR\_GAIN parameter in Q modes\, the vehicle forward \(nose down\) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor\(s\) or tilting of moveable rotors\. Larger values allow the vehicle to pitch more nose down\. Set initially to the amount of nose down pitch required to remove wing lift\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.0 to 5.0 | degrees | ++-----------+------------+---------+ + + + + +.. _Q_FWD_THR_USE: + +Q\_FWD\_THR\_USE: Q mode forward throttle use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter determines when the feature that uses forward throttle instead of forward tilt is used\. The amount of forward throttle is controlled by the Q\_FWD\_THR\_GAIN parameter\. The maximum amount of forward pitch allowed is controlled by the Q\_FWD\_PIT\_LIM parameter\. Q\_FWD\_THR\_USE \= 0 disables the feature\. Q\_FWD\_THR\_USE \= 1 enables the feature in all position controlled modes such as QLOITER\, QLAND\, QRTL and VTOL TAKEOFF\. Q\_FWD\_THR\_USE \= 2 enables the feature in all Q modes except QAUTOTUNE and QACRO\. When enabling the feature\, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q\_VFWD\_GAIN to 0\. Do not use this feature with tailsitters\. + + ++----------------------------------------------------------+ +| Values | ++==========================================================+ +| +-------+----------------------------------------------+ | +| | Value | Meaning | | +| +=======+==============================================+ | +| | 0 | Off | | +| +-------+----------------------------------------------+ | +| | 1 | On in all position controlled Q modes | | +| +-------+----------------------------------------------+ | +| | 2 | On in all Q modes except QAUTOTUNE and QACRO | | +| +-------+----------------------------------------------+ | +| | ++----------------------------------------------------------+ + + + + +.. _Q_BCK_PIT_LIM: + +Q\_BCK\_PIT\_LIM: Q mode rearward pitch limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED\_MIN\, and is used to prevent excessive sutructural loads when pitching up decelerate\. If airspeed is above or below AIRSPEED\_MIN\, the pitch up\/back will be adjusted according to the formula pitch\_limit \= Q\_BCK\_PIT\_LIM \* \(AIRSPEED\_MIN \/ IAS\)\^2\. The backwards\/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH\_LIM\_MAX\_DEG and Q\_ANGLE\_MAX\. The BCK\_PIT\_LIM limit is only applied when Q\_FWD\_THR\_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed\. Set to a non positive value 0 to deactivate this limit\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.1 | 0.0 to 15.0 | degrees | ++-----------+-------------+---------+ + + + + +.. _Q_APPROACH_DIST: + +Q\_APPROACH\_DIST: Q mode approach distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach\. This is useful if you don\'t want the fixed wing approach logic to be used when you are close to the destination\. Set to zero to always use fixed wing approach\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | 0.0 to 1000 | meters | ++-----------+-------------+--------+ + + + + + +.. _parameters_Q_AUTOTUNE_: + +Q\_AUTOTUNE\_ Parameters +------------------------ + + +.. _Q_AUTOTUNE_AXES: + +Q\_AUTOTUNE\_AXES: Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Roll | | +| +-----+---------+ | +| | 1 | Pitch | | +| +-----+---------+ | +| | 2 | Yaw | | +| +-----+---------+ | +| | 3 | YawD | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _Q_AUTOTUNE_AGGR: + +Q\_AUTOTUNE\_AGGR: Autotune aggressiveness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\. + + ++--------------+ +| Range | ++==============+ +| 0.05 to 0.10 | ++--------------+ + + + + +.. _Q_AUTOTUNE_MIN_D: + +Q\_AUTOTUNE\_MIN\_D: AutoTune minimum D +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the minimum D gain + + ++-----------------+ +| Range | ++=================+ +| 0.0001 to 0.005 | ++-----------------+ + + + + + +.. _parameters_Q_A_: + +Q\_A\_ Parameters +----------------- + + +.. _Q_A_SLEW_YAW: + +Q\_A\_SLEW\_YAW: Yaw target slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + + ++-----------+--------------+-------------------------+ +| Increment | Range | Units | ++===========+==============+=========================+ +| 100 | 500 to 18000 | centidegrees per second | ++-----------+--------------+-------------------------+ + + + + +.. _Q_A_ACCEL_Y_MAX: + +Q\_A\_ACCEL\_Y\_MAX: Acceleration Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + + ++-----------+------------+--------------------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+============+================================+======================+ +| 1000 | 0 to 72000 | centidegrees per square second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 9000 | VerySlow | | +| | | | +-------+----------+ | +| | | | | 18000 | Slow | | +| | | | +-------+----------+ | +| | | | | 36000 | Medium | | +| | | | +-------+----------+ | +| | | | | 54000 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+------------+--------------------------------+----------------------+ + + + + +.. _Q_A_RATE_FF_ENAB: + +Q\_A\_RATE\_FF\_ENAB: Rate Feedforward Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether body\-frame rate feedforward is enabled or disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _Q_A_ACCEL_R_MAX: + +Q\_A\_ACCEL\_R\_MAX: Acceleration Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + + ++-----------+-------------+--------------------------------+-----------------------+ +| Increment | Range | Units | Values | ++===========+=============+================================+=======================+ +| 1000 | 0 to 180000 | centidegrees per square second | +--------+----------+ | +| | | | | Value | Meaning | | +| | | | +========+==========+ | +| | | | | 0 | Disabled | | +| | | | +--------+----------+ | +| | | | | 30000 | VerySlow | | +| | | | +--------+----------+ | +| | | | | 72000 | Slow | | +| | | | +--------+----------+ | +| | | | | 108000 | Medium | | +| | | | +--------+----------+ | +| | | | | 162000 | Fast | | +| | | | +--------+----------+ | +| | | | | ++-----------+-------------+--------------------------------+-----------------------+ + + + + +.. _Q_A_ACCEL_P_MAX: + +Q\_A\_ACCEL\_P\_MAX: Acceleration Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + + ++-----------+-------------+--------------------------------+-----------------------+ +| Increment | Range | Units | Values | ++===========+=============+================================+=======================+ +| 1000 | 0 to 180000 | centidegrees per square second | +--------+----------+ | +| | | | | Value | Meaning | | +| | | | +========+==========+ | +| | | | | 0 | Disabled | | +| | | | +--------+----------+ | +| | | | | 30000 | VerySlow | | +| | | | +--------+----------+ | +| | | | | 72000 | Slow | | +| | | | +--------+----------+ | +| | | | | 108000 | Medium | | +| | | | +--------+----------+ | +| | | | | 162000 | Fast | | +| | | | +--------+----------+ | +| | | | | ++-----------+-------------+--------------------------------+-----------------------+ + + + + +.. _Q_A_ANGLE_BOOST: + +Q\_A\_ANGLE\_BOOST: Angle Boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _Q_A_ANG_RLL_P: + +Q\_A\_ANG\_RLL\_P: Roll axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_PIT_P: + +Q\_A\_ANG\_PIT\_P: Pitch axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_YAW_P: + +Q\_A\_ANG\_YAW\_P: Yaw axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_LIM_TC: + +Q\_A\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Limit \(to maintain altitude\) Time Constant + + ++-------------+ +| Range | ++=============+ +| 0.5 to 10.0 | ++-------------+ + + + + +.. _Q_A_RATE_R_MAX: + +Q\_A\_RATE\_R\_MAX: Angular Velocity Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _Q_A_RATE_P_MAX: + +Q\_A\_RATE\_P\_MAX: Angular Velocity Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _Q_A_RATE_Y_MAX: + +Q\_A\_RATE\_Y\_MAX: Angular Velocity Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + + ++-----------+-----------+--------------------+----------------------+ +| Increment | Range | Units | Values | ++===========+===========+====================+======================+ +| 1 | 0 to 1080 | degrees per second | +-------+----------+ | +| | | | | Value | Meaning | | +| | | | +=======+==========+ | +| | | | | 0 | Disabled | | +| | | | +-------+----------+ | +| | | | | 60 | Slow | | +| | | | +-------+----------+ | +| | | | | 180 | Medium | | +| | | | +-------+----------+ | +| | | | | 360 | Fast | | +| | | | +-------+----------+ | +| | | | | ++-----------+-----------+--------------------+----------------------+ + + + + +.. _Q_A_INPUT_TC: + +Q\_A\_INPUT\_TC: Attitude control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-----------+--------+---------+------------------------+ +| Increment | Range | Units | Values | ++===========+========+=========+========================+ +| 0.01 | 0 to 1 | seconds | +-------+------------+ | +| | | | | Value | Meaning | | +| | | | +=======+============+ | +| | | | | 0.5 | Very Soft | | +| | | | +-------+------------+ | +| | | | | 0.2 | Soft | | +| | | | +-------+------------+ | +| | | | | 0.15 | Medium | | +| | | | +-------+------------+ | +| | | | | 0.1 | Crisp | | +| | | | +-------+------------+ | +| | | | | 0.05 | Very Crisp | | +| | | | +-------+------------+ | +| | | | | ++-----------+--------+---------+------------------------+ + + + + +.. _Q_A_LAND_R_MULT: + +Q\_A\_LAND\_R\_MULT: Landed roll gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the roll axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_LAND_P_MULT: + +Q\_A\_LAND\_P\_MULT: Landed pitch gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the pitch axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_LAND_Y_MULT: + +Q\_A\_LAND\_Y\_MULT: Landed yaw gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the yaw axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_RAT_RLL_P: + +Q\_A\_RAT\_RLL\_P: Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.01 to 0.5 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_I: + +Q\_A\_RAT\_RLL\_I: Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_IMAX: + +Q\_A\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_RLL_D: + +Q\_A\_RAT\_RLL\_D: Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_FF: + +Q\_A\_RAT\_RLL\_FF: Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_RLL_FLTT: + +Q\_A\_RAT\_RLL\_FLTT: Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_FLTE: + +Q\_A\_RAT\_RLL\_FLTE: Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_FLTD: + +Q\_A\_RAT\_RLL\_FLTD: Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_SMAX: + +Q\_A\_RAT\_RLL\_SMAX: Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_RLL_PDMX: + +Q\_A\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_RLL_D_FF: + +Q\_A\_RAT\_RLL\_D\_FF: Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_RLL_NTF: + +Q\_A\_RAT\_RLL\_NTF: Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_RLL_NEF: + +Q\_A\_RAT\_RLL\_NEF: Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_PIT_P: + +Q\_A\_RAT\_PIT\_P: Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.01 to 0.50 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_PIT_I: + +Q\_A\_RAT\_PIT\_I: Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_PIT_IMAX: + +Q\_A\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_PIT_D: + +Q\_A\_RAT\_PIT\_D: Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_PIT_FF: + +Q\_A\_RAT\_PIT\_FF: Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_PIT_FLTT: + +Q\_A\_RAT\_PIT\_FLTT: Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_FLTE: + +Q\_A\_RAT\_PIT\_FLTE: Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_FLTD: + +Q\_A\_RAT\_PIT\_FLTD: Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_SMAX: + +Q\_A\_RAT\_PIT\_SMAX: Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_PIT_PDMX: + +Q\_A\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_PIT_D_FF: + +Q\_A\_RAT\_PIT\_D\_FF: Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_PIT_NTF: + +Q\_A\_RAT\_PIT\_NTF: Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_PIT_NEF: + +Q\_A\_RAT\_PIT\_NEF: Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_YAW_P: + +Q\_A\_RAT\_YAW\_P: Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.10 to 2.50 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_YAW_I: + +Q\_A\_RAT\_YAW\_I: Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.010 to 1.0 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_YAW_IMAX: + +Q\_A\_RAT\_YAW\_IMAX: Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_YAW_D: + +Q\_A\_RAT\_YAW\_D: Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _Q_A_RAT_YAW_FF: + +Q\_A\_RAT\_YAW\_FF: Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_YAW_FLTT: + +Q\_A\_RAT\_YAW\_FLTT: Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_FLTE: + +Q\_A\_RAT\_YAW\_FLTE: Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 20 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_FLTD: + +Q\_A\_RAT\_YAW\_FLTD: Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_SMAX: + +Q\_A\_RAT\_YAW\_SMAX: Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_YAW_PDMX: + +Q\_A\_RAT\_YAW\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_YAW_D_FF: + +Q\_A\_RAT\_YAW\_D\_FF: Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_YAW_NTF: + +Q\_A\_RAT\_YAW\_NTF: Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _Q_A_RAT_YAW_NEF: + +Q\_A\_RAT\_YAW\_NEF: Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_THR_MIX_MIN: + +Q\_A\_THR\_MIX\_MIN: Throttle Mix Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\) + + ++-------------+ +| Range | ++=============+ +| 0.1 to 0.25 | ++-------------+ + + + + +.. _Q_A_THR_MIX_MAX: + +Q\_A\_THR\_MIX\_MAX: Throttle Mix Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _Q_A_THR_MIX_MAN: + +Q\_A\_THR\_MIX\_MAN: Throttle Mix Manual +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.1 to 0.9 | ++------------+ + + + + +.. _Q_A_THR_G_BOOST: + +Q\_A\_THR\_G\_BOOST: Throttle\-gain boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle\-gain boost ratio\. A value of 0 means no boosting is applied\, a value of 1 means full boosting is applied\. Describes the ratio increase that is applied to angle P and PD on pitch and roll\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + + +.. _parameters_Q_LOIT_: + +Q\_LOIT\_ Parameters +-------------------- + + +.. _Q_LOIT_ANG_MAX: + +Q\_LOIT\_ANG\_MAX: Loiter pilot angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle\. Set to zero for 2\/3 of Q\_P\_ANGLE\_MAX\/Q\_ANGLE\_MAX\. The maximum vehicle lean angle is still limited by Q\_P\_ANGLE\_MAX\/Q\_ANGLE\_MAX + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_LOIT_SPEED: + +Q\_LOIT\_SPEED: Loiter Horizontal Maximum Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum speed in cm\/s which the aircraft will travel horizontally while in loiter mode + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 20 to 3500 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_LOIT_ACC_MAX: + +Q\_LOIT\_ACC\_MAX: Loiter maximum correction acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm\/s\/s\. Higher values cause the copter to correct position errors more aggressively\. + + ++-----------+------------+-------------------------------+ +| Increment | Range | Units | ++===========+============+===============================+ +| 1 | 100 to 981 | centimeters per square second | ++-----------+------------+-------------------------------+ + + + + +.. _Q_LOIT_BRK_ACCEL: + +Q\_LOIT\_BRK\_ACCEL: Loiter braking acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking acceleration in cm\/s\/s\. Higher values stop the copter more quickly when the stick is centered\. + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 1 | 25 to 250 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_LOIT_BRK_JERK: + +Q\_LOIT\_BRK\_JERK: Loiter braking jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking jerk in cm\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 1 | 500 to 5000 | centimeters per cubic second | ++-----------+-------------+------------------------------+ + + + + +.. _Q_LOIT_BRK_DELAY: + +Q\_LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter brake start delay \(in seconds\) + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_Q_M_: + +Q\_M\_ Parameters +----------------- + + +.. _Q_M_YAW_HEADROOM: + +Q\_M\_YAW\_HEADROOM: Matrix Yaw Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 500 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _Q_M_THST_EXPO: + +Q\_M\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _Q_M_SPIN_MAX: + +Q\_M\_SPIN\_MAX: Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.9 | Low | | +| +-------+---------+ | +| | 0.95 | Default | | +| +-------+---------+ | +| | 1.0 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _Q_M_BAT_VOLT_MAX: + +Q\_M\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _Q_M_BAT_VOLT_MIN: + +Q\_M\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _Q_M_BAT_CURR_MAX: + +Q\_M\_BAT\_CURR\_MAX: Motor Current Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited \(0 \= Disabled\) + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 200 | ampere | ++----------+--------+ + + + + +.. _Q_M_PWM_TYPE: + +Q\_M\_PWM\_TYPE: Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output\.PWMRange and PWMAngle are PWM special\/rare cases for ESCs that dont calibrate normally \(some Sub motors\) or where each ESC must have its PWM range set individually using the Servo params instead of PWM\_MIN\/MAX parameters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Normal | | +| +-------+------------+ | +| | 1 | OneShot | | +| +-------+------------+ | +| | 2 | OneShot125 | | +| +-------+------------+ | +| | 3 | Brushed | | +| +-------+------------+ | +| | 4 | DShot150 | | +| +-------+------------+ | +| | 5 | DShot300 | | +| +-------+------------+ | +| | 6 | DShot600 | | +| +-------+------------+ | +| | 7 | DShot1200 | | +| +-------+------------+ | +| | 8 | PWMRange | | +| +-------+------------+ | +| | 9 | PWMAngle | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _Q_M_PWM_MIN: + +Q\_M\_PWM\_MIN: PWM output minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _Q_M_PWM_MAX: + +Q\_M\_PWM\_MAX: PWM output maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _Q_M_SPIN_MIN: + +Q\_M\_SPIN\_MIN: Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.0 | Low | | +| +-------+---------+ | +| | 0.15 | Default | | +| +-------+---------+ | +| | 0.25 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _Q_M_SPIN_ARM: + +Q\_M\_SPIN\_ARM: Motor Spin armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.0 | Low | | +| +-------+---------+ | +| | 0.1 | Default | | +| +-------+---------+ | +| | 0.2 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _Q_M_BAT_CURR_TC: + +Q\_M\_BAT\_CURR\_TC: Motor Current Max Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _Q_M_THST_HOVER: + +Q\_M\_THST\_HOVER: Thrust Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + + ++------------+ +| Range | ++============+ +| 0.2 to 0.8 | ++------------+ + + + + +.. _Q_M_HOVER_LEARN: + +Q\_M\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover throttle + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | Learn | | +| +-------+----------------+ | +| | 2 | Learn and Save | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _Q_M_SAFE_DISARM: + +Q\_M\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | PWM enabled while disarmed | | +| +-------+-----------------------------+ | +| | 1 | PWM disabled while disarmed | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _Q_M_YAW_SV_ANGLE: + +Q\_M\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw servo\'s maximum lean angle \(Tricopter only\) + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 5 to 80 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_M_SPOOL_TIME: + +Q\_M\_SPOOL\_TIME: Spool up time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.05 to 2 | seconds | ++-----------+-----------+---------+ + + + + +.. _Q_M_BOOST_SCALE: + +Q\_M\_BOOST\_SCALE: Motor boost scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle\. The output to the BoostThrottle servo will be the main throttle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 5 | ++-----------+--------+ + + + + +.. _Q_M_BAT_IDX: + +Q\_M\_BAT\_IDX: Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | First battery | | +| +-------+----------------+ | +| | 1 | Second battery | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _Q_M_SLEW_UP_TIME: + +Q\_M\_SLEW\_UP\_TIME: Output slew time for increasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_M_SLEW_DN_TIME: + +Q\_M\_SLEW\_DN\_TIME: Output slew time for decreasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_M_SAFE_TIME: + +Q\_M\_SAFE\_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_M_OPTIONS: + +Q\_M\_OPTIONS: Motor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor options + + ++-------------------------------------------------+ +| Bitmask | ++=================================================+ +| +-----+---------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================+ | +| | 0 | Voltage compensation uses raw voltage | | +| +-----+---------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _Q_M_SPOOL_TIM_DN: + +Q\_M\_SPOOL\_TIM\_DN: Spool down time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle\. If set to 0 then SPOOL\_TIME is used instead\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_Q_P: + +Q\_P Parameters +--------------- + + +.. _Q_P_ACC_XY_FILT: + +Q\_P\_ACC\_XY\_FILT: XY Acceleration filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.1 | 0.5 to 5 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_POSZ_P: + +Q\_P\_POSZ\_P: Position \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position \(vertical\) controller P gain\. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 3.000 | ++----------------+ + + + + +.. _Q_P_VELZ_P: + +Q\_P\_VELZ\_P: Velocity \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _Q_P_VELZ_I: + +Q\_P\_VELZ\_I: Velocity \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller I gain\. Corrects long\-term difference in desired velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELZ_IMAX: + +Q\_P\_VELZ\_IMAX: Velocity \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller I gain maximum\. Constrains the target acceleration that the I gain will output + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _Q_P_VELZ_D: + +Q\_P\_VELZ\_D: Velocity \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELZ_FF: + +Q\_P\_VELZ\_FF: Velocity \(vertical\) controller Feed Forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller Feed Forward gain\. Produces an output that is proportional to the magnitude of the target + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_P_VELZ_FLTE: + +Q\_P\_VELZ\_FLTE: Velocity \(vertical\) error filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) error filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELZ_FLTD: + +Q\_P\_VELZ\_FLTD: Velocity \(vertical\) input filter for D term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) input filter for D term\. This filter \(in Hz\) is applied to the input for D terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_ACCZ_P: + +Q\_P\_ACCZ\_P: Acceleration \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller P gain\. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.05 | 0.200 to 1.500 | ++-----------+----------------+ + + + + +.. _Q_P_ACCZ_I: + +Q\_P\_ACCZ\_I: Acceleration \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain\. Corrects long\-term difference in desired vertical acceleration and actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 3.000 | ++----------------+ + + + + +.. _Q_P_ACCZ_IMAX: + +Q\_P\_ACCZ\_IMAX: Acceleration \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain maximum\. Constrains the maximum pwm that the I term will generate + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _Q_P_ACCZ_D: + +Q\_P\_ACCZ\_D: Acceleration \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller D gain\. Compensates for short\-term change in desired vertical acceleration vs actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _Q_P_ACCZ_FF: + +Q\_P\_ACCZ\_FF: Acceleration \(vertical\) controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_P_ACCZ_FLTT: + +Q\_P\_ACCZ\_FLTT: Acceleration \(vertical\) controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_P_ACCZ_FLTE: + +Q\_P\_ACCZ\_FLTE: Acceleration \(vertical\) controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_ACCZ_FLTD: + +Q\_P\_ACCZ\_FLTD: Acceleration \(vertical\) controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_ACCZ_SMAX: + +Q\_P\_ACCZ\_SMAX: Accel \(vertical\) slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_P_ACCZ_PDMX: + +Q\_P\_ACCZ\_PDMX: Acceleration \(vertical\) controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _Q_P_ACCZ_D_FF: + +Q\_P\_ACCZ\_D\_FF: Accel \(vertical\) Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_P_ACCZ_NTF: + +Q\_P\_ACCZ\_NTF: Accel \(vertical\) Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_P_ACCZ_NEF: + +Q\_P\_ACCZ\_NEF: Accel \(vertical\) Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_P_POSXY_P: + +Q\_P\_POSXY\_P: Position \(horizontal\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance \(in the latitude direction\) to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _Q_P_VELXY_P: + +Q\_P\_VELXY\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _Q_P_VELXY_I: + +Q\_P\_VELXY\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELXY_D: + +Q\_P\_VELXY\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELXY_IMAX: + +Q\_P\_VELXY\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_P_VELXY_FLTE: + +Q\_P\_VELXY\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELXY_FLTD: + +Q\_P\_VELXY\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELXY_FF: + +Q\_P\_VELXY\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + +.. _Q_P_ANGLE_MAX: + +Q\_P\_ANGLE\_MAX: Position Control Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request\. Set to zero to use ANGLE\_MAX parameter value + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_P_JERK_XY: + +Q\_P\_JERK\_XY: Jerk limit for the horizontal kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 1 to 20 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + +.. _Q_P_JERK_Z: + +Q\_P\_JERK\_Z: Jerk limit for the vertical kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 5 to 50 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + + +.. _parameters_Q_TAILSIT_: + +Q\_TAILSIT\_ Parameters +----------------------- + + +.. _Q_TAILSIT_ENABLE: + +Q\_TAILSIT\_ENABLE: Enable Tailsitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Tailsitter functionality\. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle\, for use on vehicles with no control surfaces\, vehicle will not arm in forward flight modes\, see also Q\_OPTIONS \"Mtrs\_Only\_Qassist\" + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disable | | +| +-------+---------------+ | +| | 1 | Enable | | +| +-------+---------------+ | +| | 2 | Enable Always | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _Q_TAILSIT_ANGLE: + +Q\_TAILSIT\_ANGLE: Tailsitter fixed wing transition angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_ANG_VT: + +Q\_TAILSIT\_ANG\_VT: Tailsitter VTOL transition angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control\, if zero Q\_TAILSIT\_ANGLE will be used + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_INPUT: + +Q\_TAILSIT\_INPUT: Tailsitter input type bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering\. When PlaneMode is not enabled \(bit0 \= 0\) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame\. When PlaneMode input is enabled\, the roll and yaw sticks are swapped so that the roll stick controls earth\-frame yaw and rudder controls earth\-frame roll\. When body\-frame roll is enabled \(bit1 \= 1\)\, the yaw stick controls earth\-frame yaw rate and the roll stick controls roll in the tailsitter\'s body frame when flying level\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | PlaneMode | | +| +-----+---------------+ | +| | 1 | BodyFrameRoll | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _Q_TAILSIT_VFGAIN: + +Q\_TAILSIT\_VFGAIN: Tailsitter vector thrust gain in forward flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_VHGAIN: + +Q\_TAILSIT\_VHGAIN: Tailsitter vector thrust gain in hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of vectored thrust control used in hover for a vectored tailsitter + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_VHPOW: + +Q\_TAILSIT\_VHPOW: Tailsitter vector thrust gain power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of extra pitch given to the vectored control when at high pitch errors + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 4 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_GSCMAX: + +Q\_TAILSIT\_GSCMAX: Maximum tailsitter gain scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options + + ++--------+ +| Range | ++========+ +| 1 to 5 | ++--------+ + + + + +.. _Q_TAILSIT_RLL_MX: + +Q\_TAILSIT\_RLL\_MX: Maximum Roll angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum Allowed roll angle for tailsitters\. If this is zero then Q\_ANGLE\_MAX is used\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_MOTMX: + +Q\_TAILSIT\_MOTMX: Tailsitter motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of motors to remain active in forward flight for a \'Copter\' tailsitter\. Non\-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q\_FRAME\_CLASS and Q\_FRAME\_TYPE\. This should be zero for non\-Copter tailsitters\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Motor 1 | | +| +-----+----------+ | +| | 1 | Motor 2 | | +| +-----+----------+ | +| | 2 | Motor 3 | | +| +-----+----------+ | +| | 3 | Motor 4 | | +| +-----+----------+ | +| | 4 | Motor 5 | | +| +-----+----------+ | +| | 5 | Motor 6 | | +| +-----+----------+ | +| | 6 | Motor 7 | | +| +-----+----------+ | +| | 7 | Motor 8 | | +| +-----+----------+ | +| | 8 | Motor 9 | | +| +-----+----------+ | +| | 9 | Motor 10 | | +| +-----+----------+ | +| | 10 | Motor 11 | | +| +-----+----------+ | +| | 11 | Motor 12 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _Q_TAILSIT_GSCMSK: + +Q\_TAILSIT\_GSCMSK: Tailsitter gain scaling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of gain scaling methods to be applied\: Throttle\: scale gains with throttle\, ATT\_THR\: reduce gain at high throttle\/tilt\, 2\:Disk theory velocity calculation\, requires Q\_TAILSIT\_DSKLD to be set\, ATT\_THR must not be set\, 3\:Altitude correction\, scale with air density + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Throttle | | +| +-----+---------------------+ | +| | 1 | ATT_THR | | +| +-----+---------------------+ | +| | 2 | Disk Theory | | +| +-----+---------------------+ | +| | 3 | Altitude correction | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _Q_TAILSIT_GSCMIN: + +Q\_TAILSIT\_GSCMIN: Minimum tailsitter gain scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options + + ++----------+ +| Range | ++==========+ +| 0.1 to 1 | ++----------+ + + + + +.. _Q_TAILSIT_DSKLD: + +Q\_TAILSIT\_DSKLD: Tailsitter disk loading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the vehicle weight in kg divided by the total disk area of all propellers in m\^2\. Only used with Q\_TAILSIT\_GSCMSK \= 4 + + ++---------+----------------------------+ +| Range | Units | ++=========+============================+ +| 0 to 50 | kilograms per square meter | ++---------+----------------------------+ + + + + +.. _Q_TAILSIT_RAT_FW: + +Q\_TAILSIT\_RAT\_FW: Tailsitter VTOL to forward flight transition rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 10 to 500 | degrees per second | ++-----------+--------------------+ + + + + +.. _Q_TAILSIT_RAT_VT: + +Q\_TAILSIT\_RAT\_VT: Tailsitter forward flight to VTOL transition rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 10 to 500 | degrees per second | ++-----------+--------------------+ + + + + +.. _Q_TAILSIT_THR_VT: + +Q\_TAILSIT\_THR\_VT: Tailsitter forward flight to VTOL transition throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle used during FW\-\>VTOL transition\, \-1 uses hover throttle + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + +.. _Q_TAILSIT_VT_R_P: + +Q\_TAILSIT\_VT\_R\_P: Tailsitter VTOL control surface roll gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_VT_P_P: + +Q\_TAILSIT\_VT\_P\_P: Tailsitter VTOL control surface pitch gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_VT_Y_P: + +Q\_TAILSIT\_VT\_Y\_P: Tailsitter VTOL control surface yaw gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_MIN_VO: + +Q\_TAILSIT\_MIN\_VO: Tailsitter Disk loading minimum outflow speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Use in conjunction with disk theory gain scaling and Q\_TAILSIT\_DSKLD to specify minumum airspeed over control surfaces\, this will be used to boost throttle\, when descending for example\, 0 disables + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_Q_TILT_: + +Q\_TILT\_ Parameters +-------------------- + + +.. _Q_TILT_ENABLE: + +Q\_TILT\_ENABLE: Enable Tiltrotor functionality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Tiltrotor functionality + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _Q_TILT_MASK: + +Q\_TILT\_MASK: Tiltrotor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of motors that are tiltable in a tiltrotor \(or tiltwing\)\. The mask is in terms of the standard motor order for the frame type\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Motor 1 | | +| +-----+----------+ | +| | 1 | Motor 2 | | +| +-----+----------+ | +| | 2 | Motor 3 | | +| +-----+----------+ | +| | 3 | Motor 4 | | +| +-----+----------+ | +| | 4 | Motor 5 | | +| +-----+----------+ | +| | 5 | Motor 6 | | +| +-----+----------+ | +| | 6 | Motor 7 | | +| +-----+----------+ | +| | 7 | Motor 8 | | +| +-----+----------+ | +| | 8 | Motor 9 | | +| +-----+----------+ | +| | 9 | Motor 10 | | +| +-----+----------+ | +| | 10 | Motor 11 | | +| +-----+----------+ | +| | 11 | Motor 12 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _Q_TILT_RATE_UP: + +Q\_TILT\_RATE\_UP: Tiltrotor upwards tilt rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 300 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TILT_MAX: + +Q\_TILT\_MAX: Tiltrotor maximum VTOL angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum angle of the tiltable motors at which multicopter control will be enabled\. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT\_RATE + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 20 to 80 | degrees | ++-----------+----------+---------+ + + + + +.. _Q_TILT_TYPE: + +Q\_TILT\_TYPE: Tiltrotor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the type of tiltrotor when TILT\_MASK is non\-zero\. A continuous tiltrotor can tilt the rotors to any angle on demand\. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up\. In both cases the servo can\'t move faster than Q\_TILT\_RATE\. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover\, Bicopter tiltrotor must use the tailsitter frame class \(10\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Continuous | | +| +-------+-------------+ | +| | 1 | Binary | | +| +-------+-------------+ | +| | 2 | VectoredYaw | | +| +-------+-------------+ | +| | 3 | Bicopter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _Q_TILT_RATE_DN: + +Q\_TILT\_RATE\_DN: Tiltrotor downwards tilt rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight\. When this is zero the Q\_TILT\_RATE\_UP value is used\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 300 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TILT_YAW_ANGLE: + +Q\_TILT\_YAW\_ANGLE: Tilt minimum angle for vectored yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angle of the tilt servos when in VTOL mode and at minimum output \(fully back\)\. This needs to be set in addition to Q\_TILT\_TYPE\=2\, to enable vectored control for yaw in tilt quadplanes\. This is also used to limit the forward travel of bicopter tilts\(Q\_TILT\_TYPE\=3\) when in VTOL modes\. + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _Q_TILT_FIX_ANGLE: + +Q\_TILT\_FIX\_ANGLE: Fixed wing tiltrotor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angle the motors tilt down when at maximum output for forward flight\. Set this to a non\-zero value to enable vectoring for roll\/pitch in forward flight on tilt\-vectored aircraft + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 30 | degrees | ++---------+---------+ + + + + +.. _Q_TILT_FIX_GAIN: + +Q\_TILT\_FIX\_GAIN: Fixed wing tiltrotor gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _Q_TILT_WING_FLAP: + +Q\_TILT\_WING\_FLAP: Tiltrotor tilt angle that will be used as flap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +For use on tilt wings\, the wing will tilt up to this angle for flap\, transition will be complete when the wing reaches this angle from the forward fight position\, 0 disables + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + + +.. _parameters_Q_WP_: + +Q\_WP\_ Parameters +------------------ + + +.. _Q_WP_SPEED: + +Q\_WP\_SPEED: Waypoint Horizontal Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 2000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_WP_RADIUS: + +Q\_WP\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from a waypoint\, that when crossed indicates the wp has been hit\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 5 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _Q_WP_SPEED_UP: + +Q\_WP\_SPEED\_UP: Waypoint Climb Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while climbing during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 1000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_WP_SPEED_DN: + +Q\_WP\_SPEED\_DN: Waypoint Descent Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while descending during a WP mission + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 10 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _Q_WP_ACCEL: + +Q\_WP\_ACCEL: Waypoint Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_WP_ACCEL_Z: + +Q\_WP\_ACCEL\_Z: Waypoint Vertical Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the vertical acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_WP_RFND_USE: + +Q\_WP\_RFND\_USE: Waypoint missions use rangefinder for terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _Q_WP_JERK: + +Q\_WP\_JERK: Waypoint Jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal jerk in m\/s\/s used during missions + + ++---------+-------------------------+ +| Range | Units | ++=========+=========================+ +| 1 to 20 | meters per cubic second | ++---------+-------------------------+ + + + + +.. _Q_WP_TER_MARGIN: + +Q\_WP\_TER\_MARGIN: Waypoint Terrain following altitude margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin\. Vehicle will stop if distance from target altitude is larger than this margin \(in meters\) + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _Q_WP_ACCEL_C: + +Q\_WP\_ACCEL\_C: Waypoint Cornering Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum cornering acceleration in cm\/s\/s used during missions\. If zero uses 2x accel value\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 0 to 500 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + + +.. _parameters_Q_WVANE_: + +Q\_WVANE\_ Parameters +--------------------- + + +.. _Q_WVANE_ENABLE: + +Q\_WVANE\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable weather vaning\. When active\, the aircraft will automatically yaw into wind when in a VTOL position controlled mode\. Pilot yaw commands override the weathervaning action\. + + ++------------------------------------------------------------------------------------------------------+ +| Values | ++======================================================================================================+ +| +-------+------------------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================================================================+ | +| | -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------------------------------+ + + + + +.. _Q_WVANE_GAIN: + +Q\_WVANE\_GAIN: Weathervaning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This converts the target roll\/pitch angle of the aircraft into the correcting \(into wind\) yaw rate\. e\.g\. Gain \= 2\, roll \= 30 deg\, pitch \= 0 deg\, yaw rate \= 60 deg\/s\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 0.5 to 4 | ++-----------+----------+ + + + + +.. _Q_WVANE_ANG_MIN: + +Q\_WVANE\_ANG\_MIN: Weathervaning min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum target roll\/pitch angle before active weathervaning will start\. This provides a dead zone that is particularly useful for poorly trimmed quadplanes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_WVANE_HGT_MIN: + +Q\_WVANE\_HGT\_MIN: Weathervaning min height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Above this height weathervaning is permitted\. If RNGFND\_LANDING is enabled or terrain is enabled then this parameter sets height AGL\. Otherwise this parameter sets height above home\. Set zero to ignore minimum height requirement to activate weathervaning + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _Q_WVANE_SPD_MAX: + +Q\_WVANE\_SPD\_MAX: Weathervaning max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Below this ground speed weathervaning is permitted\. Set to 0 to ignore this condition when checking if vehicle should weathervane\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _Q_WVANE_VELZ_MAX: + +Q\_WVANE\_VELZ\_MAX: Weathervaning max vertical speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum climb or descent speed that the vehicle will still attempt to weathervane\. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb\/descent rate\. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _Q_WVANE_TAKEOFF: + +Q\_WVANE\_TAKEOFF: Takeoff override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in takeoffs + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | -1 | No override | | +| +-------+------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _Q_WVANE_LAND: + +Q\_WVANE\_LAND: Landing override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in landing + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | -1 | No override | | +| +-------+------------------------+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | Nose into wind | | +| +-------+------------------------+ | +| | 2 | Nose or tail into wind | | +| +-------+------------------------+ | +| | 3 | Side into wind | | +| +-------+------------------------+ | +| | 4 | tail into wind | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _Q_WVANE_OPTIONS: + +Q\_WVANE\_OPTIONS: Weathervaning options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options impacting weathervaning behaviour + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Use pitch when nose or tail-in for faster weathervaning | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | DoNotIncludeHome | | +| +-------+------------------+ | +| | 1 | IncludeHome | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++------------------------------------------------------------------------------+ +| Bitmask | ++==============================================================================+ +| +-----+--------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================================+ | +| | 0 | Ignore RC Receiver | | +| +-----+--------------------------------------------------------------------+ | +| | 1 | Ignore MAVLink Overrides | | +| +-----+--------------------------------------------------------------------+ | +| | 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | | +| +-----+--------------------------------------------------------------------+ | +| | 3 | FPort Pad | | +| +-----+--------------------------------------------------------------------+ | +| | 4 | Log RC input bytes | | +| +-----+--------------------------------------------------------------------+ | +| | 5 | Arming check throttle for 0 input | | +| +-----+--------------------------------------------------------------------+ | +| | 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | | +| +-----+--------------------------------------------------------------------+ | +| | 7 | Allow Switch reverse | | +| +-----+--------------------------------------------------------------------+ | +| | 8 | Use passthrough for CRSF telemetry | | +| +-----+--------------------------------------------------------------------+ | +| | 9 | Suppress CRSF mode/rate message for ELRS systems | | +| +-----+--------------------------------------------------------------------+ | +| | 10 | Enable multiple receiver support | | +| +-----+--------------------------------------------------------------------+ | +| | 11 | Use Link Quality for RSSI with CRSF | | +| +-----+--------------------------------------------------------------------+ | +| | 12 | Annotate CRSF flight mode with * on disarm | | +| +-----+--------------------------------------------------------------------+ | +| | 13 | Use 420kbaud for ELRS protocol | | +| +-----+--------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | All | | +| +-----+----------+ | +| | 1 | PPM | | +| +-----+----------+ | +| | 2 | IBUS | | +| +-----+----------+ | +| | 3 | SBUS | | +| +-----+----------+ | +| | 4 | SBUS_NI | | +| +-----+----------+ | +| | 5 | DSM | | +| +-----+----------+ | +| | 6 | SUMD | | +| +-----+----------+ | +| | 7 | SRXL | | +| +-----+----------+ | +| | 8 | SRXL2 | | +| +-----+----------+ | +| | 9 | CRSF | | +| +-----+----------+ | +| | 10 | ST24 | | +| +-----+----------+ | +| | 11 | FPORT | | +| +-----+----------+ | +| | 12 | FPORT2 | | +| +-----+----------+ | +| | 13 | FastSBUS | | +| +-----+----------+ | +| | 14 | DroneCAN | | +| +-----+----------+ | +| | 15 | Ghost | | +| +-----+----------+ | +| | 16 | MAVRadio | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-----------------------------------------------------------------+ +| Values | ++=================================================================+ +| +-------+-----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================================+ | +| | 0 | Do Nothing | | +| +-------+-----------------------------------------------------+ | +| | 4 | RTL | | +| +-------+-----------------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-----------------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-----------------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-----------------------------------------------------+ | +| | 22 | Parachute Release | | +| +-------+-----------------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-----------------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-----------------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 29 | Landing Gear | | +| +-------+-----------------------------------------------------+ | +| | 30 | Lost Plane Sound | | +| +-------+-----------------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-----------------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 38 | ADSB Avoidance Enable | | +| +-------+-----------------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-----------------------------------------------------+ | +| | 43 | InvertedFlight Enable | | +| +-------+-----------------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-----------------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-----------------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-----------------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-----------------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-----------------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-----------------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-----------------------------------------------------+ | +| | 64 | Reverse Throttle | | +| +-------+-----------------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-----------------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-----------------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-----------------------------------------------------+ | +| | 77 | TAKEOFF Mode | | +| +-------+-----------------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-----------------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-----------------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-----------------------------------------------------+ | +| | 82 | QAssist 3pos | | +| +-------+-----------------------------------------------------+ | +| | 84 | AirMode | | +| +-------+-----------------------------------------------------+ | +| | 85 | Generator | | +| +-------+-----------------------------------------------------+ | +| | 86 | Non Auto Terrain Follow Disable | | +| +-------+-----------------------------------------------------+ | +| | 87 | Crow Select | | +| +-------+-----------------------------------------------------+ | +| | 88 | Soaring Enable | | +| +-------+-----------------------------------------------------+ | +| | 89 | Landing Flare | | +| +-------+-----------------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-----------------------------------------------------+ | +| | 91 | Airspeed Ratio Calibration | | +| +-------+-----------------------------------------------------+ | +| | 92 | FBWA Mode | | +| +-------+-----------------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-----------------------------------------------------+ | +| | 95 | FBWA taildragger takeoff mode | | +| +-------+-----------------------------------------------------+ | +| | 96 | Trigger re-reading of mode switch | | +| +-------+-----------------------------------------------------+ | +| | 98 | TRAINING Mode | | +| +-------+-----------------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-----------------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-----------------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-----------------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-----------------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-----------------------------------------------------+ | +| | 107 | Enable FW Autotune | | +| +-------+-----------------------------------------------------+ | +| | 108 | QRTL Mode | | +| +-------+-----------------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-----------------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-----------------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-----------------------------------------------------+ | +| | 150 | CRUISE Mode | | +| +-------+-----------------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | | +| +-------+-----------------------------------------------------+ | +| | 155 | Set roll pitch and yaw trim to current servo and RC | | +| +-------+-----------------------------------------------------+ | +| | 157 | Force FS Action to FBWA | | +| +-------+-----------------------------------------------------+ | +| | 158 | Optflow Calibration | | +| +-------+-----------------------------------------------------+ | +| | 160 | Weathervane Enable | | +| +-------+-----------------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-----------------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-----------------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-----------------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-----------------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-----------------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-----------------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-----------------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-----------------------------------------------------+ | +| | 170 | QSTABILIZE Mode | | +| +-------+-----------------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-----------------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-----------------------------------------------------+ | +| | 173 | Plane AUTO Mode Landing Abort | | +| +-------+-----------------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-----------------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-----------------------------------------------------+ | +| | 176 | Quadplane Fwd Throttle Override enable | | +| +-------+-----------------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-----------------------------------------------------+ | +| | 179 | ICEngine start / stop | | +| +-------+-----------------------------------------------------+ | +| | 180 | Test autotuned gains after tune is complete | | +| +-------+-----------------------------------------------------+ | +| | 208 | Flap | | +| +-------+-----------------------------------------------------+ | +| | 209 | VTOL Forward Throttle | | +| +-------+-----------------------------------------------------+ | +| | 210 | Airbrakes | | +| +-------+-----------------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-----------------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-----------------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-----------------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-----------------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-----------------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-----------------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-----------------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-----------------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-----------------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-----------------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-----------------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-----------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Relay | | +| +-------+-------------+ | +| | 2 | Ignition | | +| +-------+-------------+ | +| | 3 | Parachute | | +| +-------+-------------+ | +| | 4 | Camera | | +| +-------+-------------+ | +| | 9 | ICE Starter | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RLL: + +RLL Parameters +-------------- + + +.. _RLL2SRV_TCONST: + +RLL2SRV\_TCONST: Roll Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved roll angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _RLL2SRV_RMAX: + +RLL2SRV\_RMAX: Maximum Roll Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum roll rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables this limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 180 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _RLL_RATE_P: + +RLL\_RATE\_P: Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _RLL_RATE_I: + +RLL\_RATE\_I: Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _RLL_RATE_IMAX: + +RLL\_RATE\_IMAX: Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _RLL_RATE_D: + +RLL\_RATE\_D: Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _RLL_RATE_FF: + +RLL\_RATE\_FF: Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _RLL_RATE_FLTT: + +RLL\_RATE\_FLTT: Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_FLTE: + +RLL\_RATE\_FLTE: Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_FLTD: + +RLL\_RATE\_FLTD: Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_SMAX: + +RLL\_RATE\_SMAX: Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _RLL_RATE_PDMX: + +RLL\_RATE\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _RLL_RATE_D_FF: + +RLL\_RATE\_D\_FF: Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _RLL_RATE_NTF: + +RLL\_RATE\_NTF: Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _RLL_RATE_NEF: + +RLL\_RATE\_NEF: Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | AnalogPin | | +| +-------+--------------------+ | +| | 2 | RCChannelPwmValue | | +| +-------+--------------------+ | +| | 3 | ReceiverProtocol | | +| +-------+--------------------+ | +| | 4 | PWMInputPin | | +| +-------+--------------------+ | +| | 5 | TelemetryRadioRSSI | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 8 | V5 Nano | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | ShowSlips | | +| +-------+--------------+ | +| | 3 | ShowOverruns | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | Enable per-task perf info | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Lua Scripts | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++--------------------------------------------------------------------------------------------------+ +| Bitmask | ++==================================================================================================+ +| +-----+----------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================================================+ | +| | 0 | No Scripts to run message if all scripts have stopped | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 1 | Runtime messages for memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 2 | Suppress logging scripts to dataflash | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 3 | log runtime memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 4 | Disable pre-arm check | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | | +| +-----+----------------------------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | ROMFS | | +| +-----+-------------+ | +| | 1 | APM/scripts | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Normal | | +| +-------+------------------+ | +| | 1 | IO Priority | | +| +-------+------------------+ | +| | 2 | Storage Priority | | +| +-------+------------------+ | +| | 3 | UART Priority | | +| +-------+------------------+ | +| | 4 | I2C Priority | | +| +-------+------------------+ | +| | 5 | SPI Priority | | +| +-------+------------------+ | +| | 6 | Timer Priority | | +| +-------+------------------+ | +| | 7 | Main Priority | | +| +-------+------------------+ | +| | 8 | Boost Priority | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 1 | MAVLink1 | | +| +-------+----------+ | +| | 2 | MAVLink2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_AUTO_TRIM: + +SERVO\_AUTO\_TRIM: Automatic servo trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables automatic servo trim in flight\. Servos will be trimed in stabilized flight modes when the aircraft is close to level\. Changes to servo trim will be saved every 10 seconds and will persist between flights\. The automatic trim won\'t go more than 20\% away from a centered trim\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | 1Khz | | +| +-------+---------------------+ | +| | 1 | loop-rate | | +| +-------+---------------------+ | +| | 2 | double loop-rate | | +| +-------+---------------------+ | +| | 3 | triple loop-rate | | +| +-------+---------------------+ | +| | 4 | quadruple loop rate | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | BLHeli32/Kiss/AM32 | | +| +-------+------------------------+ | +| | 2 | BLHeli_S/BlueJay | | +| +-------+------------------------+ | +| | 3 | BLHeli32/AM32/Kiss+EDT | | +| +-------+------------------------+ | +| | 4 | BLHeli_S/BlueJay+EDT | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | RCIN1Scaled | | +| +-----+---------------+ | +| | 1 | RCIN2Scaled | | +| +-----+---------------+ | +| | 2 | RCIN3Scaled | | +| +-----+---------------+ | +| | 3 | RCIN4Scaled | | +| +-----+---------------+ | +| | 4 | RCIN5Scaled | | +| +-----+---------------+ | +| | 5 | RCIN6Scaled | | +| +-----+---------------+ | +| | 6 | RCIN7Scaled | | +| +-----+---------------+ | +| | 7 | RCIN8Scaled | | +| +-----+---------------+ | +| | 8 | RCIN9Scaled | | +| +-----+---------------+ | +| | 9 | RCIN10Scaled | | +| +-----+---------------+ | +| | 10 | RCIN11Scaled | | +| +-----+---------------+ | +| | 11 | SRCIN12Scaled | | +| +-----+---------------+ | +| | 12 | RCIN13Scaled | | +| +-----+---------------+ | +| | 13 | RCIN14Scaled | | +| +-----+---------------+ | +| | 14 | RCIN15Scaled | | +| +-----+---------------+ | +| | 15 | RCIN16Scaled | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | GPIO | | +| +-------+---------------------------+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | RCPassThru | | +| +-------+---------------------------+ | +| | 2 | Flap | | +| +-------+---------------------------+ | +| | 3 | FlapAuto | | +| +-------+---------------------------+ | +| | 4 | Aileron | | +| +-------+---------------------------+ | +| | 6 | Mount1Yaw | | +| +-------+---------------------------+ | +| | 7 | Mount1Pitch | | +| +-------+---------------------------+ | +| | 8 | Mount1Roll | | +| +-------+---------------------------+ | +| | 9 | Mount1Retract | | +| +-------+---------------------------+ | +| | 10 | CameraTrigger | | +| +-------+---------------------------+ | +| | 12 | Mount2Yaw | | +| +-------+---------------------------+ | +| | 13 | Mount2Pitch | | +| +-------+---------------------------+ | +| | 14 | Mount2Roll | | +| +-------+---------------------------+ | +| | 15 | Mount2Retract | | +| +-------+---------------------------+ | +| | 16 | DifferentialSpoilerLeft1 | | +| +-------+---------------------------+ | +| | 17 | DifferentialSpoilerRight1 | | +| +-------+---------------------------+ | +| | 19 | Elevator | | +| +-------+---------------------------+ | +| | 21 | Rudder | | +| +-------+---------------------------+ | +| | 22 | SprayerPump | | +| +-------+---------------------------+ | +| | 23 | SprayerSpinner | | +| +-------+---------------------------+ | +| | 24 | FlaperonLeft | | +| +-------+---------------------------+ | +| | 25 | FlaperonRight | | +| +-------+---------------------------+ | +| | 26 | GroundSteering | | +| +-------+---------------------------+ | +| | 27 | Parachute | | +| +-------+---------------------------+ | +| | 28 | Gripper | | +| +-------+---------------------------+ | +| | 29 | LandingGear | | +| +-------+---------------------------+ | +| | 30 | EngineRunEnable | | +| +-------+---------------------------+ | +| | 33 | Motor1 | | +| +-------+---------------------------+ | +| | 34 | Motor2 | | +| +-------+---------------------------+ | +| | 35 | Motor3 | | +| +-------+---------------------------+ | +| | 36 | Motor4 | | +| +-------+---------------------------+ | +| | 37 | Motor5 | | +| +-------+---------------------------+ | +| | 38 | Motor6 | | +| +-------+---------------------------+ | +| | 39 | Motor7/TailTiltServo | | +| +-------+---------------------------+ | +| | 40 | Motor8 | | +| +-------+---------------------------+ | +| | 41 | TiltMotorsFront | | +| +-------+---------------------------+ | +| | 45 | TiltMotorsRear | | +| +-------+---------------------------+ | +| | 46 | TiltMotorRearLeft | | +| +-------+---------------------------+ | +| | 47 | TiltMotorRearRight | | +| +-------+---------------------------+ | +| | 51 | RCIN1 | | +| +-------+---------------------------+ | +| | 52 | RCIN2 | | +| +-------+---------------------------+ | +| | 53 | RCIN3 | | +| +-------+---------------------------+ | +| | 54 | RCIN4 | | +| +-------+---------------------------+ | +| | 55 | RCIN5 | | +| +-------+---------------------------+ | +| | 56 | RCIN6 | | +| +-------+---------------------------+ | +| | 57 | RCIN7 | | +| +-------+---------------------------+ | +| | 58 | RCIN8 | | +| +-------+---------------------------+ | +| | 59 | RCIN9 | | +| +-------+---------------------------+ | +| | 60 | RCIN10 | | +| +-------+---------------------------+ | +| | 61 | RCIN11 | | +| +-------+---------------------------+ | +| | 62 | RCIN12 | | +| +-------+---------------------------+ | +| | 63 | RCIN13 | | +| +-------+---------------------------+ | +| | 64 | RCIN14 | | +| +-------+---------------------------+ | +| | 65 | RCIN15 | | +| +-------+---------------------------+ | +| | 66 | RCIN16 | | +| +-------+---------------------------+ | +| | 67 | Ignition | | +| +-------+---------------------------+ | +| | 69 | Starter | | +| +-------+---------------------------+ | +| | 70 | Throttle | | +| +-------+---------------------------+ | +| | 73 | ThrottleLeft | | +| +-------+---------------------------+ | +| | 74 | ThrottleRight | | +| +-------+---------------------------+ | +| | 75 | TiltMotorFrontLeft | | +| +-------+---------------------------+ | +| | 76 | TiltMotorFrontRight | | +| +-------+---------------------------+ | +| | 77 | ElevonLeft | | +| +-------+---------------------------+ | +| | 78 | ElevonRight | | +| +-------+---------------------------+ | +| | 79 | VTailLeft | | +| +-------+---------------------------+ | +| | 80 | VTailRight | | +| +-------+---------------------------+ | +| | 82 | Motor9 | | +| +-------+---------------------------+ | +| | 83 | Motor10 | | +| +-------+---------------------------+ | +| | 84 | Motor11 | | +| +-------+---------------------------+ | +| | 85 | Motor12 | | +| +-------+---------------------------+ | +| | 86 | DifferentialSpoilerLeft2 | | +| +-------+---------------------------+ | +| | 87 | DifferentialSpoilerRight2 | | +| +-------+---------------------------+ | +| | 90 | CameraISO | | +| +-------+---------------------------+ | +| | 91 | CameraAperture | | +| +-------+---------------------------+ | +| | 92 | CameraFocus | | +| +-------+---------------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+---------------------------+ | +| | 94 | Script1 | | +| +-------+---------------------------+ | +| | 95 | Script2 | | +| +-------+---------------------------+ | +| | 96 | Script3 | | +| +-------+---------------------------+ | +| | 97 | Script4 | | +| +-------+---------------------------+ | +| | 98 | Script5 | | +| +-------+---------------------------+ | +| | 99 | Script6 | | +| +-------+---------------------------+ | +| | 100 | Script7 | | +| +-------+---------------------------+ | +| | 101 | Script8 | | +| +-------+---------------------------+ | +| | 102 | Script9 | | +| +-------+---------------------------+ | +| | 103 | Script10 | | +| +-------+---------------------------+ | +| | 104 | Script11 | | +| +-------+---------------------------+ | +| | 105 | Script12 | | +| +-------+---------------------------+ | +| | 106 | Script13 | | +| +-------+---------------------------+ | +| | 107 | Script14 | | +| +-------+---------------------------+ | +| | 108 | Script15 | | +| +-------+---------------------------+ | +| | 109 | Script16 | | +| +-------+---------------------------+ | +| | 110 | Airbrakes | | +| +-------+---------------------------+ | +| | 120 | NeoPixel1 | | +| +-------+---------------------------+ | +| | 121 | NeoPixel2 | | +| +-------+---------------------------+ | +| | 122 | NeoPixel3 | | +| +-------+---------------------------+ | +| | 123 | NeoPixel4 | | +| +-------+---------------------------+ | +| | 124 | RateRoll | | +| +-------+---------------------------+ | +| | 125 | RatePitch | | +| +-------+---------------------------+ | +| | 126 | RateThrust | | +| +-------+---------------------------+ | +| | 127 | RateYaw | | +| +-------+---------------------------+ | +| | 129 | ProfiLED1 | | +| +-------+---------------------------+ | +| | 130 | ProfiLED2 | | +| +-------+---------------------------+ | +| | 131 | ProfiLED3 | | +| +-------+---------------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+---------------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+---------------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+---------------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+---------------------------+ | +| | 138 | Alarm | | +| +-------+---------------------------+ | +| | 139 | Alarm Inverted | | +| +-------+---------------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+---------------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+---------------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+---------------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+---------------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+---------------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+---------------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+---------------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+---------------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+---------------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+---------------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+---------------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+---------------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+---------------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+---------------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+---------------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | TestMotor1 | | +| +-------+------------+ | +| | 2 | TestMotor2 | | +| +-------+------------+ | +| | 3 | TestMotor3 | | +| +-------+------------+ | +| | 4 | TestMotor4 | | +| +-------+------------+ | +| | 5 | TestMotor5 | | +| +-------+------------+ | +| | 6 | TestMotor6 | | +| +-------+------------+ | +| | 7 | TestMotor7 | | +| +-------+------------+ | +| | 8 | TestMotor8 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | OneShot | | +| +-------+------------+ | +| | 2 | OneShot125 | | +| +-------+------------+ | +| | 3 | Brushed | | +| +-------+------------+ | +| | 4 | DShot150 | | +| +-------+------------+ | +| | 5 | DShot300 | | +| +-------+------------+ | +| | 6 | DShot600 | | +| +-------+------------+ | +| | 7 | DShot1200 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Console | | +| +-------+-------------------------+ | +| | 1 | Mavlink Serial Channel1 | | +| +-------+-------------------------+ | +| | 2 | Mavlink Serial Channel2 | | +| +-------+-------------------------+ | +| | 3 | Mavlink Serial Channel3 | | +| +-------+-------------------------+ | +| | 4 | Mavlink Serial Channel4 | | +| +-------+-------------------------+ | +| | 5 | Mavlink Serial Channel5 | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | 16 | Channel17 | | +| +-----+-----------+ | +| | 17 | Channel18 | | +| +-----+-----------+ | +| | 18 | Channel19 | | +| +-----+-----------+ | +| | 19 | Channel20 | | +| +-----+-----------+ | +| | 20 | Channel21 | | +| +-----+-----------+ | +| | 21 | Channel22 | | +| +-----+-----------+ | +| | 22 | Channel23 | | +| +-----+-----------+ | +| | 23 | Channel24 | | +| +-----+-----------+ | +| | 24 | Channel25 | | +| +-----+-----------+ | +| | 25 | Channel26 | | +| +-----+-----------+ | +| | 26 | Channel27 | | +| +-----+-----------+ | +| | 28 | Channel29 | | +| +-----+-----------+ | +| | 29 | Channel30 | | +| +-----+-----------+ | +| | 30 | Channel31 | | +| +-----+-----------+ | +| | 31 | Channel32 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL1 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL2 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL3 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL4 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL5 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Transceiever disable | | +| +-------+----------------------+ | +| | 1 | Transceiever enable | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | MAVLink | | +| +-----+-------------+ | +| | 3 | SageTechMXS | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | MegaSquirt EFI system | | +| +-------+-----------------------+ | +| | 2 | Löweheiser EFI system | | +| +-------+-----------------------+ | +| | 8 | Hirth engines | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Servo 1 | | +| +-----+---------+ | +| | 1 | Servo 2 | | +| +-----+---------+ | +| | 2 | Servo 3 | | +| +-----+---------+ | +| | 3 | Servo 4 | | +| +-----+---------+ | +| | 4 | Servo 5 | | +| +-----+---------+ | +| | 5 | Servo 6 | | +| +-----+---------+ | +| | 6 | Servo 7 | | +| +-----+---------+ | +| | 7 | Servo 8 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Normal | | +| +-------+---------+ | +| | 1 | Reverse | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG1 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG2 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG3 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable target distance | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Front | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | cylinder | | +| +-------+----------+ | +| | 1 | cone | | +| +-------+----------+ | +| | 2 | sphere | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-----------------------------------------------------------+ +| Values | ++===========================================================+ +| +-------+-----------------------------------------------+ | +| | Value | Meaning | | +| +=======+===============================================+ | +| | 0 | Disabled | | +| +-------+-----------------------------------------------+ | +| | 1 | No RC pusles | | +| +-------+-----------------------------------------------+ | +| | 2 | All Channels neutral except Throttle is 950us | | +| +-------+-----------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++------------------------------------------------------------------+ +| Bitmask | ++==================================================================+ +| +-----+--------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================+ | +| | 0 | Reset position on startup | | +| +-----+--------------------------------------------------------+ | +| | 1 | Swap first 4 and last 4 servos (for quadplane testing) | | +| +-----+--------------------------------------------------------+ | +| | 2 | Demix heli servos and send roll/pitch/collective/yaw | | +| +-----+--------------------------------------------------------+ | +| | 3 | Don't print frame rate stats | | +| +-----+--------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Vicon Healthy | | +| +-------+---------------+ | +| | 1 | Vicon Failed | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++------------------------------------+ +| Bitmask | ++====================================+ +| +-----+--------------------------+ | +| | Bit | Meaning | | +| +=====+==========================+ | +| | 0 | VISION_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 1 | VISION_SPEED_ESTIMATE | | +| +-----+--------------------------+ | +| | 2 | VICON_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 3 | VISION_POSITION_DELTA | | +| +-----+--------------------------+ | +| | 4 | ODOMETRY | | +| +-----+--------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | disabled | | +| +-------+--------------------------+ | +| | 1 | roll and pitch | | +| +-------+--------------------------+ | +| | 2 | roll and pitch and heave | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | square law | | +| +-------+------------------------+ | +| | 1 | none | | +| +-------+------------------------+ | +| | 2 | linear-see WIND_T_COEF | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + + +.. _parameters_SOAR_: + +SOAR\_ Parameters +----------------- + + +.. _SOAR_ENABLE: + +SOAR\_ENABLE: Is the soaring mode enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Toggles the soaring mode on and off + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SOAR_VSPEED: + +SOAR\_VSPEED: Vertical v\-speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Rate of climb to trigger themalling speed + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _SOAR_Q1: + +SOAR\_Q1: Process noise +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in process for strength + + ++----------------+ +| Range | ++================+ +| 0.0001 to 0.01 | ++----------------+ + + + + +.. _SOAR_Q2: + +SOAR\_Q2: Process noise +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in process for position and radius + + ++-----------+ +| Range | ++===========+ +| 0.01 to 1 | ++-----------+ + + + + +.. _SOAR_R: + +SOAR\_R: Measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in measurement + + ++-----------+ +| Range | ++===========+ +| 0.01 to 1 | ++-----------+ + + + + +.. _SOAR_DIST_AHEAD: + +SOAR\_DIST\_AHEAD: Distance to thermal center +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Initial guess of the distance to the thermal center + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SOAR_MIN_THML_S: + +SOAR\_MIN\_THML\_S: Minimum thermalling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of seconds to spend thermalling + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _SOAR_MIN_CRSE_S: + +SOAR\_MIN\_CRSE\_S: Minimum cruising time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of seconds to spend cruising + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _SOAR_POLAR_CD0: + +SOAR\_POLAR\_CD0: Zero lift drag coef\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Zero lift drag coefficient + + ++--------------+ +| Range | ++==============+ +| 0.005 to 0.5 | ++--------------+ + + + + +.. _SOAR_POLAR_B: + +SOAR\_POLAR\_B: Induced drag coeffient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Induced drag coeffient + + ++---------------+ +| Range | ++===============+ +| 0.005 to 0.05 | ++---------------+ + + + + +.. _SOAR_POLAR_K: + +SOAR\_POLAR\_K: Cl factor +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cl factor 2\*m\*g\/\(rho\*S\) + + ++-----------+--------------------------------+ +| Range | Units | ++===========+================================+ +| 20 to 400 | square meter per square second | ++-----------+--------------------------------+ + + + + +.. _SOAR_ALT_MAX: + +SOAR\_ALT\_MAX: Maximum soaring altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Don\'t thermal any higher than this\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 5000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_ALT_MIN: + +SOAR\_ALT\_MIN: Minimum soaring altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Don\'t get any lower than this\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 1000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_ALT_CUTOFF: + +SOAR\_ALT\_CUTOFF: Maximum power altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut off throttle at this alt\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 5000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_MAX_DRIFT: + +SOAR\_MAX\_DRIFT: \(Optional\) Maximum drift distance to allow when thermalling\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value\. \-1 to disable\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1000 | ++-----------+ + + + + +.. _SOAR_MAX_RADIUS: + +SOAR\_MAX\_RADIUS: \(Optional\) Maximum distance from home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RTL will be entered when a thermal is exited and the plane is more than this distance from home\. \-1 to disable\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1000 | ++-----------+ + + + + +.. _SOAR_THML_BANK: + +SOAR\_THML\_BANK: Thermalling bank angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the bank angle to use when thermalling\. Typically 30 \- 45 degrees works well\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 50 | degrees | ++----------+---------+ + + + + +.. _SOAR_THML_ARSPD: + +SOAR\_THML\_ARSPD: Specific setting for airspeed when soaring in THERMAL mode\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If non\-zero this airspeed will be used when thermalling\. A value of 0 will use AIRSPEED\_CRUISE\. + + ++---------+ +| Range | ++=========+ +| 0 to 50 | ++---------+ + + + + +.. _SOAR_CRSE_ARSPD: + +SOAR\_CRSE\_ARSPD: Specific setting for airspeed when soaring in AUTO mode\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If non\-zero this airspeed will be used when cruising between thermals in AUTO\. If set to \-1\, airspeed will be selected based on speed\-to\-fly theory\. If set to 0\, then AIRSPEED\_CRUISE will be used while cruising between thermals\. + + ++----------+ +| Range | ++==========+ +| -1 to 50 | ++----------+ + + + + +.. _SOAR_THML_FLAP: + +SOAR\_THML\_FLAP: Flap percent to be used during thermalling flight\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the flap when in LOITER with soaring active\. Overrides the usual auto flap behaviour\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_STEER2SRV_: + +STEER2SRV\_ Parameters +---------------------- + + +.. _STEER2SRV_TCONST: + +STEER2SRV\_TCONST: Steering Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant in seconds from demanded to achieved steering angle\. A value of 0\.75 is a good default and will work with nearly all rovers\. Ground steering in aircraft needs a bit smaller time constant\, and a value of 0\.5 is recommended for best ground handling in fixed wing aircraft\. A value of 0\.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0\.75 seconds\. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _STEER2SRV_P: + +STEER2SRV\_P: Steering turning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The proportional gain for steering\. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 10.0 | ++-----------+-------------+ + + + + +.. _STEER2SRV_I: + +STEER2SRV\_I: Integrator Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the gain from the integral of steering angle\. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.05 | 0 to 1.0 | ++-----------+----------+ + + + + +.. _STEER2SRV_D: + +STEER2SRV\_D: Damping Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This adjusts the damping of the steering control loop\. This gain helps to reduce steering jitter with vibration\. It should be increased in 0\.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.1 | ++-----------+----------+ + + + + +.. _STEER2SRV_IMAX: + +STEER2SRV\_IMAX: Integrator limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the number of degrees of steering in centi\-degrees over which the integrator will operate\. At the default setting of 1500 centi\-degrees\, the integrator will be limited to \+\- 15 degrees of servo travel\. The maximum servo deflection is \+\- 45 centi\-degrees\, so the default value represents a 1\/3rd of the total control throw which is adequate unless the vehicle is severely out of trim\. + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _STEER2SRV_MINSPD: + +STEER2SRV\_MINSPD: Minimum speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum assumed ground speed in meters\/second for steering\. Having a minimum speed prevents oscillations when the vehicle first starts moving\. The vehicle can still drive slower than this limit\, but the steering calculations will be done based on this minimum speed\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _STEER2SRV_FF: + +STEER2SRV\_FF: Steering feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering\. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m\/s ground speed\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _STEER2SRV_DRTSPD: + +STEER2SRV\_DRTSPD: Derating speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed after that the maximum degree of steering will start to derate\. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing\. If 0 then no derating is used\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.0 to 30.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _STEER2SRV_DRTFCT: + +STEER2SRV\_DRTFCT: Derating factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Degrees of steering wheel to derate at each additional m\/s of speed above \"Derating speed\"\. Should be set so that at higher speeds the plane does not roll to the wing in turns\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 0.1 | 0.0 to 50.0 | degrees per meter per second | ++-----------+-------------+------------------------------+ + + + + +.. _STEER2SRV_DRTMIN: + +STEER2SRV\_DRTMIN: Minimum angle of wheel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The angle that limits smallest angle of steering wheel at maximum speed\. Even if it should derate below\, it will stop derating at this angle\. + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + + +.. _parameters_TECS_: + +TECS\_ Parameters +----------------- + + +.. _TECS_CLMB_MAX: + +TECS\_CLMB\_MAX: Maximum Climb Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum demanded climb rate\. Do not set higher than the climb speed at THR\_MAX at AIRSPEED\_CRUISE when the battery is at low voltage\. Reduce value if airspeed cannot be maintained on ascent\. Increase value if throttle does not increase significantly to ascend\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 20.0 | ++-----------+-------------+ + + + + +.. _TECS_SINK_MIN: + +TECS\_SINK\_MIN: Minimum Sink Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum sink rate when at THR\_MIN and AIRSPEED\_CRUISE\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_TIME_CONST: + +TECS\_TIME\_CONST: Controller time constant \(sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant of the TECS control algorithm\. Small values make faster altitude corrections but can cause overshoot and aggressive behavior\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.2 | 3.0 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_THR_DAMP: + +TECS\_THR\_DAMP: Controller throttle damping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for throttle demand loop\. Increase to add throttle activity to dampen oscillations in speed and height\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_INTEG_GAIN: + +TECS\_INTEG\_GAIN: Controller integrator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Integrator gain to trim out long\-term speed and height errors\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_VERT_ACC: + +TECS\_VERT\_ACC: Vertical Acceleration Limit \(metres\/sec\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum vertical acceleration used to correct speed or height errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_HGT_OMEGA: + +TECS\_HGT\_OMEGA: Height complementary filter frequency \(radians\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the cross\-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 1.0 to 5.0 | ++-----------+------------+ + + + + +.. _TECS_SPD_OMEGA: + +TECS\_SPD\_OMEGA: Speed complementary filter frequency \(radians\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the cross\-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.5 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_RLL2THR: + +TECS\_RLL2THR: Bank angle compensation gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns\. Set to approximately 10x the sink rate in m\/s caused by a 45\-degree turn\. High efficiency models may need less while less efficient aircraft may need more\. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees\. Tune with PTCH2SRV\_RLL and KFF\_RDDRMIX to achieve constant airspeed\, constant altitude turns\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1.0 | 5.0 to 30.0 | ++-----------+-------------+ + + + + +.. _TECS_SPDWEIGHT: + +TECS\_SPDWEIGHT: Weighting applied to speed control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mixing of pitch and throttle correction for height and airspeed errors\. Pitch controls altitude and throttle controls airspeed if set to 0\. Pitch controls airspeed and throttle controls altitude if set to 2 \(good for gliders\)\. Blended if set to 1\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_PTCH_DAMP: + +TECS\_PTCH\_DAMP: Controller pitch damping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for pitch control from TECS control\. Increasing may correct for oscillations in speed and height\, but too much may cause additional oscillation and degraded control\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_SINK_MAX: + +TECS\_SINK\_MAX: Maximum Descent Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum demanded descent rate\. Do not set higher than the vertical speed the aircraft can maintain at THR\_MIN\, TECS\_PITCH\_MIN\, and AIRSPEED\_MAX\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.0 to 20.0 | ++-----------+-------------+ + + + + +.. _TECS_LAND_ARSPD: + +TECS\_LAND\_ARSPD: Airspeed during landing approach \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When performing an autonomus landing\, this value is used as the goal airspeed during approach\. Max airspeed allowed is Trim Airspeed or AIRSPEED\_MAX as defined by LAND\_OPTIONS bitmask\. Note that this parameter is not useful if your platform does not have an airspeed sensor \(use TECS\_LAND\_THR instead\)\. If negative then this value is halfway between AIRSPEED\_MIN and TRIM\_CRUISE\_CM speed for fixed wing autolandings\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 1 | -1 to 127 | ++-----------+-----------+ + + + + +.. _TECS_LAND_THR: + +TECS\_LAND\_THR: Cruise throttle during landing approach \(percentage\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Use this parameter instead of LAND\_ARSPD if your platform does not have an airspeed sensor\. It is the cruise throttle during landing approach\. If this value is negative then it is disabled and TECS\_LAND\_ARSPD is used instead\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -1 to 100 | ++-----------+-----------+ + + + + +.. _TECS_LAND_SPDWGT: + +TECS\_LAND\_SPDWGT: Weighting applied to speed control during landing\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Same as SPDWEIGHT parameter\, with the exception that this parameter is applied during landing flight stages\. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up \-\- sometimes good for a glider landing \(with the side effect that you will likely glide a ways past the landing point\)\. A value closer to 0 results in the plane ignoring speed error \-\- use caution when lowering the value below 1 \-\- ignoring speed could result in a stall\. Values between 0 and 2 are valid values for a fixed landing weight\. When using \-1 the weight will be scaled during the landing\. At the start of the landing approach it starts with TECS\_SPDWEIGHT and scales down to 0 by the time you reach the land point\. Example\: Halfway down the landing approach you\'ll effectively have a weight of TECS\_SPDWEIGHT\/2\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | -1.0 to 2.0 | ++-----------+-------------+ + + + + +.. _TECS_PITCH_MAX: + +TECS\_PITCH\_MAX: Maximum pitch in auto flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overrides PTCH\_LIM\_MAX\_DEG in automatic throttle modes to reduce climb rates\. Uses PTCH\_LIM\_MAX\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can climb at AIRSPEED\_CRUISE and THR\_MAX\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 45 | ++-----------+---------+ + + + + +.. _TECS_PITCH_MIN: + +TECS\_PITCH\_MIN: Minimum pitch in auto flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overrides PTCH\_LIM\_MIN\_DEG in automatic throttle modes to reduce descent rates\. Uses PTCH\_LIM\_MIN\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can descend at without overspeeding\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -45 to 0 | ++-----------+----------+ + + + + +.. _TECS_LAND_SINK: + +TECS\_LAND\_SINK: Sink rate for final landing stage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sink rate in meters\/second for the final stage of landing\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_TCONST: + +TECS\_LAND\_TCONST: Land controller time constant \(sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time constant of the TECS control algorithm when in final landing stage of flight\. It should be smaller than TECS\_TIME\_CONST to allow for faster flare + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.2 | 1.0 to 5.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_DAMP: + +TECS\_LAND\_DAMP: Controller sink rate to pitch gain during flare +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the sink rate gain for the pitch demand loop when in final landing stage of flight\. It should be larger than TECS\_PTCH\_DAMP to allow for better sink rate control during flare\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_PMAX: + +TECS\_LAND\_PMAX: Maximum pitch during final stage of landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the pitch used during the final stage of automatic landing\. During the final landing stage most planes need to keep their pitch small to avoid stalling\. A maximum of 10 degrees is usually good\. A value of zero means to use the normal pitch limits\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -5 to 40 | ++-----------+----------+ + + + + +.. _TECS_APPR_SMAX: + +TECS\_APPR\_SMAX: Sink rate max for landing approach stage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sink rate max for the landing approach stage of landing\. This will need to be large for steep landing approaches especially when using reverse thrust\. If 0\, then use TECS\_SINK\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.0 to 20.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _TECS_LAND_SRC: + +TECS\_LAND\_SRC: Land sink rate change +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When zero\, the flare sink rate \(TECS\_LAND\_SINK\) is a fixed sink demand\. With this enabled the flare sinkrate will increase\/decrease the flare sink demand as you get further beyond the LAND waypoint\. Has no effect before the waypoint\. This value is added to TECS\_LAND\_SINK proportional to distance traveled after wp\. With an increasing sink rate you can still land in a given distance if you\'re traveling too fast and cruise passed the land point\. A positive value will force the plane to land sooner proportional to distance passed land point\. A negative number will tell the plane to slowly climb allowing for a pitched\-up stall landing\. Recommend 0\.2 as initial value\. + + ++-----------+-------------+-----------------------------+ +| Increment | Range | Units | ++===========+=============+=============================+ +| 0.1 | -2.0 to 2.0 | meters per second per meter | ++-----------+-------------+-----------------------------+ + + + + +.. _TECS_LAND_TDAMP: + +TECS\_LAND\_TDAMP: Controller throttle damping when landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for the throttle demand loop during an auto\-landing\. Same as TECS\_THR\_DAMP but only in effect during an auto\-land\. Increase to add throttle activity to dampen oscillations in speed and height\. When set to 0 landing throttle damping is controlled by TECS\_THR\_DAMP\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_IGAIN: + +TECS\_LAND\_IGAIN: Controller integrator during landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during landing\. When set to 0 then TECS\_INTEG\_GAIN is used\. Increase to increase the rate at which speed and height offsets are trimmed out\. Typically values lower than TECS\_INTEG\_GAIN work best + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_TKOFF_IGAIN: + +TECS\_TKOFF\_IGAIN: Controller integrator during takeoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during takeoff\. Increase to increase the rate at which speed and height offsets are trimmed out\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_LAND_PDAMP: + +TECS\_LAND\_PDAMP: Pitch damping gain when landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the damping gain for the pitch demand loop during landing\. Increase to add damping to correct for oscillations in speed and height\. If set to 0 then TECS\_PTCH\_DAMP will be used instead\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_SYNAIRSPEED: + +TECS\_SYNAIRSPEED: Enable the use of synthetic airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of synthetic airspeed in TECS for aircraft that don\'t have a real airspeed sensor\. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system\, such as very poor estimates when a wind estimate is not accurate\. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate\. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TECS_OPTIONS: + +TECS\_OPTIONS: Extra TECS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows the enabling of special features in the speed\/height controller\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | GliderOnly | | +| +-----+---------------------+ | +| | 1 | AllowDescentSpeedup | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _TECS_PTCH_FF_V0: + +TECS\_PTCH\_FF\_V0: Baseline airspeed for pitch feed\-forward\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the airspeed at which no feed\-forward is applied between demanded airspeed and pitch\. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB\_PITCH\_DOWN\. + + ++-------------+ +| Range | ++=============+ +| 5.0 to 50.0 | ++-------------+ + + + + +.. _TECS_PTCH_FF_K: + +TECS\_PTCH\_FF\_K: Gain for pitch feed\-forward\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the gain between demanded airspeed and pitch\. It has units of radians per metre per second and should generally be negative\. A good starting value is \-0\.04 for gliders and \-0\.08 for draggy airframes\. The default \(0\.0\) disables this feed\-forward\. + + ++-------------+ +| Range | ++=============+ +| -5.0 to 0.0 | ++-------------+ + + + + +.. _TECS_FLARE_HGT: + +TECS\_FLARE\_HGT: Flare holdoff height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When height above ground is below this\, the sink rate will be held at TECS\_LAND\_SINK\. Use this to perform a hold\-off manoeuvre when combined with small values for TECS\_LAND\_SINK\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 15 | meters | ++---------+--------+ + + + + +.. _TECS_HDEM_TCONST: + +TECS\_HDEM\_TCONST: Height Demand Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the time constant of the low pass filter that is applied to the height demand input when bit 1 of TECS\_OPTIONS is not selected\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.2 | 1.0 to 5.0 | seconds | ++-----------+------------+---------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++---------------------------------------------------------------+ +| Values | ++===============================================================+ +| +-------+---------------------------------------------------+ | +| | Value | Meaning | | +| +=======+===================================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------------------+ | +| | 1 | Log all instances | | +| +-------+---------------------------------------------------+ | +| | 2 | Log only instances with sensor source set to None | | +| +-------+---------------------------------------------------+ | +| | ++---------------------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TERRAIN_: + +TERRAIN\_ Parameters +-------------------- + + +.. _TERRAIN_ENABLE: + +TERRAIN\_ENABLE: Terrain data enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable terrain data\. This enables the vehicle storing a database of terrain data on the SD card\. The terrain data is requested from the ground station as needed\, and stored for later use on the SD card\. To be useful the ground station must support TERRAIN\_REQUEST messages and have access to a terrain database\, such as the SRTM database\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TERRAIN_SPACING: + +TERRAIN\_SPACING: Terrain grid spacing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Distance between terrain grid points in meters\. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station\. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy\, then a resolution of 100 meters is appropriate\. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution\. The grid spacing also controls how much data is kept in memory during flight\. A larger grid spacing will allow for a larger amount of data in memory\. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2\.7 kilometers by 3\.2 kilometers\. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 1 | meters | ++-----------+--------+ + + + + +.. _TERRAIN_OPTIONS: + +TERRAIN\_OPTIONS: Terrain options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | Disable Download | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _TERRAIN_MARGIN: + +TERRAIN\_MARGIN: Acceptance margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Margin in centi\-meters to accept terrain data from the GCS\. This can be used to allow older terrain data generated with less accurate latitude\/longitude scaling to be used + + ++---------------+--------+ +| Range | Units | ++===============+========+ +| 0.05 to 50000 | meters | ++---------------+--------+ + + + + +.. _TERRAIN_OFS_MAX: + +TERRAIN\_OFS\_MAX: Terrain reference offset maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed\. When the vehicle is armed the location of the vehicle is recorded\, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming\. This height adjustment is applied to all terrain data\. This parameter clamps the amount of adjustment\. A value of zero disables the use of terrain height adjustment\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _TERRAIN_CACHE_SZ: + +TERRAIN\_CACHE\_SZ: Terrain cache size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory\. Each block uses about 1800 bytes of memory + + ++----------+ +| Range | ++==========+ +| 0 to 128 | ++----------+ + + + + + +.. _parameters_TKOFF_: + +TKOFF\_ Parameters +------------------ + + +.. _TKOFF_ALT: + +TKOFF\_ALT: Takeoff mode altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the target altitude for TAKEOFF mode + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _TKOFF_LVL_ALT: + +TKOFF\_LVL\_ALT: Takeoff mode altitude level altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude below which the wings are held level for TAKEOFF and AUTO modes\. Below this altitude\, roll demand is restricted to LEVEL\_ROLL\_LIMIT\. Normal\-flight roll restriction resumes above TKOFF\_LVL\_ALT\*3 or TKOFF\_ALT\, whichever is lower\. Roll limits are scaled while between TKOFF\_LVL\_ALT and those altitudes for a smooth transition\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _TKOFF_LVL_PITCH: + +TKOFF\_LVL\_PITCH: Takeoff mode altitude initial pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the target pitch during the takeoff\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | degrees | ++-----------+---------+---------+ + + + + +.. _TKOFF_DIST: + +TKOFF\_DIST: Takeoff mode distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the distance from the takeoff location where the plane will loiter\. The loiter point will be in the direction of takeoff \(the direction the plane is facing when the plane begins takeoff\) + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 500 | meters | ++-----------+----------+--------+ + + + + +.. _TKOFF_GND_PITCH: + +TKOFF\_GND\_PITCH: Takeoff run pitch demand +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF\_ROTATE\_SPD\. For taildraggers set to 3\-point ground pitch angle and use TKOFF\_TDRAG\_ELEV to prevent nose tipover\. For nose\-wheel steer aircraft set to the ground pitch angle and if a reduction in nose\-wheel load is required as speed rises\, use a positive offset in TKOFF\_GND\_PITCH of up to 5 degrees above the angle on ground\, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment\. To increase nose\-wheel load\, use a negative TKOFF\_TDRAG\_ELEV and refer to notes on TKOFF\_TDRAG\_ELEV before making adjustments\. + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 0.1 | -5.0 to 10.0 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_TUNE_: + +TUNE\_ Parameters +----------------- + + +.. _TUNE_PARAM: + +TUNE\_PARAM: Transmitter tuning parameter or set of parameters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets which parameter or set of parameters will be tuned\. Values greater than 100 indicate a set of parameters rather than a single parameter\. Parameters less than 50 are for QuadPlane vertical lift motors only\. + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 1 | RateRollPI | | +| +-------+--------------------+ | +| | 2 | RateRollP | | +| +-------+--------------------+ | +| | 3 | RateRollI | | +| +-------+--------------------+ | +| | 4 | RateRollD | | +| +-------+--------------------+ | +| | 5 | RatePitchPI | | +| +-------+--------------------+ | +| | 6 | RatePitchP | | +| +-------+--------------------+ | +| | 7 | RatePitchI | | +| +-------+--------------------+ | +| | 8 | RatePitchD | | +| +-------+--------------------+ | +| | 9 | RateYawPI | | +| +-------+--------------------+ | +| | 10 | RateYawP | | +| +-------+--------------------+ | +| | 11 | RateYawI | | +| +-------+--------------------+ | +| | 12 | RateYawD | | +| +-------+--------------------+ | +| | 13 | AngleRollP | | +| +-------+--------------------+ | +| | 14 | AnglePitchP | | +| +-------+--------------------+ | +| | 15 | AngleYawP | | +| +-------+--------------------+ | +| | 16 | PosXYP | | +| +-------+--------------------+ | +| | 17 | PosZP | | +| +-------+--------------------+ | +| | 18 | VelXYP | | +| +-------+--------------------+ | +| | 19 | VelXYI | | +| +-------+--------------------+ | +| | 20 | VelZP | | +| +-------+--------------------+ | +| | 21 | AccelZP | | +| +-------+--------------------+ | +| | 22 | AccelZI | | +| +-------+--------------------+ | +| | 23 | AccelZD | | +| +-------+--------------------+ | +| | 24 | RatePitchFF | | +| +-------+--------------------+ | +| | 25 | RateRollFF | | +| +-------+--------------------+ | +| | 26 | RateYawFF | | +| +-------+--------------------+ | +| | 50 | FixedWingRollP | | +| +-------+--------------------+ | +| | 51 | FixedWingRollI | | +| +-------+--------------------+ | +| | 52 | FixedWingRollD | | +| +-------+--------------------+ | +| | 53 | FixedWingRollFF | | +| +-------+--------------------+ | +| | 54 | FixedWingPitchP | | +| +-------+--------------------+ | +| | 55 | FixedWingPitchI | | +| +-------+--------------------+ | +| | 56 | FixedWingPitchD | | +| +-------+--------------------+ | +| | 57 | FixedWingPitchFF | | +| +-------+--------------------+ | +| | 101 | Set_RateRollPitch | | +| +-------+--------------------+ | +| | 102 | Set_RateRoll | | +| +-------+--------------------+ | +| | 103 | Set_RatePitch | | +| +-------+--------------------+ | +| | 104 | Set_RateYaw | | +| +-------+--------------------+ | +| | 105 | Set_AngleRollPitch | | +| +-------+--------------------+ | +| | 106 | Set_VelXY | | +| +-------+--------------------+ | +| | 107 | Set_AccelZ | | +| +-------+--------------------+ | +| | 108 | Set_RatePitchDP | | +| +-------+--------------------+ | +| | 109 | Set_RateRollDP | | +| +-------+--------------------+ | +| | 110 | Set_RateYawDP | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _TUNE_CHAN: + +TUNE\_CHAN: Transmitter tuning channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel for transmitter tuning\. This should be connected to a knob or slider on your transmitter\. It needs to be setup to use the PWM range given by TUNE\_CHAN\_MIN to TUNE\_CHAN\_MAX + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 5 | Chan5 | | +| +-------+---------+ | +| | 6 | Chan6 | | +| +-------+---------+ | +| | 7 | Chan7 | | +| +-------+---------+ | +| | 8 | Chan8 | | +| +-------+---------+ | +| | 9 | Chan9 | | +| +-------+---------+ | +| | 10 | Chan10 | | +| +-------+---------+ | +| | 11 | Chan11 | | +| +-------+---------+ | +| | 12 | Chan12 | | +| +-------+---------+ | +| | 13 | Chan13 | | +| +-------+---------+ | +| | 14 | Chan14 | | +| +-------+---------+ | +| | 15 | Chan15 | | +| +-------+---------+ | +| | 16 | Chan16 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TUNE_CHAN_MIN: + +TUNE\_CHAN\_MIN: Transmitter tuning channel minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for the tuning channel + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _TUNE_CHAN_MAX: + +TUNE\_CHAN\_MAX: Transmitter tuning channel maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for the tuning channel + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _TUNE_SELECTOR: + +TUNE\_SELECTOR: Transmitter tuning selector channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel for the transmitter tuning selector switch\. This should be a 2 position switch\, preferably spring loaded\. A PWM above 1700 means high\, below 1300 means low\. If no selector is set then you won\'t be able to switch between parameters during flight or re\-center the tuning knob + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Chan1 | | +| +-------+---------+ | +| | 2 | Chan3 | | +| +-------+---------+ | +| | 3 | Chan3 | | +| +-------+---------+ | +| | 4 | Chan4 | | +| +-------+---------+ | +| | 5 | Chan5 | | +| +-------+---------+ | +| | 6 | Chan6 | | +| +-------+---------+ | +| | 7 | Chan7 | | +| +-------+---------+ | +| | 8 | Chan8 | | +| +-------+---------+ | +| | 9 | Chan9 | | +| +-------+---------+ | +| | 10 | Chan10 | | +| +-------+---------+ | +| | 11 | Chan11 | | +| +-------+---------+ | +| | 12 | Chan12 | | +| +-------+---------+ | +| | 13 | Chan13 | | +| +-------+---------+ | +| | 14 | Chan14 | | +| +-------+---------+ | +| | 15 | Chan15 | | +| +-------+---------+ | +| | 16 | Chan16 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TUNE_RANGE: + +TUNE\_RANGE: Transmitter tuning range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range over which tuning will change a parameter\. A value of 2 means the tuning parameter will go from 0\.5 times the start value to 2x the start value over the range of the tuning channel + + +.. _TUNE_MODE_REVERT: + +TUNE\_MODE\_REVERT: Revert on mode change +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls whether tuning values will revert on a flight mode change\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _TUNE_ERR_THRESH: + +TUNE\_ERR\_THRESH: Controller error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning\. The error is the rms value of the P\+D corrections in the loop\. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios\.\-1 will disable this message\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | MAVLink | | +| +-------+---------------+ | +| | 2 | IntelT265 | | +| +-------+---------------+ | +| | 3 | VOXL(ModalAI) | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 2 | Right | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 6 | Left | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Band A | | +| +-------+--------------+ | +| | 1 | Band B | | +| +-------+--------------+ | +| | 2 | Band E | | +| +-------+--------------+ | +| | 3 | Airwave | | +| +-------+--------------+ | +| | 4 | RaceBand | | +| +-------+--------------+ | +| | 5 | Low RaceBand | | +| +-------+--------------+ | +| | 6 | 1G3 Band A | | +| +-------+--------------+ | +| | 7 | 1G3 Band B | | +| +-------+--------------+ | +| | 8 | Band X | | +| +-------+--------------+ | +| | 9 | 3G3 Band A | | +| +-------+--------------+ | +| | 10 | 3G3 Band B | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++---------------------------------------------------------------------+ +| Bitmask | ++=====================================================================+ +| +-----+-----------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================+ | +| | 0 | Pitmode | | +| +-----+-----------------------------------------------------------+ | +| | 1 | Pitmode until armed | | +| +-----+-----------------------------------------------------------+ | +| | 2 | Pitmode when disarmed | | +| +-----+-----------------------------------------------------------+ | +| | 3 | Unlocked | | +| +-----+-----------------------------------------------------------+ | +| | 4 | Add leading zero byte to requests | | +| +-----+-----------------------------------------------------------+ | +| | 5 | Use 1 stop-bit in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 6 | Ignore CRC in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 7 | Ignore status updates in CRSF and blindly set VTX options | | +| +-----+-----------------------------------------------------------+ | +| | ++---------------------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_YAW: + +YAW Parameters +-------------- + + +.. _YAW2SRV_SLIP: + +YAW2SRV\_SLIP: Sideslip control gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips\. Do not enable for flying wings and gliders\. Actively coordinates flight more than just yaw damping\. Set after YAW2SRV\_DAMP and YAW2SRV\_INT are tuned\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 4 | ++-----------+--------+ + + + + +.. _YAW2SRV_INT: + +YAW2SRV\_INT: Sideslip control integrator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Integral gain from lateral acceleration error\. Effectively trims rudder to eliminate long\-term sideslip\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 2 | ++-----------+--------+ + + + + +.. _YAW2SRV_DAMP: + +YAW2SRV\_DAMP: Yaw damping +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from yaw rate to rudder\. Most effective at yaw damping and should be tuned after KFF\_RDDRMIX\. Also disables YAW2SRV\_INT if set to 0\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 2 | ++-----------+--------+ + + + + +.. _YAW2SRV_RLL: + +YAW2SRV\_RLL: Yaw coordination gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn\. Corrects for yaw tendencies after the turn is established\. Increase yaw into the turn by raising\. Increase yaw out of the turn by decreasing\. Values outside of 0\.9\-1\.1 range indicate airspeed calibration problems\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.8 to 1.2 | ++-----------+------------+ + + + + +.. _YAW2SRV_IMAX: + +YAW2SRV\_IMAX: Integrator limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Limit of yaw integrator gain in centi\-degrees of servo travel\. Servos are assumed to have \+\/\- 4500 centi\-degrees of travel\, so a value of 1500 allows trim of up to 1\/3 of servo travel range\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 1 | 0 to 4500 | ++-----------+-----------+ + + + + +.. _YAW_RATE_ENABLE: + +YAW\_RATE\_ENABLE: Yaw rate enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable yaw rate controller for aerobatic flight + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _YAW_RATE_P: + +YAW\_RATE\_P: Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _YAW_RATE_I: + +YAW\_RATE\_I: Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _YAW_RATE_IMAX: + +YAW\_RATE\_IMAX: Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _YAW_RATE_D: + +YAW\_RATE\_D: Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _YAW_RATE_FF: + +YAW\_RATE\_FF: Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _YAW_RATE_FLTT: + +YAW\_RATE\_FLTT: Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_FLTE: + +YAW\_RATE\_FLTE: Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_FLTD: + +YAW\_RATE\_FLTD: Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_SMAX: + +YAW\_RATE\_SMAX: Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _YAW_RATE_PDMX: + +YAW\_RATE\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _YAW_RATE_D_FF: + +YAW\_RATE\_D\_FF: Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _YAW_RATE_NTF: + +YAW\_RATE\_NTF: Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _YAW_RATE_NEF: + +YAW\_RATE\_NEF: Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + diff --git a/Plane-4.6/ParametersLatex.rst b/Plane-4.6/ParametersLatex.rst new file mode 100644 index 0000000..e577bb2 --- /dev/null +++ b/Plane-4.6/ParametersLatex.rst @@ -0,0 +1,115710 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_ArduPlane: + +ArduPlane Parameters +-------------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: Ground station MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol\. Don\'t change this unless you also modify the ground station to match\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _AUTOTUNE_LEVEL: + +AUTOTUNE\_LEVEL: Autotune level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Level of aggressiveness of pitch and roll PID gains\. Lower values result in a \'softer\' tune\. Level 6 recommended for most planes\. A value of 0 means to keep the current values of RMAX and TCONST for the controllers\, tuning only the PID values + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AUTOTUNE_OPTIONS: + +AUTOTUNE\_OPTIONS: Autotune options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fixed Wing Autotune specific options\. Useful on QuadPlanes with higher INS\_GYRO\_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune\. + + ++-----+---------------------------------+ +| Bit | Meaning | ++=====+=================================+ +| 0 | Disable FLTD update by Autotune | ++-----+---------------------------------+ +| 1 | Disable FLTT update by Autotune | ++-----+---------------------------------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Roll | ++-----+----------+ +| 1 | Pitch | ++-----+----------+ +| 2 | Yaw | ++-----+----------+ +| 3 | Steering | ++-----+----------+ +| 4 | Landing | ++-----+----------+ + + + + +.. _KFF_RDDRMIX: + +KFF\_RDDRMIX: Rudder Mix +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amount of rudder to add during aileron movement\. Increase if nose initially yaws away from roll\. Reduces adverse yaw\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _KFF_THR2PTCH: + +KFF\_THR2PTCH: Throttle to Pitch Mix +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch up to add in proportion to throttle\. 100\% throttle will add this number of degrees to the pitch target\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.01 | -5 to 5 | ++-----------+---------+ + + + + +.. _STAB_PITCH_DOWN: + +STAB\_PITCH\_DOWN: Low throttle pitch down trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Degrees of down pitch added when throttle is below TRIM\_THROTTLE in FBWA and AUTOTUNE modes\. Scales linearly so full value is added when THR\_MIN is reached\. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls\. 2 degrees recommended for most planes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + +.. _GLIDE_SLOPE_MIN: + +GLIDE\_SLOPE\_MIN: Glide slope minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change\. The default value is 15 meters\, which helps to smooth out waypoint missions where small altitude changes happen near waypoints\. If you don\'t want glide slopes to be used in missions then you can set this to zero\, which will disable glide slope calculations\. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _GLIDE_SLOPE_THR: + +GLIDE\_SLOPE\_THR: Glide slope threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the height above the glide slope the plane may be before rebuilding a glide slope\. This is useful for smoothing out an autotakeoff + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _STICK_MIXING: + +STICK\_MIXING: Stick Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, this adds user stick input to the control surfaces in auto modes\, allowing the user to have some degree of flight control without changing modes\. There are two types of stick mixing available\. If you set STICK\_MIXING to 1 then it will use \"fly by wire\" mixing\, which controls the roll and pitch in the same way that the FBWA mode does\. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode\. If you set STICK\_MIXING to 3 then it will apply to the yaw while in quadplane modes only\, such as while doing an automatic VTOL takeoff or landing\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | FBWMixing | ++-------+---------------+ +| 3 | VTOL Yaw only | ++-------+---------------+ + + + + +.. _TKOFF_THR_MINSPD: + +TKOFF\_THR\_MINSPD: Takeoff throttle min speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum GPS ground speed in m\/s used by the speed check that un\-suppresses throttle in auto\-takeoff\. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult\, but it is preferable to use the TKOFF\_THR\_MINACC and TKOFF\_THR\_DELAY parameters for catapult launches due to the errors associated with GPS measurements\. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m\/s to provide additional protection against premature motor start\. Note that the GPS velocity will lag the real velocity by about 0\.5 seconds\. The ground speed check is delayed by the TKOFF\_THR\_DELAY parameter\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_THR_MINACC: + +TKOFF\_THR\_MINACC: Takeoff throttle min acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum forward acceleration in m\/s\/s before arming the ground speed check in auto\-takeoff\. This is meant to be used for hand launches\. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine\. For hand launches and bungee launches this should be set to around 15\. Also see TKOFF\_ACCEL\_CNT paramter for control of full \"shake to arm\"\. + + ++-----------+---------+--------------------------+ +| Increment | Range | Units | ++===========+=========+==========================+ +| 0.1 | 0 to 30 | meters per square second | ++-----------+---------+--------------------------+ + + + + +.. _TKOFF_THR_DELAY: + +TKOFF\_THR\_DELAY: Takeoff throttle delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the time delay \(in 1\/10ths of a second\) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF\_THR\_MINACC has passed\. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 \(0\.2 seconds\) to ensure that the aircraft is safely clear of the throwers arm before the motor can start\. For bungee launches a larger value can be used \(such as 30\) to give time for the bungee to release from the aircraft before the motor is started\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 0 to 127 | deciseconds | ++-----------+----------+-------------+ + + + + +.. _TKOFF_THR_MAX_T: + +TKOFF\_THR\_MAX\_T: Takeoff throttle maximum time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the time that maximum throttle will be forced during a fixed wing takeoff\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.5 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _TKOFF_THR_MIN: + +TKOFF\_THR\_MIN: Takeoff minimum throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes\, when TKOFF\_OPTIONS bit 0 is set\. Also\, the minimum throttle to use in a quadpane forward transition\. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition\. It is used when it is larger than THR\_MIN\, otherwise THR\_MIN is used instead\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_OPTIONS: + +TKOFF\_OPTIONS: Takeoff options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode of the takeoff in AUTO and TAKEOFF flight modes\. + + ++-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================================================================================================================================================================================================================================================+ +| 0 | When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. | ++-----+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _TKOFF_TDRAG_ELEV: + +TKOFF\_TDRAG\_ELEV: Takeoff tail dragger elevator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the amount of elevator to apply during the initial stage of a takeoff\. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering\. This option should be combined with the TKOFF\_TDRAG\_SPD1 option and the GROUND\_STEER\_ALT option along with tuning of the ground steering controller\. A value of zero means to bypass the initial \"tail hold\" stage of takeoff\. Set to zero for hand and catapult launch\. For tail\-draggers you should normally set this to 100\, meaning full up elevator during the initial stage of takeoff\. For most tricycle undercarriage aircraft a value of zero will work well\, but for some tricycle aircraft a small negative value \(say around \-20 to \-30\) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration\. Only use a negative value if you find that the nosewheel doesn\'t grip well during takeoff\. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel\. Add down elevator 10 percent at a time\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -100 to 100 | percent | ++-----------+-------------+---------+ + + + + +.. _TKOFF_TDRAG_SPD1: + +TKOFF\_TDRAG\_SPD1: Takeoff tail dragger speed1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground\. When TKOFF\_TDRAG\_SPD1 is reached the pitch of the aircraft will be held level until TKOFF\_ROTATE\_SPD is reached\, at which point the takeoff pitch specified in the mission will be used to \"rotate\" the pitch for takeoff climb\. Set TKOFF\_TDRAG\_SPD1 to zero to go straight to rotation\. This should be set to zero for hand launch and catapult launch\. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down\. For tail dragger aircraft it should be set just below the stall speed\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_ROTATE_SPD: + +TKOFF\_ROTATE\_SPD: Takeoff rotate speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the airspeed at which the aircraft will \"rotate\"\, setting climb pitch specified in the mission\. If TKOFF\_ROTATE\_SPD is zero then the climb pitch will be used as soon as takeoff is started\. For hand launch and catapult launches a TKOFF\_ROTATE\_SPD of zero should be set\. For all ground launches TKOFF\_ROTATE\_SPD should be set above the stall speed\, usually by about 10 to 30 percent\. During the run\, use TKOFF\_GND\_PITCH to keep the aircraft on the runway while below this airspeed\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _TKOFF_THR_SLEW: + +TKOFF\_THR\_SLEW: Takeoff throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the slew rate for the throttle during auto takeoff\. When this is zero the THR\_SLEWRATE parameter is used during takeoff\. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on takeoff\. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle\. A value of \-1 means no limit on slew rate in takeoff\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | -1 to 127 | percent per second | ++-----------+-----------+--------------------+ + + + + +.. _TKOFF_PLIM_SEC: + +TKOFF\_PLIM\_SEC: Takeoff pitch limit reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter reduces the pitch minimum limit of an auto\-takeoff just a few seconds before it reaches the target altitude\. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height\. When set to zero\, the mission pitch min is enforced all the way to and through the target altitude\, otherwise the pitch min slowly reduces to zero in the final segment\. This is the pitch\_min\, not the demand\. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.5 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _TKOFF_FLAP_PCNT: + +TKOFF\_FLAP\_PCNT: Takeoff flap percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of flaps \(as a percentage\) to apply in automatic takeoff + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LEVEL_ROLL_LIMIT: + +LEVEL\_ROLL\_LIMIT: Level flight roll limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the maximum bank angle in degrees during flight modes where level flight is desired\, such as in the final stages of landing\, and during auto takeoff\. This should be a small angle \(such as 5 degrees\) to prevent a wing hitting the runway during takeoff or landing\. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _USE_REV_THRUST: + +USE\_REV\_THRUST: Bitmask for when to allow negative reverse thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls when to use reverse thrust\. If set to zero then reverse thrust is never used\. If set to a non\-zero value then the bits correspond to flight stages where reverse thrust may be used\. The most commonly used value for USE\_REV\_THRUST is 2\, which means AUTO\_LAND only\. That enables reverse thrust in the landing stage of AUTO mode\. Another common choice is 1\, which means to use reverse thrust in all auto flight stages\. Reverse thrust is always used in MANUAL mode if enabled with THR\_MIN \< 0\. In non\-autothrottle controlled modes\, if reverse thrust is not used\, then THR\_MIN is effectively set to 0 for that mode\. + + ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | AUTO_ALWAYS | ++-----+----------------------+ +| 1 | AUTO_LAND | ++-----+----------------------+ +| 2 | AUTO_LOITER_TO_ALT | ++-----+----------------------+ +| 3 | AUTO_LOITER_ALL | ++-----+----------------------+ +| 4 | AUTO_WAYPOINTS | ++-----+----------------------+ +| 5 | LOITER | ++-----+----------------------+ +| 6 | RTL | ++-----+----------------------+ +| 7 | CIRCLE | ++-----+----------------------+ +| 8 | CRUISE | ++-----+----------------------+ +| 9 | FBWB | ++-----+----------------------+ +| 10 | GUIDED | ++-----+----------------------+ +| 11 | AUTO_LANDING_PATTERN | ++-----+----------------------+ +| 12 | FBWA | ++-----+----------------------+ +| 13 | ACRO | ++-----+----------------------+ +| 14 | STABILIZE | ++-----+----------------------+ +| 15 | THERMAL | ++-----+----------------------+ + + + + +.. _ALT_OFFSET: + +ALT\_OFFSET: Altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is added to the target altitude in automatic flight\. It can be used to add a global altitude offset to a mission + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _WP_RADIUS: + +WP\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete\. To avoid the aircraft looping around the waypoint in case it misses by more than the WP\_RADIUS an additional check is made to see if the aircraft has crossed a \"finish line\" passing through the waypoint and perpendicular to the flight path from the previous waypoint\. If that finish line is crossed then the waypoint is considered complete\. Note that the navigation controller may decide to turn later than WP\_RADIUS before a waypoint\, based on how sharp the turn is and the speed of the aircraft\. It is safe to set WP\_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn\. If you set WP\_RADIUS too small then you will tend to overshoot the turns\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 1 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _WP_MAX_RADIUS: + +WP\_MAX\_RADIUS: Waypoint Maximum Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the maximum distance to a waypoint for the waypoint to be considered complete\. This overrides the \"cross the finish line\" logic that is normally used to consider a waypoint complete\. For normal AUTO behaviour this parameter should be set to zero\. Using a non\-zero value is only recommended when it is critical that the aircraft does approach within the given radius\, and should loop around until it has done so\. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _WP_LOITER_RAD: + +WP\_LOITER\_RAD: Waypoint Loiter Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from the waypoint center\, the plane will maintain during a loiter\. If you set this value to a negative number then the default loiter direction will be counter\-clockwise instead of clockwise\. + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _RTL_RADIUS: + +RTL\_RADIUS: RTL loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the radius of the loiter circle when in RTL mode\. If this is zero then WP\_LOITER\_RAD is used\. If the radius is negative then a counter\-clockwise is used\. If positive then a clockwise loiter is used\. + + ++-----------+-----------------+--------+ +| Increment | Range | Units | ++===========+=================+========+ +| 1 | -32767 to 32767 | meters | ++-----------+-----------------+--------+ + + + + +.. _STALL_PREVENTION: + +STALL\_PREVENTION: Enable stall prevention +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables roll limits at low airspeed in roll limiting flight modes\. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED\_MIN that must be set correctly\. Without airspeed sensor\, uses synthetic airspeed from wind speed estimate that may both be inaccurate\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _AIRSPEED_CRUISE: + +AIRSPEED\_CRUISE: Target cruise airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target cruise airspeed in m\/s in automatic throttle modes\. Value is as an indicated \(calibrated\/apparent\) airspeed\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _AIRSPEED_MIN: + +AIRSPEED\_MIN: Minimum Airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum airspeed demanded in automatic throttle modes\. Should be set to 20\% higher than level flight stall speed\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 5 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AIRSPEED_MAX: + +AIRSPEED\_MAX: Maximum Airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum airspeed demanded in automatic throttle modes\. Should be set slightly less than level flight speed at THR\_MAX and also at least 50\% above AIRSPEED\_MIN to allow for accurate TECS altitude control\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 5 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AIRSPEED_STALL: + +AIRSPEED\_STALL: Stall airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking\. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed\. Typically set slightly higher then true stall speed\. Value is as an indicated \(calibrated\/apparent\) airspeed\. + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 75 | meters per second | ++---------+-------------------+ + + + + +.. _FBWB_ELEV_REV: + +FBWB\_ELEV\_REV: Fly By Wire elevator reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse sense of elevator in FBWB and CRUISE modes\. When set to 0 up elevator \(pulling back on the stick\) means to lower altitude\. When set to 1\, up elevator means to raise altitude\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _TERRAIN_FOLLOW: + +TERRAIN\_FOLLOW: Use terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables terrain following for CRUISE mode\, FBWB mode\, RTL and for rally points\. To use this option you also need to set TERRAIN\_ENABLE to 1\, which enables terrain data fetching from the GCS\, and you need to have a GCS that supports sending terrain data to the aircraft\. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home\. In RTL the return to launch altitude will be considered to be a height above the terrain\. Rally point altitudes will be taken as height above the terrain\. This option does not affect mission items\, which have a per\-waypoint flag for whether they are height above home or height above the terrain\. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission\. + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | Enable all modes | ++-----+------------------+ +| 1 | FBWB | ++-----+------------------+ +| 2 | Cruise | ++-----+------------------+ +| 3 | Auto | ++-----+------------------+ +| 4 | RTL | ++-----+------------------+ +| 5 | Avoid_ADSB | ++-----+------------------+ +| 6 | Guided | ++-----+------------------+ +| 7 | Loiter | ++-----+------------------+ +| 8 | Circle | ++-----+------------------+ +| 9 | QRTL | ++-----+------------------+ +| 10 | QLand | ++-----+------------------+ +| 11 | Qloiter | ++-----+------------------+ + + + + +.. _TERRAIN_LOOKAHD: + +TERRAIN\_LOOKAHD: Terrain lookahead +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain\. A value of zero means no lookahead\, so the controller will track only the terrain directly below the aircraft\. The lookahead will never extend beyond the next waypoint when in AUTO mode\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 10000 | meters | ++------------+--------+ + + + + +.. _FBWB_CLIMB_RATE: + +FBWB\_CLIMB\_RATE: Fly By Wire B altitude change rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in m\/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection\. Note that the actual climb rate of the aircraft can be lower than this\, depending on your airspeed and throttle control settings\. If you have this parameter set to the default value of 2\.0\, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 1 to 10 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _THR_MIN: + +THR\_MIN: Minimum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. Negative values allow reverse thrust if hardware supports it\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -100 to 100 | percent | ++-----------+-------------+---------+ + + + + +.. _THR_MAX: + +THR\_MAX: Maximum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum throttle percentage used in all modes except manual\, provided THR\_PASS\_STAB is not set\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_THR_MAX: + +TKOFF\_THR\_MAX: Maximum Throttle for takeoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum throttle setting during automatic takeoff\. If this is zero then THR\_MAX is used for takeoff as well\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _THR_SLEWRATE: + +THR\_SLEWRATE: Throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum change in throttle percentage per second\. Lower limit based on 1 microsend of servo increase per loop\. Divide SCHED\_LOOP\_RATE by approximately 10 to determine minimum achievable value\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 127 | percent per second | ++-----------+----------+--------------------+ + + + + +.. _FLAP_SLEWRATE: + +FLAP\_SLEWRATE: Flap slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +maximum percentage change in flap output per second\. A setting of 25 means to not change the flap by more than 25\% of the full flap range in one second\. A value of 0 means no rate limiting\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | percent per second | ++-----------+----------+--------------------+ + + + + +.. _THR_SUPP_MAN: + +THR\_SUPP\_MAN: Throttle suppress manual passthru +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When throttle is suppressed in auto mode it is normally forced to zero\. If you enable this option\, then while suppressed it will be manual throttle\. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _THR_PASS_STAB: + +THR\_PASS\_STAB: Throttle passthru in stabilize +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is set then when in STABILIZE\, FBWA or ACRO modes the throttle is a direct passthru from the transmitter\. This means the THR\_MIN and THR\_MAX settings are not used in these modes\. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _THR_FAILSAFE: + +THR\_FAILSAFE: Throttle and RC Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0 disables the failsafe\. 1 enables failsafe on loss of RC input\. This is detected either by throttle values below THR\_FS\_VALUE\, loss of receiver valid pulses\/data\, or by the FS bit in receivers that provide it\, like SBUS\. A programmable failsafe action will occur and RC inputs\, if present\, will be ignored\. A value of 2 means that the RC inputs won\'t be used when RC failsafe is detected by any of the above methods\, but it won\'t trigger an RC failsafe action\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Disabled | ++-------+-------------------+ +| 1 | Enabled | ++-------+-------------------+ +| 2 | EnabledNoFailsafe | ++-------+-------------------+ + + + + +.. _THR_FS_VALUE: + +THR\_FS\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level on the throttle input channel below which throttle failsafe triggers\. Note that this should be well below the normal minimum for your throttle channel\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 925 to 2200 | ++-----------+-------------+ + + + + +.. _TRIM_THROTTLE: + +TRIM\_THROTTLE: Throttle cruise percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED\_CRUISE\. Caution\: low battery voltages at the end of flights may require higher throttle to maintain airspeed\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _THROTTLE_NUDGE: + +THROTTLE\_NUDGE: Throttle nudge enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, this uses the throttle input in auto\-throttle modes to \'nudge\' the throttle or airspeed to higher or lower values\. When you have an airspeed sensor the nudge affects the target airspeed\, so that throttle inputs above 50\% will increase the target airspeed from AIRSPEED\_CRUISE up to a maximum of AIRSPEED\_MAX\. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50\%\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FS_SHORT_ACTN: + +FS\_SHORT\_ACTN: Short failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The action to take on a short \(FS\_SHORT\_TIMEOUT\) failsafe event\. A short failsafe event can be triggered either by loss of RC control \(see THR\_FS\_VALUE\) or by loss of GCS control \(see FS\_GCS\_ENABL\)\. If in CIRCLE or RTL mode this parameter is ignored\. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS\_SHORT\_ACTN is 0 or 1\, a change to FBWA mode with zero throttle if FS\_SHORT\_ACTN is 2\, and a change to FBWB mode if FS\_SHORT\_ACTN is 4\. In all other modes \(AUTO\, GUIDED and LOITER\) a short failsafe event will cause no mode change if FS\_SHORT\_ACTN is set to 0\, will cause a change to CIRCLE mode if set to 1\, will change to FBWA mode with zero throttle if set to 2\, or will change to FBWB if set to 4\. Please see the documentation for FS\_LONG\_ACTN for the behaviour after FS\_LONG\_TIMEOUT seconds of failsafe\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5\(QRTL\) or 20\(RTL\) are set\. + + ++-------+----------------------------------------------------+ +| Value | Meaning | ++=======+====================================================+ +| 0 | CIRCLE/no change(if already in AUTO|GUIDED|LOITER) | ++-------+----------------------------------------------------+ +| 1 | CIRCLE | ++-------+----------------------------------------------------+ +| 2 | FBWA at zero throttle | ++-------+----------------------------------------------------+ +| 3 | Disable | ++-------+----------------------------------------------------+ +| 4 | FBWB | ++-------+----------------------------------------------------+ + + + + +.. _FS_SHORT_TIMEOUT: + +FS\_SHORT\_TIMEOUT: Short failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition has to persist before a short failsafe event will occur\. This defaults to 1\.5 seconds + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 100 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_LONG_ACTN: + +FS\_LONG\_ACTN: Long failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The action to take on a long \(FS\_LONG\_TIMEOUT seconds\) failsafe event\. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS\_LONG\_ACTN is 0 or 1\, and will change to FBWA if FS\_LONG\_ACTN is set to 2\. If the aircraft was in an auto mode \(such as AUTO or GUIDED\) when the failsafe started then it will continue in the auto mode if FS\_LONG\_ACTN is set to 0\, will change to RTL mode if FS\_LONG\_ACTN is set to 1 and will change to FBWA mode if FS\_LONG\_ACTN is set to 2\. If FS\_LONG\_ACTN is set to 3\, the parachute will be deployed \(make sure the chute is configured and enabled\)\. If FS\_LONG\_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO\, unless it is in the middle of a landing sequence\. This parameter only applies to failsafes during fixed wing modes\. Quadplane modes will switch to QLAND unless Q\_OPTIONS bit 5 \(QRTL\) or 20\(RTL\) are set\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Continue | ++-------+------------------+ +| 1 | ReturnToLaunch | ++-------+------------------+ +| 2 | Glide | ++-------+------------------+ +| 3 | Deploy Parachute | ++-------+------------------+ +| 4 | Auto | ++-------+------------------+ + + + + +.. _FS_LONG_TIMEOUT: + +FS\_LONG\_TIMEOUT: Long failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition has to persist before a long failsafe event will occur\. This defaults to 5 seconds\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 300 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_GCS_ENABL: + +FS\_GCS\_ENABL: GCS failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ground control station telemetry failsafe\. Failsafe will trigger after FS\_LONG\_TIMEOUT seconds of no MAVLink heartbeat messages\. There are three possible enabled settings\. Setting FS\_GCS\_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message\. Setting FS\_GCS\_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages\, or a RADIO\_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft\, which is indicated by the RADIO\_STATUS\.remrssi field being zero \(this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios\)\.Setting FS\_GCS\_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat\(like option one\)\, but only in AUTO mode\. WARNING\: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station\. If this option is enabled on an electric plane then you should enable ARMING\_REQUIRED\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | Disabled | ++-------+---------------------+ +| 1 | Heartbeat | ++-------+---------------------+ +| 2 | HeartbeatAndREMRSSI | ++-------+---------------------+ +| 3 | HeartbeatAndAUTO | ++-------+---------------------+ + + + + +.. _FLTMODE_CH: + +FLTMODE\_CH: Flightmode channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for flight mode control + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | Channel 1 | ++-------+------------+ +| 2 | Channel 2 | ++-------+------------+ +| 3 | Channel 3 | ++-------+------------+ +| 4 | Channel 4 | ++-------+------------+ +| 5 | Channel 5 | ++-------+------------+ +| 6 | Channel 6 | ++-------+------------+ +| 7 | Channel 7 | ++-------+------------+ +| 8 | Channel 8 | ++-------+------------+ +| 9 | Channel 9 | ++-------+------------+ +| 10 | Channel 10 | ++-------+------------+ +| 11 | Channel 11 | ++-------+------------+ +| 12 | Channel 12 | ++-------+------------+ +| 13 | Channel 13 | ++-------+------------+ +| 14 | Channel 14 | ++-------+------------+ +| 15 | Channel 15 | ++-------+------------+ +| 16 | Channel 16 | ++-------+------------+ + + + + +.. _FLTMODE1: + +FLTMODE1: FlightMode1 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 1 \(910 to 1230 and above 2049\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _FLTMODE2: + +FLTMODE2: FlightMode2 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 2 \(1231 to 1360\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _FLTMODE3: + +FLTMODE3: FlightMode3 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 3 \(1361 to 1490\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _FLTMODE4: + +FLTMODE4: FlightMode4 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 4 \(1491 to 1620\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _FLTMODE5: + +FLTMODE5: FlightMode5 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 5 \(1621 to 1749\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _FLTMODE6: + +FLTMODE6: FlightMode6 +~~~~~~~~~~~~~~~~~~~~~ + + +Flight mode for switch position 6 \(1750 to 2049\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial flight mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Manual | ++-------+-----------------+ +| 1 | CIRCLE | ++-------+-----------------+ +| 2 | STABILIZE | ++-------+-----------------+ +| 3 | TRAINING | ++-------+-----------------+ +| 4 | ACRO | ++-------+-----------------+ +| 5 | FBWA | ++-------+-----------------+ +| 6 | FBWB | ++-------+-----------------+ +| 7 | CRUISE | ++-------+-----------------+ +| 8 | AUTOTUNE | ++-------+-----------------+ +| 10 | Auto | ++-------+-----------------+ +| 11 | RTL | ++-------+-----------------+ +| 12 | Loiter | ++-------+-----------------+ +| 13 | TAKEOFF | ++-------+-----------------+ +| 14 | AVOID_ADSB | ++-------+-----------------+ +| 15 | Guided | ++-------+-----------------+ +| 17 | QSTABILIZE | ++-------+-----------------+ +| 18 | QHOVER | ++-------+-----------------+ +| 19 | QLOITER | ++-------+-----------------+ +| 20 | QLAND | ++-------+-----------------+ +| 21 | QRTL | ++-------+-----------------+ +| 22 | QAUTOTUNE | ++-------+-----------------+ +| 23 | QACRO | ++-------+-----------------+ +| 24 | THERMAL | ++-------+-----------------+ +| 25 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _ROLL_LIMIT_DEG: + +ROLL\_LIMIT\_DEG: Maximum Bank Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum bank angle commanded in modes with stabilized limits\. Increase this value for sharper turns\, but decrease to prevent accelerated stalls\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _PTCH_LIM_MAX_DEG: + +PTCH\_LIM\_MAX\_DEG: Maximum Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch up angle commanded in modes with stabilized limits\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _PTCH_LIM_MIN_DEG: + +PTCH\_LIM\_MIN\_DEG: Minimum Pitch Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch down angle commanded in modes with stabilized limits + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -90 to 0 | degrees | ++-----------+----------+---------+ + + + + +.. _ACRO_ROLL_RATE: + +ACRO\_ROLL\_RATE: ACRO mode roll rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum roll rate at full stick deflection in ACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ACRO_PITCH_RATE: + +ACRO\_PITCH\_RATE: ACRO mode pitch rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum pitch rate at full stick deflection in ACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ACRO_YAW_RATE: + +ACRO\_YAW\_RATE: ACRO mode yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum yaw rate at full stick deflection in ACRO mode\. If this is zero then rudder is directly controlled by rudder stick input\. This option is only available if you also set YAW\_RATE\_ENABLE to 1\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 500 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _ACRO_LOCKING: + +ACRO\_LOCKING: ACRO mode attitude locking +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable attitude locking when sticks are released\. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled\. Quaternion based locking will hold any attitude + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | Enabled | ++-------+------------+ +| 2 | Quaternion | ++-------+------------+ + + + + +.. _GROUND_STEER_ALT: + +GROUND\_STEER\_ALT: Ground steer altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude at which to use the ground steering controller on the rudder\. If non\-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _GROUND_STEER_DPS: + +GROUND\_STEER\_DPS: Ground steer rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ground steering rate in degrees per second for full rudder stick deflection + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 360 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _MIXING_GAIN: + +MIXING\_GAIN: Mixing Gain +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The gain for the Vtail and elevon output mixers\. The default is 0\.5\, which ensures that the mixer doesn\'t saturate\, allowing both input channels to go to extremes while retaining control over the output\. Hardware mixers often have a 1\.0 gain\, which gives more servo throw\, but can saturate\. If you don\'t have enough throw on your servos with VTAIL\_OUTPUT or ELEVON\_OUTPUT enabled then you can raise the gain using MIXING\_GAIN\. The mixer allows outputs in the range 900 to 2100 microseconds\. + + ++------------+ +| Range | ++============+ +| 0.5 to 1.2 | ++------------+ + + + + +.. _RUDDER_ONLY: + +RUDDER\_ONLY: Rudder only aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable rudder only mode\. The rudder will control attitude in attitude controlled modes \(such as FBWA\)\. You should setup your transmitter to send roll stick inputs to the RCMAP\_YAW channel \(normally channel 4\)\. The rudder servo should be attached to the RCMAP\_YAW channel as well\. Note that automatic ground steering will be disabled for rudder only aircraft\. You should also set KFF\_RDDRMIX to 1\.0\. You will also need to setup the YAW2SRV\_DAMP yaw damping appropriately for your aircraft\. A value of 0\.5 for YAW2SRV\_DAMP is a good starting point\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _MIXING_OFFSET: + +MIXING\_OFFSET: Mixing Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The offset for the Vtail and elevon output mixers\, as a percentage\. This can be used in combination with MIXING\_GAIN to configure how the control surfaces respond to input\. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value\. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing\. The default value of zero will leave the aileron\-input response equal to the elevator\-input response\. + + ++---------------+-------------+ +| Range | Units | ++===============+=============+ +| -1000 to 1000 | decipercent | ++---------------+-------------+ + + + + +.. _DSPOILR_RUD_RATE: + +DSPOILR\_RUD\_RATE: Differential spoilers rudder rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the amount of deflection that the rudder output will apply to the differential spoilers\, as a percentage\. The default value of 100 results in full rudder applying full deflection\. A value of 0 will result in the differential spoilers exactly following the elevons \(no rudder effect\)\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -100 to 100 | percent | ++-------------+---------+ + + + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmap of what on\-board log types to enable\. This value is made up of the sum of each of the log types you want to be saved\. It is usually best just to enable all basic log types by setting this to 65535\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Fast Attitude | ++-----+---------------------+ +| 1 | Medium Attitude | ++-----+---------------------+ +| 2 | GPS | ++-----+---------------------+ +| 3 | Performance | ++-----+---------------------+ +| 4 | Control Tuning | ++-----+---------------------+ +| 5 | Navigation Tuning | ++-----+---------------------+ +| 7 | IMU | ++-----+---------------------+ +| 8 | Mission Commands | ++-----+---------------------+ +| 9 | Battery Monitor | ++-----+---------------------+ +| 10 | Compass | ++-----+---------------------+ +| 11 | TECS | ++-----+---------------------+ +| 12 | Camera | ++-----+---------------------+ +| 13 | RC Input-Output | ++-----+---------------------+ +| 14 | Rangefinder | ++-----+---------------------+ +| 19 | Raw IMU | ++-----+---------------------+ +| 20 | Fullrate Attitude | ++-----+---------------------+ +| 21 | Video Stabilization | ++-----+---------------------+ +| 22 | Fullrate Notch | ++-----+---------------------+ + + + + +.. _SCALING_SPEED: + +SCALING\_SPEED: speed used for speed scaling calculations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed in m\/s to use when calculating surface speed scaling\. Note that changing this value will affect all PID values + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _MIN_GROUNDSPEED: + +MIN\_GROUNDSPEED: Minimum ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum ground speed when under airspeed control + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _PTCH_TRIM_DEG: + +PTCH\_TRIM\_DEG: Pitch angle offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in degrees used for in\-flight pitch trimming for level flight\. Correct ground leveling is an alternative to changing this parameter\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -45 to 45 | degrees | ++-----------+---------+ + + + + +.. _RTL_ALTITUDE: + +RTL\_ALTITUDE: RTL altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target altitude above home for RTL mode\. Maintains current altitude if set to \-1\. Rally point altitudes are used if plane does not return to home\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _CRUISE_ALT_FLOOR: + +CRUISE\_ALT\_FLOOR: Minimum altitude for FBWB and CRUISE mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum altitude in meters \(above home\) that FBWB and CRUISE modes will allow\. If you attempt to descend below this altitude then the plane will level off\. It will also force a climb to this altitude if below in these modes\. A value of zero means no limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _FLAP_1_PERCNT: + +FLAP\_1\_PERCNT: Flap 1 percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP\_1\_SPEED is reached\. Use zero to disable flaps + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FLAP_1_SPEED: + +FLAP\_1\_SPEED: Flap 1 speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP\_1\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _FLAP_2_PERCNT: + +FLAP\_2\_PERCNT: Flap 2 percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The percentage change in flap position when FLAP\_2\_SPEED is reached\. Use zero to disable flaps + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FLAP_2_SPEED: + +FLAP\_2\_SPEED: Flap 2 speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed in meters per second at which to engage FLAP\_2\_PERCENT of flaps\. Note that FLAP\_1\_SPEED should be greater than or equal to FLAP\_2\_SPEED + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _OVERRIDE_CHAN: + +OVERRIDE\_CHAN: IO override channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set to a non\-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co\-processor fails\. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos\. Note that IO manual control will be automatically activated if the FMU crashes for any reason\. This parameter allows you to test for correct manual behaviour without actually crashing the FMU\. This parameter is can be set to a non\-zero value either for ground testing purposes or for giving the effect of an external override control board\. Note that you may set OVERRIDE\_CHAN to the same channel as FLTMODE\_CH to get IO based override when in flight mode 6\. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated\, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 16 | ++-----------+---------+ + + + + +.. _RTL_AUTOLAND: + +RTL\_AUTOLAND: RTL auto land +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically begin landing sequence after arriving at RTL location\. This requires the addition of a DO\_LAND\_START mission item\, which acts as a marker for the start of a landing sequence\. The closest landing sequence will be chosen to the current location\. If this is set to 0 and there is a DO\_LAND\_START mission item then you will get an arming check failure\. You can set to a value of 3 to avoid the arming check failure and use the DO\_LAND\_START for go\-around without it changing RTL behaviour\. For a value of 1 a rally point will be used instead of HOME if in range \(see rally point documentation\)\. + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disable | ++-------+---------------------------------+ +| 1 | Fly HOME then land | ++-------+---------------------------------+ +| 2 | Go directly to landing sequence | ++-------+---------------------------------+ +| 3 | OnlyForGoAround | ++-------+---------------------------------+ + + + + +.. _CRASH_ACC_THRESH: + +CRASH\_ACC\_THRESH: Crash Deceleration Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X\-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash\. This value should be much higher than normal negative x\-axis forces during normal flight\, check flight log files to determine the average IMU\.x values for your aircraft and motor type\. Higher value means less sensative \(triggers on higher impact\)\. For electric planes that don\'t vibrate much during fight a value of 25 is good \(that\'s about 2\.5G\)\. For petrol\/nitro planes you\'ll want a higher value\. Set to 0 to disable the collision detector\. + + ++-----------+-----------+--------------------------+ +| Increment | Range | Units | ++===========+===========+==========================+ +| 1 | 10 to 127 | meters per square second | ++-----------+-----------+--------------------------+ + + + + +.. _CRASH_DETECT: + +CRASH\_DETECT: Crash Detection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatically detect a crash during AUTO flight and perform the bitmask selected action\(s\)\. Disarm will turn off motor for safety and to help against burning out ESC and motor\. Set to 0 to disable crash detection\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Disarm | ++-----+---------+ + + + + +.. _RNGFND_LANDING: + +RNGFND\_LANDING: Enable rangefinder for landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables the use of a rangefinder for automatic landing\. The rangefinder will be used both on the landing approach and for final flare + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotEnforced | ++-------+-------------+ +| 1 | Enforced | ++-------+-------------+ + + + + +.. _RUDD_DT_GAIN: + +RUDD\_DT\_GAIN: rudder differential thrust gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +gain control from rudder to differential thrust + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _MANUAL_RCMASK: + +MANUAL\_RCMASK: Manual R\/C pass\-through mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of R\/C channels to pass directly to corresponding output channel when in MANUAL mode\. When in any mode except MANUAL the channels selected with this option behave normally\. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing\. Note that when this option is used you need to be very careful with pre\-flight checks to ensure that the output is correct both in MANUAL and non\-MANUAL modes\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Chan1 | ++-----+---------+ +| 1 | Chan2 | ++-----+---------+ +| 2 | Chan3 | ++-----+---------+ +| 3 | Chan4 | ++-----+---------+ +| 4 | Chan5 | ++-----+---------+ +| 5 | Chan6 | ++-----+---------+ +| 6 | Chan7 | ++-----+---------+ +| 7 | Chan8 | ++-----+---------+ +| 8 | Chan9 | ++-----+---------+ +| 9 | Chan10 | ++-----+---------+ +| 10 | Chan11 | ++-----+---------+ +| 11 | Chan12 | ++-----+---------+ +| 12 | Chan13 | ++-----+---------+ +| 13 | Chan14 | ++-----+---------+ +| 14 | Chan15 | ++-----+---------+ +| 15 | Chan16 | ++-----+---------+ + + + + +.. _HOME_RESET_ALT: + +HOME\_RESET\_ALT: Home reset altitude threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When the aircraft is within this altitude of the home waypoint\, while disarmed it will automatically update the home position\. Set to 0 to continously reset it\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| -1 | Never reset | ++-------+--------------+ +| 0 | Always reset | ++-------+--------------+ + + + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -1 to 127 | meters | ++-----------+--------+ + + + + +.. _FLIGHT_OPTIONS: + +FLIGHT\_OPTIONS: Flight mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Flight mode specific options + + ++-----+-------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================================================================+ +| 0 | Rudder mixing in direct flight modes only (Manual/Stabilize/Acro) | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 1 | Use centered throttle in Cruise or FBWB to indicate trim airspeed | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 2 | Disable attitude check for takeoff arming | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 3 | Force target airspeed to trim airspeed in Cruise or FBWB | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 4 | Climb to RTL_ALTITUDE before turning for RTL | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 5 | Enable yaw damper in acro mode | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 6 | Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor. | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 7 | EnableDefaultAirspeed for takeoff | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 8 | Remove the PTCH_TRIM_DEG on the GCS horizon | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 9 | Remove the PTCH_TRIM_DEG on the OSD horizon | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 10 | Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 11 | Disable suppression of fixed wing rate gains in ground mode | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 12 | Enable FBWB style loiter altitude control | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 13 | Indicate takeoff waiting for neutral rudder with flight control surfaces | ++-----+-------------------------------------------------------------------------------------------------------------+ +| 14 | In AUTO - climb to next waypoint altitude immediately instead of linear climb | ++-----+-------------------------------------------------------------------------------------------------------------+ + + + + +.. _TKOFF_ACCEL_CNT: + +TKOFF\_ACCEL\_CNT: Takeoff throttle acceleration count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the number of acceleration events to require for arming with TKOFF\_THR\_MINACC\. The default is 1\, which means a single forward acceleration above TKOFF\_THR\_MINACC will arm\. By setting this higher than 1 you can require more forward\/backward movements to arm\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _DSPOILER_CROW_W1: + +DSPOILER\_CROW\_W1: Differential spoiler crow flaps outer weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 25\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _DSPOILER_CROW_W2: + +DSPOILER\_CROW\_W2: Differential spoiler crow flaps inner weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps\. It is a number from 0 to 100\. At zero no crow flaps are applied\. A recommended starting value is 45\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TKOFF_TIMEOUT: + +TKOFF\_TIMEOUT: Takeoff timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the timeout for an automatic takeoff\. If this is non\-zero and the aircraft does not reach a ground speed of at least 4 m\/s within this number of seconds then the takeoff is aborted and the vehicle disarmed\. If the value is zero then no timeout applies\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _DSPOILER_OPTS: + +DSPOILER\_OPTS: Differential spoiler and crow flaps options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Differential spoiler and crow flaps options\. Progressive crow flaps only first \(0\-50\% flap in\) then crow flaps \(50 \- 100\% flap in\)\. + + ++-----+-------------------------------------------------+ +| Bit | Meaning | ++=====+=================================================+ +| 0 | Pitch input | ++-----+-------------------------------------------------+ +| 1 | use both control surfaces on each wing for roll | ++-----+-------------------------------------------------+ +| 2 | Progressive crow flaps | ++-----+-------------------------------------------------+ + + + + +.. _DSPOILER_AILMTCH: + +DSPOILER\_AILMTCH: Differential spoiler aileron matching +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons\, 100 is use full range\, upwards travel is unaffected + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _FWD_BAT_VOLT_MAX: + +FWD\_BAT\_VOLT\_MAX: Forward throttle battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 0.1 | 6 to 35 | volt | ++-----------+---------+-------+ + + + + +.. _FWD_BAT_VOLT_MIN: + +FWD\_BAT\_VOLT\_MIN: Forward throttle battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Forward throttle battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.5 \* cell count\, 0 \= Disabled\. Recommend THR\_MAX is set to no more than 100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX\, THR\_MIN is set to no less than \-100 x FWD\_BAT\_VOLT\_MIN \/ FWD\_BAT\_VOLT\_MAX and climb descent rate limits are set accordingly\. + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 0.1 | 6 to 35 | volt | ++-----------+---------+-------+ + + + + +.. _FWD_BAT_IDX: + +FWD\_BAT\_IDX: Forward throttle battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation for the forward throttle + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | First battery | ++-------+----------------+ +| 1 | Second battery | ++-------+----------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.6 | Strict | ++-------+---------+ +| 0.8 | Default | ++-------+---------+ +| 1.0 | Relaxed | ++-------+---------+ + + + + +.. _RTL_CLIMB_MIN: + +RTL\_CLIMB\_MIN: RTL minimum climb +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle will climb this many m during the initial climb portion of the RTL\. During this time the roll will be limited to LEVEL\_ROLL\_LIMIT degrees\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _MAN_EXPO_ROLL: + +MAN\_EXPO\_ROLL: Manual control expo for roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for roll input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _MAN_EXPO_PITCH: + +MAN\_EXPO\_PITCH: Manual input expo for pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for pitch input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _MAN_EXPO_RUDDER: + +MAN\_EXPO\_RUDDER: Manual input expo for rudder +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percentage exponential for rudder input in MANUAL\, ACRO and TRAINING modes + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _ONESHOT_MASK: + +ONESHOT\_MASK: Oneshot output mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of output channels to use oneshot on + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ + + + + +.. _AUTOTUNE_AXES: + +AUTOTUNE\_AXES: Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _RNGFND_LND_ORNT: + +RNGFND\_LND\_ORNT: rangefinder landing orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The orientation of rangefinder to use for landing detection\. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters\. Custom orientation can be used with Custom1 or Custom2\. The orientation must match at least one of the available rangefinders\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 4 | Back | ++-------+---------+ +| 25 | Down | ++-------+---------+ +| 101 | Custom1 | ++-------+---------+ +| 102 | Custom2 | ++-------+---------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Manual | ++-----+------------+ +| 1 | Circle | ++-----+------------+ +| 2 | Stabilize | ++-----+------------+ +| 3 | Training | ++-----+------------+ +| 4 | ACRO | ++-----+------------+ +| 5 | FBWA | ++-----+------------+ +| 6 | FBWB | ++-----+------------+ +| 7 | CRUISE | ++-----+------------+ +| 8 | AUTOTUNE | ++-----+------------+ +| 9 | Auto | ++-----+------------+ +| 10 | Loiter | ++-----+------------+ +| 11 | Takeoff | ++-----+------------+ +| 12 | AVOID_ADSB | ++-----+------------+ +| 13 | Guided | ++-----+------------+ +| 14 | THERMAL | ++-----+------------+ +| 15 | QSTABILIZE | ++-----+------------+ +| 16 | QHOVER | ++-----+------------+ +| 17 | QLOITER | ++-----+------------+ +| 18 | QACRO | ++-----+------------+ +| 19 | QAUTOTUNE | ++-----+------------+ + + + + + +.. _parameters_Lua Script: + +Lua Script Parameters +--------------------- + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_PERIOD: + +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in High Latency mode\, send Rockblock updates every N seconds + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _RCK_DEBUG: + +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sends Rockblock debug text to GCS via statustexts + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_ENABLE: + +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables the Rockblock sending and recieving + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_ENABLE: + +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable parameter reversion system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_RC_FUNC: + +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to used to trigger parameter reversion + + +.. _PLND_ALT_CUTOFF: + +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _POI_DIST_MAX: + +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +POI\'s max distance \(in meters\) from the vehicle + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _CAM1_THERM_PAL: + +CAM1\_THERM\_PAL: Camera1 Thermal Palette +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image colour palette + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| -1 | Leave Unchanged | ++-------+-----------------+ +| 0 | WhiteHot | ++-------+-----------------+ +| 2 | Sepia | ++-------+-----------------+ +| 3 | IronBow | ++-------+-----------------+ +| 4 | Rainbow | ++-------+-----------------+ +| 5 | Night | ++-------+-----------------+ +| 6 | Aurora | ++-------+-----------------+ +| 7 | RedHot | ++-------+-----------------+ +| 8 | Jungle | ++-------+-----------------+ +| 9 | Medical | ++-------+-----------------+ +| 10 | BlackHot | ++-------+-----------------+ +| 11 | GloryHot | ++-------+-----------------+ + + + + +.. _CAM1_THERM_GAIN: + +CAM1\_THERM\_GAIN: Camera1 Thermal Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image temperature range + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| -1 | Leave Unchanged | ++-------+-------------------------+ +| 0 | LowGain (50C to 550C) | ++-------+-------------------------+ +| 1 | HighGain (-20C to 150C) | ++-------+-------------------------+ + + + + +.. _CAM1_THERM_RAW: + +CAM1\_THERM\_RAW: Camera1 Thermal Raw Data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +save images with raw temperatures + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| -1 | Leave Unchanged | ++-------+------------------+ +| 0 | Disabled (30fps) | ++-------+------------------+ +| 1 | Enabled (25 fps) | ++-------+------------------+ + + + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _TERR_BRK_ENABLE: + +TERR\_BRK\_ENABLE: terrain brake enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _TERR_BRK_ALT: + +TERR\_BRK\_ALT: terrain brake altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake altitude\. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 100 | meters | ++----------+--------+ + + + + +.. _TERR_BRK_HDIST: + +TERR\_BRK\_HDIST: terrain brake home distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake home distance\. The distance from home where the auto BRAKE will be enabled\. When within this distance of home the script will not activate + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _TERR_BRK_SPD: + +TERR\_BRK\_SPD: terrain brake speed threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake speed threshold\. Don\'t trigger BRAKE if both horizontal speed and descent rate are below this threshold\. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode\. A value of 0\.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 5 | meters per second | ++--------+-------------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain + + ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ + + + + +.. _QUIK_Y_PI_RATIO: + +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for yaw\. Raise this to get a lower I gain + + ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ + + + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AUTO_SAVE: + +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _QUIK_RC_FUNC: + +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + +.. _QUIK_MAX_REDUCE: + +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +QUIK\_OPTIONS: Quicktune options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. + + ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SHIP_LAND_ANGLE: + +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ + + + + +.. _CGA_RATIO: + +CGA\_RATIO: CoG adjustment ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady\-state hover\. Positive when the CoG is in front of the motors midpoint \(front motors work harder\)\. + + ++----------+ +| Range | ++==========+ +| 0.5 to 2 | ++----------+ + + + + +.. _WEB_ENABLE: + +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +enable web server + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BIND_PORT: + +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +web server TCP port + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_DEBUG: + +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server debugging + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server block size for download + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_TIMEOUT: + +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +timeout for inactive connections + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ + + + + +.. _WEB_SENDFILE_MIN: + +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download + + ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ + + + + +.. _SLUP_ENABLE: + +SLUP\_ENABLE: Slung Payload enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SLUP_VEL_P: + +SLUP\_VEL\_P: Slung Payload Velocity P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload Velocity P gain\, higher values will result in faster movements in sync with payload + + ++----------+ +| Range | ++==========+ +| 0 to 0.8 | ++----------+ + + + + +.. _SLUP_DIST_MAX: + +SLUP\_DIST\_MAX: Slung Payload horizontal distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally\. Set to 0 to always suppress + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _SLUP_SYSID: + +SLUP\_SYSID: Slung Payload mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload mavlink system id\. 0 to use any\/all system ids + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SLUP_WP_POS_P: + +SLUP\_WP\_POS\_P: Slung Payload return to WP position P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WP position P gain\. higher values will result in vehicle moving more quickly back to the original waypoint + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SLUP_RESTOFS_TC: + +SLUP\_RESTOFS\_TC: Slung Payload resting offset estimate filter time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +payload\'s position estimator\'s time constant used to compensate for GPS errors and wind\. Higher values result in smoother estimate but slower response + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _SLUP_DEBUG: + +SLUP\_DEBUG: Slung Payload debug output +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung payload debug output\, set to 1 to enable debug + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _WINCH_RATE_UP: + +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when retracting line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RATE_DN: + +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when releasing line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RC_FUNC: + +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control winch rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _BATT_SOC_COUNT: + +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of battery SOC estimators + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_IDX: + +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC1_C1: + +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC1_C2: + +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC1_C3: + +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC2_IDX: + +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC2_NCELL: + +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC2_C1: + +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC2_C2: + +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC2_C3: + +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC3_IDX: + +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC3_NCELL: + +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC3_C1: + +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC3_C2: + +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC3_C3: + +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC4_NCELL: + +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _DR_ENABLE: + +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Deadreckoning Enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DR_ENABLE_DIST: + +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance from home \(in meters\) beyond which the dead reckoning will be enabled + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _DR_GPS_SACC_MAX: + +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _DR_GPS_SAT_MIN: + +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _DR_GPS_TRIGG_SEC: + +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS checks must fail for this many seconds before dead reckoning will be triggered + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_FLY_ANGLE: + +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +lean angle \(in degrees\) during deadreckoning + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ + + + + +.. _DR_FLY_ALT_MIN: + +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _DR_FLY_TIMEOUT: + +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_NEXT_MODE: + +DR\_NEXT\_MODE: Deadreckoning Next Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _AEROM_ANG_ACCEL: + +AEROM\_ANG\_ACCEL: Angular acceleration limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum angular acceleration in maneuvers + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_ANG_TC: + +AEROM\_ANG\_TC: Roll control filtertime constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time over which we filter the desired roll to smooth it + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_THR_PIT_FF: + +AEROM\_THR\_PIT\_FF: Throttle feed forward from pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much extra throttle to add based on pitch ange\. The value is for 90 degrees and is applied in proportion to pitch + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_P: + +AEROM\_SPD\_P: P gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_I: + +AEROM\_SPD\_I: I gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_ROL_COR_TC: + +AEROM\_ROL\_COR\_TC: Roll control time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting roll errors\. A smaller value leads to faster roll corrections + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_TIME_COR_P: + +AEROM\_TIME\_COR\_P: Time constant for correction of our distance along the path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting path position errors + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ERR_COR_P: + +AEROM\_ERR\_COR\_P: P gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ERR_COR_D: + +AEROM\_ERR\_COR\_D: D gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ENTRY_RATE: + +AEROM\_ENTRY\_RATE: The roll rate to use when entering a roll maneuver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we roll into a new orientation + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _AEROM_THR_LKAHD: + +AEROM\_THR\_LKAHD: The lookahead for throttle control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how far ahead we look in time along the path for the target throttle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_DEBUG: + +AEROM\_DEBUG: Debug control +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the printing of extra debug information on paths + + +.. _AEROM_THR_MIN: + +AEROM\_THR\_MIN: Minimum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest throttle used during maneuvers + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_THR_BOOST: + +AEROM\_THR\_BOOST: Throttle boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the extra throttle added in schedule elements marked as needing a throttle boost + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_YAW_ACCEL: + +AEROM\_YAW\_ACCEL: Yaw acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is maximum yaw acceleration to use + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_LKAHD: + +AEROM\_LKAHD: Lookahead +~~~~~~~~~~~~~~~~~~~~~~~ + + +This is how much time to look ahead in the path for calculating path rates + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_PATH_SCALE: + +AEROM\_PATH\_SCALE: Path Scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale factor for Path\/Box size\. 0\.5 would half the distances in maneuvers\. Radii are unaffected\. + + ++------------+ +| Range | ++============+ +| 0.1 to 100 | ++------------+ + + + + +.. _AEROM_BOX_WIDTH: + +AEROM\_BOX\_WIDTH: Box Width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Length of aerobatic \"box\" + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_STALL_THR: + +AEROM\_STALL\_THR: Stall turn throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amount of throttle to reduce to for a stall turn + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_STALL_PIT: + +AEROM\_STALL\_PIT: Stall turn pitch threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch threashold for moving to final stage of stall turn + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_KE_RUDD: + +AEROM\_KE\_RUDD: KnifeEdge Rudder +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percent of rudder normally uses to sustain knife\-edge at trick speed + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_KE_RUDD_LK: + +AEROM\_KE\_RUDD\_LK: KnifeEdge Rudder lookahead +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to look ahead in the path to calculate rudder correction for bank angle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ALT_ABORT: + +AEROM\_ALT\_ABORT: Altitude Abort +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_TS_P: + +AEROM\_TS\_P: Timesync P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_I: + +AEROM\_TS\_I: Timesync I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_SPDMAX: + +AEROM\_TS\_SPDMAX: Timesync speed max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum speed adjustment for time sync between aircraft + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _AEROM_TS_RATE: + +AEROM\_TS\_RATE: Timesync rate of send of NAMED\_VALUE\_FLOAT data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate we send data for time sync between aircraft + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _AEROM_MIS_ANGLE: + +AEROM\_MIS\_ANGLE: Mission angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to a non\-zero value\, this is the assumed direction of the mission\. Otherwise the waypoint angle is used + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_OPTIONS: + +AEROM\_OPTIONS: Aerobatic options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to control aerobatic behavior + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | UseRTLOnAbort | ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ + + + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _TRIK_ENABLE: + +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables Tricks on Switch\. TRIK params hidden until enabled + + +.. _TRIK_SEL_FN: + +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick selection + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_ACT_FN: + +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_COUNT: + +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of tricks which can be selected over the range of the trik selection RC channel + + ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ + + + + +.. _VIEP_DEBUG: + +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ViewPro debug + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ + + + + +.. _VIEP_CAM_SWLOW: + +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in low position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWMID: + +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in middle position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWHIGH: + +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in high position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_ZOOM_SPEED: + +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Speed\. Higher numbers result in faster zooming + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VIEP_ZOOM_MAX: + +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Times Max + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _EFI_INF_ENABLE: + +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI INF\-Inject driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_INF_OPTIONS: + +EFI\_INF\_OPTIONS: EFI INF\-Inject options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _EFI_INF_THR_HZ: + +EFI\_INF\_THR\_HZ: EFI INF\-Inject throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle output rate + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_INF_IGN_AUX: + +EFI\_INF\_IGN\_AUX: EFI INF\-Inject ignition aux function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle ignition aux function + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SVFFI generator support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SVF_ARMCHECK: + +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Check for Generator ARM state before arming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_ENABLE: + +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set ANX CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _BATT_ANX_INDEX: + +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ANX CAN battery index + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _BATT_ANX_OPTIONS: + +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_DLA_ENABLE: + +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI DLA driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_DLA_LPS: + +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI DLA litres of fuel per second of injection time + + ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ESC_HW_POLES: + +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor poles for eRPM scaling + + ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ + + + + +.. _ESC_HW_OFS: + +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor number offset of first ESC + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _EFI_2K_ENABLE: + +EFI\_2K\_ENABLE: Enable NMEA 2000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable NMEA 2000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_2K_CANDRV: + +EFI\_2K\_CANDRV: NMEA 2000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_2K_OPTIONS: + +EFI\_2K\_OPTIONS: NMEA 2000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + + + +.. _EFI_SP_ENABLE: + +EFI\_SP\_ENABLE: Enable SkyPower EFI support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SkyPower EFI support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_CANDRV: + +EFI\_SP\_CANDRV: Set SkyPower EFI CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set SkyPower EFI CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _EFI_SP_UPDATE_HZ: + +EFI\_SP\_UPDATE\_HZ: SkyPower EFI update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI update rate + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 200 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_THR_FN: + +EFI\_SP\_THR\_FN: SkyPower EFI throttle function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI throttle function\. This sets which SERVOn\_FUNCTION to use for the target throttle\. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 70 | FixedWing | ++-------+-----------+ +| 31 | HeliRSC | ++-------+-----------+ + + + + +.. _EFI_SP_THR_RATE: + +EFI\_SP\_THR\_RATE: SkyPower EFI throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI throttle rate\. This sets rate at which throttle updates are sent to the engine + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 100 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_START_FN: + +EFI\_SP\_START\_FN: SkyPower EFI start function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI start function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling engine start + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_GEN_FN: + +EFI\_SP\_GEN\_FN: SkyPower EFI generator control function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI generator control function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling generator start\/stop + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_MIN_RPM: + +EFI\_SP\_MIN\_RPM: SkyPower EFI minimum RPM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _EFI_SP_TLM_RT: + +EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 10 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_LOG_RT: + +EFI\_SP\_LOG\_RT: SkyPower EFI log rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_ST_DISARM: + +EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_MODEL: + +EFI\_SP\_MODEL: SkyPower EFI ECU model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI ECU model + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | SRE_180 | ++-------+---------+ +| 1 | SP_275 | ++-------+---------+ + + + + +.. _EFI_SP_GEN_CTRL: + +EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI enable generator control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_RST_TIME: + +EFI\_SP\_RST\_TIME: SkyPower EFI restart time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _EFI_H6K_ENABLE: + +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Halo6000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_H6K_CANDRV: + +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_H6K_START_FN: + +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_H6K_TELEM_RT: + +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _EFI_H6K_OPTIONS: + +EFI\_H6K\_OPTIONS: Halo6000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 options + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | LogAllCanPackets | ++-----+------------------+ + + + + +.. _TOFSENSE_PRX: + +TOFSENSE\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_NO: + +TOFSENSE\_NO: TOFSENSE\-M Connected +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of TOFSENSE\-M CAN sensors connected + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_MODE: + +TOFSENSE\_MODE: TOFSENSE\-M mode to be used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +TOFSENSE\-M mode to be used\. 0 for 8x8 mode\. 1 for 4x4 mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | 8x8 mode | ++-------+----------+ +| 1 | 4x4 mode | ++-------+----------+ + + + + +.. _TOFSENSE_INST1: + +TOFSENSE\_INST1: TOFSENSE\-M First Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensors backend Instance\. Setting this to 1 will pick the first backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID1: + +TOFSENSE\_ID1: TOFSENSE\-M First ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensor ID\. Leave this at 0 to accept all IDs and if only one sensor is present\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST2: + +TOFSENSE\_INST2: TOFSENSE\-M Second Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensors backend Instance\. Setting this to 2 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID2: + +TOFSENSE\_ID2: TOFSENSE\-M Second ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST3: + +TOFSENSE\_INST3: TOFSENSE\-M Third Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensors backend Instance\. Setting this to 3 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID3: + +TOFSENSE\_ID3: TOFSENSE\-M Thir ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + + +.. _parameters_ADSB_: + +ADSB\_ Parameters +----------------- + + +.. _ADSB_TYPE: + +ADSB\_TYPE: ADSB Type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Type of ADS\-B hardware for ADSB\-in and ADSB\-out configuration and operation\. If any type is selected then MAVLink based ADSB\-in messages will always be enabled + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | uAvionix-MAVLink | ++-------+--------------------+ +| 2 | Sagetech | ++-------+--------------------+ +| 3 | uAvionix-UCP | ++-------+--------------------+ +| 4 | Sagetech MX Series | ++-------+--------------------+ + + + + +.. _ADSB_LIST_MAX: + +ADSB\_LIST\_MAX: ADSB vehicle list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +ADSB list size of nearest vehicles\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _ADSB_LIST_RADIUS: + +ADSB\_LIST\_RADIUS: ADSB vehicle list radius filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list radius filter\. Vehicles detected outside this radius will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 100000 | meters | ++-------------+--------+ + + + + +.. _ADSB_ICAO_ID: + +ADSB\_ICAO\_ID: ICAO\_ID vehicle identification number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID unique vehicle identification number of this aircraft\. This is an integer limited to 24bits\. If set to 0 then one will be randomly generated\. If set to \-1 then static information is not sent\, transceiver is assumed pre\-programmed\. + + ++----------------+ +| Range | ++================+ +| -1 to 16777215 | ++----------------+ + + + + +.. _ADSB_EMIT_TYPE: + +ADSB\_EMIT\_TYPE: Emitter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB classification for the type of vehicle emitting the transponder signal\. Default value is 14 \(UAV\)\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | NoInfo | ++-------+------------------+ +| 1 | Light | ++-------+------------------+ +| 2 | Small | ++-------+------------------+ +| 3 | Large | ++-------+------------------+ +| 4 | HighVortexlarge | ++-------+------------------+ +| 5 | Heavy | ++-------+------------------+ +| 6 | HighlyManuv | ++-------+------------------+ +| 7 | Rotocraft | ++-------+------------------+ +| 8 | RESERVED | ++-------+------------------+ +| 9 | Glider | ++-------+------------------+ +| 10 | LightAir | ++-------+------------------+ +| 11 | Parachute | ++-------+------------------+ +| 12 | UltraLight | ++-------+------------------+ +| 13 | RESERVED | ++-------+------------------+ +| 14 | UAV | ++-------+------------------+ +| 15 | Space | ++-------+------------------+ +| 16 | RESERVED | ++-------+------------------+ +| 17 | EmergencySurface | ++-------+------------------+ +| 18 | ServiceSurface | ++-------+------------------+ +| 19 | PointObstacle | ++-------+------------------+ + + + + +.. _ADSB_LEN_WIDTH: + +ADSB\_LEN\_WIDTH: Aircraft length and width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft length and width dimension options in Length and Width in meters\. In most cases\, use a value of 1 for smallest size\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | NO_DATA | ++-------+----------+ +| 1 | L15W23 | ++-------+----------+ +| 2 | L25W28P5 | ++-------+----------+ +| 3 | L25W34 | ++-------+----------+ +| 4 | L35W33 | ++-------+----------+ +| 5 | L35W38 | ++-------+----------+ +| 6 | L45W39P5 | ++-------+----------+ +| 7 | L45W45 | ++-------+----------+ +| 8 | L55W45 | ++-------+----------+ +| 9 | L55W52 | ++-------+----------+ +| 10 | L65W59P5 | ++-------+----------+ +| 11 | L65W67 | ++-------+----------+ +| 12 | L75W72P5 | ++-------+----------+ +| 13 | L75W80 | ++-------+----------+ +| 14 | L85W80 | ++-------+----------+ +| 15 | L85W90 | ++-------+----------+ + + + + +.. _ADSB_OFFSET_LAT: + +ADSB\_OFFSET\_LAT: GPS antenna lateral offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna lateral offset\. This describes the physical location offset from center of the GPS antenna on the aircraft\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | NoData | ++-------+---------+ +| 1 | Left2m | ++-------+---------+ +| 2 | Left4m | ++-------+---------+ +| 3 | Left6m | ++-------+---------+ +| 4 | Center | ++-------+---------+ +| 5 | Right2m | ++-------+---------+ +| 6 | Right4m | ++-------+---------+ +| 7 | Right6m | ++-------+---------+ + + + + +.. _ADSB_OFFSET_LON: + +ADSB\_OFFSET\_LON: GPS antenna longitudinal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS antenna longitudinal offset\. This is usually set to 1\, Applied By Sensor + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | NO_DATA | ++-------+-----------------+ +| 1 | AppliedBySensor | ++-------+-----------------+ + + + + +.. _ADSB_RF_SELECT: + +ADSB\_RF\_SELECT: Transceiver RF selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transceiver RF selection for Rx enable and\/or Tx enable\. This only effects devices that can Tx and\/or Rx\. Rx\-only devices should override this to always be Rx\-only\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Rx | ++-----+---------+ +| 1 | Tx | ++-----+---------+ + + + + +.. _ADSB_SQUAWK: + +ADSB\_SQUAWK: Squawk code +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +VFR squawk \(Mode 3\/A\) code is a pre\-programmed default code when the pilot is flying VFR and not in contact with ATC\. In the USA\, the VFR squawk code is octal 1200 \(hex 0x280\, decimal 640\) and in most parts of Europe the VFR squawk code is octal 7000\. If an invalid octal number is set then it will be reset to 1200\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 0 to 7777 | octal | ++-----------+-------+ + + + + +.. _ADSB_RF_CAPABLE: + +ADSB\_RF\_CAPABLE: RF capabilities +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Describes your hardware RF In\/Out capabilities\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | UAT_in | ++-----+------------+ +| 1 | 1090ES_in | ++-----+------------+ +| 2 | UAT_out | ++-----+------------+ +| 3 | 1090ES_out | ++-----+------------+ + + + + +.. _ADSB_LIST_ALT: + +ADSB\_LIST\_ALT: ADSB vehicle list altitude filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ADSB vehicle list altitude filter\. Vehicles detected above this altitude will be completely ignored\. They will not show up in the SRx\_ADSB stream to the GCS and will not be considered in any avoidance calculations\. A value of 0 will disable this filter\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _ADSB_ICAO_SPECL: + +ADSB\_ICAO\_SPECL: ICAO\_ID of special vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ICAO\_ID of special vehicle that ignores ADSB\_LIST\_RADIUS and ADSB\_LIST\_ALT\. The vehicle is always tracked\. Use 0 to disable\. + + +.. _ADSB_LOG: + +ADSB\_LOG: ADS\-B logging +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +0\: no logging\, 1\: log only special ID\, 2\:log all + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | no logging | ++-------+---------------------+ +| 1 | log only special ID | ++-------+---------------------+ +| 2 | log all | ++-------+---------------------+ + + + + +.. _ADSB_OPTIONS: + +ADSB\_OPTIONS: ADS\-B Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for emergency failsafe codes and device capabilities + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | Ping200X Send GPS | ++-----+----------------------------------+ +| 1 | Squawk 7400 on RC failsafe | ++-----+----------------------------------+ +| 2 | Squawk 7400 on GCS failsafe | ++-----+----------------------------------+ +| 3 | Sagetech MXS use External Config | ++-----+----------------------------------+ + + + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----+-------------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================================================================================+ +| 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | ++-----+-------------------------------------------------------------------------------------------------------------------+ +| 1 | Enable AFS for all autonomous modes (not just AUTO) | ++-----+-------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | Use GPS for DCM position | ++-------+-------------------------------------+ +| 2 | Use GPS for DCM position and height | ++-------+-------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | Enable EKF2 | ++-------+--------------+ +| 3 | Enable EKF3 | ++-------+--------------+ +| 11 | ExternalAHRS | ++-------+--------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 0 | DisableDCMFallbackFW | ++-----+-----------------------------+ +| 1 | DisableDCMFallbackVTOL | ++-----+-----------------------------+ +| 2 | DontDisableAirspeedUsingEKF | ++-----+-----------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 1 | NMEA AIVDM message | ++-------+--------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----+-------------------------------------+ +| Bit | Meaning | ++=====+=====================================+ +| 0 | Log all AIVDM messages | ++-----+-------------------------------------+ +| 1 | Log only unsupported AIVDM messages | ++-----+-------------------------------------+ +| 2 | Log decoded messages | ++-----+-------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_BBOX_SPD: + +ARMING\_BBOX\_SPD: Blackbox speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging\. WARNING\: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 1 to 20 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _ARMING_REQUIRE: + +ARMING\_REQUIRE: Require Arming Motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, send 0 PWM \(no signal\) to throttle channel when disarmed\. On planes with ICE enabled and the throttle while disarmed option set in ICE\_OPTIONS\, the motor will always get THR\_MIN when disarmed\. Arming will occur using either rudder stick arming \(if enabled\) or GCS command when all mandatory and ARMING\_CHECK items are satisfied\. Note\, when setting this parameter to 0\, a reboot is required to immediately arm the plane\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | minimum PWM when disarmed | ++-------+---------------------------+ +| 2 | 0 PWM when disarmed | ++-------+---------------------------+ + + + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Disabled | ++-------+-------------+ +| 1 | ArmingOnly | ++-------+-------------+ +| 2 | ArmOrDisarm | ++-------+-------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | Land | ++-----+---------------+ +| 1 | VTOL Land | ++-----+---------------+ +| 2 | DO_LAND_START | ++-----+---------------+ +| 3 | Takeoff | ++-----+---------------+ +| 4 | VTOL Takeoff | ++-----+---------------+ +| 5 | Rallypoint | ++-----+---------------+ +| 6 | RTL | ++-----+---------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | All | ++-----+------------------------+ +| 1 | Barometer | ++-----+------------------------+ +| 2 | Compass | ++-----+------------------------+ +| 3 | GPS lock | ++-----+------------------------+ +| 4 | INS | ++-----+------------------------+ +| 5 | Parameters | ++-----+------------------------+ +| 6 | RC Channels | ++-----+------------------------+ +| 7 | Board voltage | ++-----+------------------------+ +| 8 | Battery Level | ++-----+------------------------+ +| 9 | Airspeed | ++-----+------------------------+ +| 10 | Logging Available | ++-----+------------------------+ +| 11 | Hardware safety switch | ++-----+------------------------+ +| 12 | GPS Configuration | ++-----+------------------------+ +| 13 | System | ++-----+------------------------+ +| 14 | Mission | ++-----+------------------------+ +| 15 | Rangefinder | ++-----+------------------------+ +| 16 | Camera | ++-----+------------------------+ +| 17 | AuxAuth | ++-----+------------------------+ +| 19 | FFT | ++-----+------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++-----+-----------------------------------------+ +| Bit | Meaning | ++=====+=========================================+ +| 0 | Disable prearm display | ++-----+-----------------------------------------+ +| 1 | Do not send status text on state change | ++-----+-----------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Crash Dump arming check active | ++-------+-------------------------------------+ +| 1 | Crash Dump arming check deactivated | ++-------+-------------------------------------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | FirstSensor | ++-------+-------------+ +| 1 | 2ndSensor | ++-------+-------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of options to use with airspeed\. 0\:Disable use based on airspeed\/groundspeed mismatch \(see ARSPD\_WIND\_MAX\)\, 1\:Automatically reenable use based on airspeed\/groundspeed mismatch recovery \(see ARSPD\_WIND\_MAX\) 2\:Disable voltage correction\, 3\:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 \(requires AHRS\_EKF\_TYPE \= 3\)\, 4\:Report cal offset to GCS + + ++-----+----------------------------+ +| Bit | Meaning | ++=====+============================+ +| 0 | SpeedMismatchDisable | ++-----+----------------------------+ +| 1 | AllowSpeedMismatchRecovery | ++-----+----------------------------+ +| 2 | DisableVoltageCorrection | ++-----+----------------------------+ +| 3 | UseEkf3Consistency | ++-----+----------------------------+ +| 4 | ReportOffset | ++-----+----------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy\. Using ARSPD\_OPTION this health value can be used to disable the sensor\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning\. If 0 ARSPD\_WIND\_MAX is used\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of standard deviations applied to the re\-enable EKF consistency check that is used when ARSPD\_OPTIONS bit position 3 is set\. Larger values will make the re\-enabling of the airspeed sensor faster\, but increase the likelihood of re\-enabling a degraded sensor\. The value can be tuned by using the ARSP\.TR log message by setting ARSPD\_WIND\_GATE to a value that is higher than the value for ARSP\.TR observed with a healthy airspeed sensor\. Occasional transients in ARSP\.TR above the value set by ARSPD\_WIND\_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10\% duty cycle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: Automatic airspeed ratio calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables airspeed use for automatic throttle modes and replaces control from THR\_TRIM\. Continues to display and log airspeed if set to 0\. Uses airspeed for control if set to 1\. Only uses airspeed when throttle \= 0 if set to 2 \(useful for gliders with airspeed sensors behind propellers\)\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: Automatic airspeed ratio calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_AVD_: + +AVD\_ Parameters +---------------- + + +.. _AVD_ENABLE: + +AVD\_ENABLE: Enable Avoidance using ADSB +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable Avoidance using ADSB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _AVD_F_ACTION: + +AVD\_F\_ACTION: Collision Avoidance Behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision is imminent + + ++-------+----------------------------+ +| Value | Meaning | ++=======+============================+ +| 0 | None | ++-------+----------------------------+ +| 1 | Report | ++-------+----------------------------+ +| 2 | Climb Or Descend | ++-------+----------------------------+ +| 3 | Move Horizontally | ++-------+----------------------------+ +| 4 | Move Perpendicularly in 3D | ++-------+----------------------------+ +| 5 | RTL | ++-------+----------------------------+ +| 6 | Hover | ++-------+----------------------------+ + + + + +.. _AVD_W_ACTION: + +AVD\_W\_ACTION: Collision Avoidance Behavior \- Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies aircraft behaviour when a collision may occur + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Report | ++-------+---------+ + + + + +.. _AVD_F_RCVRY: + +AVD\_F\_RCVRY: Recovery behaviour after a fail event +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines what the aircraft will do after a fail event is resolved + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | Remain in AVOID_ADSB | ++-------+-----------------------------+ +| 1 | Resume previous flight mode | ++-------+-----------------------------+ +| 2 | RTL | ++-------+-----------------------------+ +| 3 | Resume if AUTO else Loiter | ++-------+-----------------------------+ + + + + +.. _AVD_OBS_MAX: + +AVD\_OBS\_MAX: Maximum number of obstacles to track +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of obstacles to track + + +.. _AVD_W_TIME: + +AVD\_W\_TIME: Time Horizon Warn +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than W\_DIST\_XY or W\_DIST\_Z then W\_ACTION is undertaken \(assuming F\_ACTION is not undertaken\) + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_F_TIME: + +AVD\_F\_TIME: Time Horizon Fail +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Aircraft velocity vectors are multiplied by this time to determine closest approach\. If this results in an approach closer than F\_DIST\_XY or F\_DIST\_Z then F\_ACTION is undertaken + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AVD_W_DIST_XY: + +AVD\_W\_DIST\_XY: Distance Warn XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before W\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_XY: + +AVD\_F\_DIST\_XY: Distance Fail XY +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before F\_ACTION is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_W_DIST_Z: + +AVD\_W\_DIST\_Z: Distance Warn Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_W is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_DIST_Z: + +AVD\_F\_DIST\_Z: Distance Fail Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Closest allowed projected distance before BEHAVIOUR\_F is undertaken + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AVD_F_ALT_MIN: + +AVD\_F\_ALT\_MIN: ADS\-B avoidance minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum AMSL \(above mean sea level\) altitude for ADS\-B avoidance\. If the vehicle is below this altitude\, no avoidance action will take place\. Useful to prevent ADS\-B avoidance from activating while below the tree line or around structures\. Default of 0 is no minimum\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstBaro | ++-------+-----------+ +| 1 | 2ndBaro | ++-------+-----------+ +| 2 | 3rdBaro | ++-------+-----------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Bus0 | ++-------+----------+ +| 1 | Bus1 | ++-------+----------+ +| 6 | Bus6 | ++-------+----------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | BMP085 | ++-----+---------+ +| 1 | BMP280 | ++-----+---------+ +| 2 | MS5611 | ++-----+---------+ +| 3 | MS5607 | ++-----+---------+ +| 4 | MS5637 | ++-----+---------+ +| 5 | FBM320 | ++-----+---------+ +| 6 | DPS280 | ++-----+---------+ +| 7 | LPS25H | ++-----+---------+ +| 8 | Keller | ++-----+---------+ +| 9 | MS5837 | ++-----+---------+ +| 10 | BMP388 | ++-----+---------+ +| 11 | SPL06 | ++-----+---------+ +| 12 | MSP | ++-----+---------+ +| 13 | BMP581 | ++-----+---------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Treat MS5611 as MS5607 | ++-----+------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_WATT_MAX: + +BATT2\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_WATT_MAX: + +BATT3\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_WATT_MAX: + +BATT4\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_WATT_MAX: + +BATT5\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_WATT_MAX: + +BATT6\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_WATT_MAX: + +BATT7\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_WATT_MAX: + +BATT8\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_WATT_MAX: + +BATT9\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_WATT_MAX: + +BATTA\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_WATT_MAX: + +BATTB\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_WATT_MAX: + +BATTC\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_WATT_MAX: + +BATTD\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_WATT_MAX: + +BATTE\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_WATT_MAX: + +BATTF\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_WATT_MAX: + +BATTG\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_WATT_MAX: + +BATT\_WATT\_MAX: Maximum allowed power \(Watts\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If battery wattage \(voltage \* current\) exceeds this value then the system will reduce max throttle \(THR\_MAX\, TKOFF\_THR\_MAX and THR\_MIN for reverse thrust\) to satisfy this limit\. This helps limit high current to low C rated batteries regardless of battery voltage\. The max throttle will slowly grow back to THR\_MAX \(or TKOFF\_THR\_MAX \) and THR\_MIN if demanding the current max and under the watt max\. Use 0 to disable\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 1 | watt | ++-----------+-------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | RTL | ++-------+-----------------+ +| 2 | Land | ++-------+-----------------+ +| 3 | Terminate | ++-------+-----------------+ +| 4 | QLand | ++-------+-----------------+ +| 5 | Parachute | ++-------+-----------------+ +| 6 | Loiter to QLand | ++-------+-----------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | 50Hz | ++-------+----------+ +| 2 | 75Hz | ++-------+----------+ +| 3 | 100Hz | ++-------+----------+ +| 4 | 150Hz | ++-------+----------+ +| 5 | 200Hz | ++-------+----------+ +| 6 | 250Hz | ++-------+----------+ +| 7 | 300Hz | ++-------+----------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Output1 | ++-----+----------+ +| 1 | Output2 | ++-----+----------+ +| 2 | Output3 | ++-----+----------+ +| 3 | Output4 | ++-----+----------+ +| 4 | Output5 | ++-----+----------+ +| 5 | Output6 | ++-----+----------+ +| 6 | Output7 | ++-----+----------+ +| 7 | Output8 | ++-----+----------+ +| 8 | Output9 | ++-----+----------+ +| 9 | Output10 | ++-----+----------+ +| 10 | Output11 | ++-----+----------+ +| 11 | Output12 | ++-----+----------+ +| 12 | Output13 | ++-----+----------+ +| 13 | Output14 | ++-----+----------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | AUTO | ++-------+----------------+ +| 1 | PX4V1 | ++-------+----------------+ +| 2 | Pixhawk | ++-------+----------------+ +| 3 | Cube/Pixhawk2 | ++-------+----------------+ +| 4 | Pixracer | ++-------+----------------+ +| 5 | PixhawkMini | ++-------+----------------+ +| 6 | Pixhawk2Slim | ++-------+----------------+ +| 13 | Intel Aero FC | ++-------+----------------+ +| 14 | Pixhawk Pro | ++-------+----------------+ +| 20 | AUAV2.1 | ++-------+----------------+ +| 21 | PCNC1 | ++-------+----------------+ +| 22 | MINDPXV2 | ++-------+----------------+ +| 23 | SP01 | ++-------+----------------+ +| 24 | CUAVv5/FMUV5 | ++-------+----------------+ +| 30 | VRX BRAIN51 | ++-------+----------------+ +| 32 | VRX BRAIN52 | ++-------+----------------+ +| 33 | VRX BRAIN52E | ++-------+----------------+ +| 34 | VRX UBRAIN51 | ++-------+----------------+ +| 35 | VRX UBRAIN52 | ++-------+----------------+ +| 36 | VRX CORE10 | ++-------+----------------+ +| 38 | VRX BRAIN54 | ++-------+----------------+ +| 39 | PX4 FMUV6 | ++-------+----------------+ +| 100 | PX4 OLDDRIVERS | ++-------+----------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | EnableNoFWUpdate | ++-------+------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----+-------------------------------------------+ +| Bit | Meaning | ++=====+===========================================+ +| 0 | ActiveForSafetyDisable | ++-----+-------------------------------------------+ +| 1 | ActiveForSafetyEnable | ++-----+-------------------------------------------+ +| 2 | ActiveWhenArmed | ++-----+-------------------------------------------+ +| 3 | Force safety on when the aircraft disarms | ++-----+-------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 3.3V | ++-------+---------+ +| 1 | 5V | ++-------+---------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----+-------------------------------------------------------+ +| Bit | Meaning | ++=====+=======================================================+ +| 0 | Enable hardware watchdog | ++-----+-------------------------------------------------------+ +| 1 | Disable MAVftp | ++-----+-------------------------------------------------------+ +| 2 | Enable set of internal parameters | ++-----+-------------------------------------------------------+ +| 3 | Enable Debug Pins | ++-----+-------------------------------------------------------+ +| 4 | Unlock flash on reboot | ++-----+-------------------------------------------------------+ +| 5 | Write protect firmware flash on reboot | ++-----+-------------------------------------------------------+ +| 6 | Write protect bootloader flash on reboot | ++-----+-------------------------------------------------------+ +| 7 | Skip board validation | ++-----+-------------------------------------------------------+ +| 8 | Disable board arming gpio output change on arm/disarm | ++-----+-------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | StandardFW | ++-------+------------+ +| 1 | DshotFW | ++-------+------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | CYRF6936 | ++-------+----------+ +| 2 | CC2500 | ++-------+----------+ +| 3 | BK2425 | ++-------+----------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | DSM2 | ++-------+---------+ +| 2 | DSMX | ++-------+---------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotDisabled | ++-------+-------------+ +| 1 | Disabled | ++-------+-------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MinChannel | ++-------+--------------+ +| 2 | MidChannel | ++-------+--------------+ +| 3 | MaxChannel | ++-------+--------------+ +| 4 | MinChannelCW | ++-------+--------------+ +| 5 | MidChannelCW | ++-------+--------------+ +| 6 | MaxChannelCW | ++-------+--------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | Mode1 | ++-------+---------+ +| 2 | Mode2 | ++-------+---------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | TestChan1 | ++-------+-----------+ +| 2 | TestChan2 | ++-------+-----------+ +| 3 | TestChan3 | ++-------+-----------+ +| 4 | TestChan4 | ++-------+-----------+ +| 5 | TestChan5 | ++-------+-----------+ +| 6 | TestChan6 | ++-------+-----------+ +| 7 | TestChan7 | ++-------+-----------+ +| 8 | TestChan8 | ++-------+-----------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | GPS | ++-----+---------------------+ +| 1 | MAVLINK_SYSTEM_TIME | ++-----+---------------------+ +| 2 | HW | ++-----+---------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Always | ++-------+-------------------+ +| 1 | Only when in AUTO | ++-------+-------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | RunCam Split Micro/RunCam with UART | ++-------+-------------------------------------+ +| 2 | RunCam Split | ++-------+-------------------------------------+ +| 3 | RunCam Split4 4k | ++-------+-------------------------------------+ +| 4 | RunCam Hybrid/RunCam Thumb Pro | ++-------+-------------------------------------+ +| 5 | Runcam 2 4k | ++-------+-------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Power Button | ++-----+-----------------+ +| 1 | WiFi Button | ++-----+-----------------+ +| 2 | Change Mode | ++-----+-----------------+ +| 3 | 5-Key OSD | ++-----+-----------------+ +| 4 | Settings Access | ++-----+-----------------+ +| 5 | DisplayPort | ++-----+-----------------+ +| 6 | Start Recording | ++-----+-----------------+ +| 7 | Stop Recording | ++-----+-----------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Stick yaw right | ++-----+-----------------------+ +| 1 | Stick roll right | ++-----+-----------------------+ +| 2 | 3-position switch | ++-----+-----------------------+ +| 3 | 2-position switch | ++-----+-----------------------+ +| 4 | Autorecording enabled | ++-----+-----------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Log None | ++-------+-----------------------+ +| 1 | Log Error | ++-------+-----------------------+ +| 2 | Log Warning and below | ++-------+-----------------------+ +| 3 | Log Info and below | ++-------+-----------------------+ +| 4 | Log Everything | ++-------+-----------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | First interface | ++-------+------------------+ +| 2 | Second interface | ++-------+------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CHUTE_: + +CHUTE\_ Parameters +------------------ + + +.. _CHUTE_ENABLED: + +CHUTE\_ENABLED: Parachute release enabled or disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release enabled or disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CHUTE_TYPE: + +CHUTE\_TYPE: Parachute release mechanism type \(relay or servo\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute release mechanism type \(relay number in versions prior to 4\.5\, or servo\)\. Values 0\-3 all are relay\. Relay number used for release is set by RELAYx\_FUNCTION in 4\.5 or later\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Relay | ++-------+---------+ +| 10 | Servo | ++-------+---------+ + + + + +.. _CHUTE_SERVO_ON: + +CHUTE\_SERVO\_ON: Parachute Servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_SERVO_OFF: + +CHUTE\_SERVO\_OFF: Servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute Servo PWM value in microseconds when parachute is not released + + ++-----------+--------------+---------------------+ +| Increment | Range | Units | ++===========+==============+=====================+ +| 1 | 1000 to 2000 | PWM in microseconds | ++-----------+--------------+---------------------+ + + + + +.. _CHUTE_ALT_MIN: + +CHUTE\_ALT\_MIN: Parachute min altitude in meters above home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Parachute min altitude above home\. Parachute will not be released below this altitude\. 0 to disable alt check\. + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32000 | meters | ++-----------+------------+--------+ + + + + +.. _CHUTE_DELAY_MS: + +CHUTE\_DELAY\_MS: Parachute release delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay in millseconds between motor stop and chute release + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 1 | 0 to 5000 | milliseconds | ++-----------+-----------+--------------+ + + + + +.. _CHUTE_CRT_SINK: + +CHUTE\_CRT\_SINK: Critical sink speed rate in m\/s to trigger emergency parachute +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Release parachute when critical sink rate is reached + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 15 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CHUTE_OPTIONS: + +CHUTE\_OPTIONS: Parachute options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optional behaviour for parachute + + ++-----+--------------------------------------+ +| Bit | Meaning | ++=====+======================================+ +| 0 | hold open forever after release | ++-----+--------------------------------------+ +| 1 | skip disarm before parachute release | ++-----+--------------------------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Disabled | ++-------+-------------------+ +| 1 | Internal-Learning | ++-------+-------------------+ +| 2 | EKF-Learning | ++-------+-------------------+ +| 3 | InFlight-Learning | ++-------+-------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | Use Throttle | ++-------+--------------+ +| 2 | Use Current | ++-------+--------------+ + + + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 4 | Very Strict | ++-------+-------------+ +| 8 | Strict | ++-------+-------------+ +| 16 | Default | ++-------+-------------+ +| 32 | Relaxed | ++-------+-------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.1 | 4 to 32 | ++-----------+---------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | HMC5883 | ++-----+--------------+ +| 1 | LSM303D | ++-----+--------------+ +| 2 | AK8963 | ++-----+--------------+ +| 3 | BMM150 | ++-----+--------------+ +| 4 | LSM9DS1 | ++-----+--------------+ +| 5 | LIS3MDL | ++-----+--------------+ +| 6 | AK09916 | ++-----+--------------+ +| 7 | IST8310 | ++-----+--------------+ +| 8 | ICM20948 | ++-----+--------------+ +| 9 | MMC3416 | ++-----+--------------+ +| 11 | DroneCAN | ++-----+--------------+ +| 12 | QMC5883 | ++-----+--------------+ +| 14 | MAG3110 | ++-----+--------------+ +| 15 | IST8308 | ++-----+--------------+ +| 16 | RM3100 | ++-----+--------------+ +| 17 | MSP | ++-----+--------------+ +| 18 | ExternalAHRS | ++-----+--------------+ +| 19 | MMC5XX3 | ++-----+--------------+ +| 20 | QMC5883P | ++-----+--------------+ +| 21 | BMM350 | ++-----+--------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++-------+----------------------------------------------------+ +| Value | Meaning | ++=======+====================================================+ +| 0 | Disabled | ++-------+----------------------------------------------------+ +| 1 | CheckOnly | ++-------+----------------------------------------------------+ +| 2 | CheckAndFix | ++-------+----------------------------------------------------+ +| 3 | use same tolerance to auto rotate 45 deg rotations | ++-------+----------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----+-------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================================================+ +| 0 | CalRequireGPS | ++-----+-------------------------------------------------------------------------------------------+ +| 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | ++-----+-------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Driver1 | ++-------+----------+ +| 2 | Driver2 | ++-------+----------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | EnforceArming | ++-----+---------------------------+ +| 1 | AllowNonGPSPosition | ++-----+---------------------------+ +| 2 | LockUASIDOnFirstBasicIDRx | ++-----+---------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | VectorNav | ++-------+--------------+ +| 2 | MicroStrain5 | ++-------+--------------+ +| 5 | InertialLabs | ++-------+--------------+ +| 7 | MicroStrain7 | ++-------+--------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Vector Nav use uncompensated values for accel gyro and mag. | ++-----+-------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | IMU | ++-----+---------+ +| 2 | Baro | ++-----+---------+ +| 3 | Compass | ++-----+---------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | Serial-MS | ++-------+---------------+ +| 2 | NWPMU | ++-------+---------------+ +| 3 | Serial-Lutan | ++-------+---------------+ +| 5 | DroneCAN | ++-------+---------------+ +| 6 | Currawong-ECU | ++-------+---------------+ +| 7 | Scripting | ++-------+---------------+ +| 8 | Hirth | ++-------+---------------+ +| 9 | MAVLink | ++-------+---------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | GPS 3D Vel and 2D Pos | ++-------+-----------------------+ +| 1 | GPS 2D vel and 2D pos | ++-------+-----------------------+ +| 2 | GPS 2D pos | ++-------+-----------------------+ +| 3 | No GPS | ++-------+-----------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Use Baro | ++-------+------------------+ +| 1 | Use Range Finder | ++-------+------------------+ +| 2 | Use GPS | ++-------+------------------+ +| 3 | Use Range Beacon | ++-------+------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | When flying | ++-------+-----------------------------+ +| 1 | When manoeuvring | ++-------+-----------------------------+ +| 2 | Never | ++-------+-----------------------------+ +| 3 | After first climb yaw reset | ++-------+-----------------------------+ +| 4 | Always | ++-------+-----------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | DisableExternalNavigation | ++-----+---------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++-------+---------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=================================================================================+ +| 0 | When flying | ++-------+---------------------------------------------------------------------------------+ +| 1 | When manoeuvring | ++-------+---------------------------------------------------------------------------------+ +| 2 | Never | ++-------+---------------------------------------------------------------------------------+ +| 3 | After first climb yaw reset | ++-------+---------------------------------------------------------------------------------+ +| 4 | Always | ++-------+---------------------------------------------------------------------------------+ +| 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ +| 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Always | ++-----+-----------------+ +| 1 | WhenNoYawSensor | ++-----+-----------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | EnableGPSAffinity | ++-----+------------------------+ +| 1 | EnableBaroAffinity | ++-----+------------------------+ +| 2 | EnableCompassAffinity | ++-----+------------------------+ +| 3 | EnableAirspeedAffinity | ++-----+------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | JammingExpected | ++-----+-----------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++-----+--------------------------------+ +| Bit | Meaning | ++=====+================================+ +| 0 | FuseAllVelocities | ++-----+--------------------------------+ +| 1 | AlignExtNavPosWhenUsingOptFlow | ++-----+--------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++-----+--------------------------------------+ +| Bit | Meaning | ++=====+======================================+ +| 0 | Max altitude | ++-----+--------------------------------------+ +| 1 | Circle Centered on Home | ++-----+--------------------------------------+ +| 2 | Inclusion/Exclusion Circles+Polygons | ++-----+--------------------------------------+ +| 3 | Min altitude | ++-----+--------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Report Only | ++-------+--------------------+ +| 1 | RTL | ++-------+--------------------+ +| 6 | Guided | ++-------+--------------------+ +| 7 | GuidedThrottlePass | ++-------+--------------------+ + + + + +.. _FENCE_ALT_MAX: + +FENCE\_ALT\_MAX: Fence Maximum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum altitude allowed before geofence triggers + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 10 to 1000 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _FENCE_ALT_MIN: + +FENCE\_ALT\_MIN: Fence Minimum Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum altitude allowed before geofence triggers + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FENCE_RET_RALLY: + +FENCE\_RET\_RALLY: Fence Return to Rally +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the vehicle return to fence return point or rally point + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | Fence Return Point | ++-------+---------------------+ +| 1 | Nearest Rally Point | ++-------+---------------------+ + + + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 1 | ++-----------+--------+ + + + + +.. _FENCE_RET_ALT: + +FENCE\_RET\_ALT: Fence Return Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude the vehicle will transit to when a fence breach occurs + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 32767 | meters | ++-----------+------------+--------+ + + + + +.. _FENCE_AUTOENABLE: + +FENCE\_AUTOENABLE: Fence Auto\-Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auto\-enable of fences\. AutoEnableOnTakeoff enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings the fences will be disabled\. AutoEnableDisableFloorOnLanding enables all configured fences\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, after autotakeoffs reach altitude\. During autolandings only the Minimum Altitude fence will be disabled\. AutoEnableOnlyWhenArmed enables all configured fences on arming\, except the minimum altitude fence \(which is enabled when the minimum altitude is reached\)\, but no fences are disabled during autolandings\. However\, fence breaches are ignored while executing prior breach recovery actions which may include autolandings\. + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | AutoEnableOff | ++-------+---------------------------------+ +| 1 | AutoEnableOnTakeoff | ++-------+---------------------------------+ +| 2 | AutoEnableDisableFloorOnLanding | ++-------+---------------------------------+ +| 3 | AutoEnableOnlyWhenArmed | ++-------+---------------------------------+ + + + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _FENCE_OPTIONS: + +FENCE\_OPTIONS: Fence options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When bit 0 is set sisable mode change following fence action until fence breach is cleared\. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection\, which means a fence breach occurs only if you are outside all of the fence areas\. + + ++-----+--------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+==========================================================================+ +| 0 | Disable mode change following fence action until fence breach is cleared | ++-----+--------------------------------------------------------------------------+ +| 1 | Allow union of inclusion areas | ++-----+--------------------------------------------------------------------------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Auto | ++-------+--------------------------+ +| 1 | Center Frequency | ++-------+--------------------------+ +| 2 | Lower-Shoulder Frequency | ++-------+--------------------------+ +| 3 | Upper-Shoulder Frequency | ++-------+--------------------------+ +| 4 | Roll-Axis | ++-------+--------------------------+ +| 5 | Pitch-Axis | ++-------+--------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable post-filter FFT | ++-----+------------------------+ +| 1 | Check motor noise | ++-----+------------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | PX4Flow | ++-------+----------+ +| 2 | Pixart | ++-------+----------+ +| 3 | Bebop | ++-------+----------+ +| 4 | CXOF | ++-------+----------+ +| 5 | MAVLink | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MSP | ++-------+----------+ +| 8 | UPFLOW | ++-------+----------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| 0 | North-East-Down | ++-------+----------------------------------+ +| 1 | Relative to lead vehicle heading | ++-------+----------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Face Lead Vehicle | ++-------+----------------------+ +| 2 | Same as Lead vehicle | ++-------+----------------------+ +| 3 | Direction of Flight | ++-------+----------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | absolute | ++-------+----------+ +| 1 | relative | ++-------+----------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | None | ++-------+------------------------------------------+ +| 1 | Mount Follows lead vehicle on mode enter | ++-------+------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ +| 27 | 27 | ++-------+---------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++-----+------------------------------+ +| Bit | Meaning | ++=====+==============================+ +| 0 | EnableAirspeedAndGroundspeed | ++-----+------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | IE 650w 800w Fuel Cell | ++-------+------------------------+ +| 2 | IE 2.4kW Fuel Cell | ++-------+------------------------+ +| 3 | Richenpower | ++-------+------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Suppress Maintenance-Required Warnings | ++-----+----------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Portable | ++-------+------------+ +| 2 | Stationary | ++-------+------------+ +| 3 | Pedestrian | ++-------+------------+ +| 4 | Automotive | ++-------+------------+ +| 5 | Sea | ++-------+------------+ +| 6 | Airborne1G | ++-------+------------+ +| 7 | Airborne2G | ++-------+------------+ +| 8 | Airborne4G | ++-------+------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Use primary | ++-------+---------------------------------+ +| 1 | UseBest | ++-------+---------------------------------+ +| 2 | Blend | ++-------+---------------------------------+ +| 4 | Use primary if 3D fix or better | ++-------+---------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | send to first GPS | ++-------+-------------------+ +| 1 | send to 2nd GPS | ++-------+-------------------+ +| 127 | send to all | ++-------+-------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None (0x0000) | ++-------+------------------------+ +| -1 | All (0xFFFF) | ++-------+------------------------+ +| -256 | External only (0xFF00) | ++-------+------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | Ignore | ++-------+------------------------------------------+ +| 1 | Always log | ++-------+------------------------------------------+ +| 2 | Stop logging when disarmed (SBF only) | ++-------+------------------------------------------+ +| 5 | Only log every five samples (uBlox only) | ++-------+------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Do not save config | ++-------+-----------------------+ +| 1 | Save config | ++-------+-----------------------+ +| 2 | Save only when needed | ++-------+-----------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++-------+------------------------------------------------------+ +| Value | Meaning | ++=======+======================================================+ +| 0 | Disables automatic configuration | ++-------+------------------------------------------------------+ +| 1 | Enable automatic configuration for Serial GPSes only | ++-------+------------------------------------------------------+ +| 2 | Enable automatic configuration for DroneCAN as well | ++-------+------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Horiz Pos | ++-----+-----------+ +| 1 | Vert Pos | ++-----+-----------+ +| 2 | Speed | ++-----+-----------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++-----+-----------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================================+ +| 0 | Use UART2 for moving baseline on ublox | ++-----+-----------------------------------------------------------------------------+ +| 1 | Use base station for GPS yaw on SBF | ++-----+-----------------------------------------------------------------------------+ +| 2 | Use baudrate 115200 | ++-----+-----------------------------------------------------------------------------+ +| 3 | Use dedicated CAN port b/w GPSes for moving baseline | ++-----+-----------------------------------------------------------------------------+ +| 4 | Use ellipsoid height instead of AMSL | ++-----+-----------------------------------------------------------------------------+ +| 5 | Override GPS satellite health of L5 band from L1 health | ++-----+-----------------------------------------------------------------------------+ +| 6 | Enable RTCM full parse even for a single channel | ++-----+-----------------------------------------------------------------------------+ +| 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | ++-----+-----------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstGPS | ++-------+-----------+ +| 1 | SecondGPS | ++-------+-----------+ + + + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Servo | ++-------+---------+ +| 2 | EPM | ++-------+---------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_GUIDED_: + +GUIDED\_ Parameters +------------------- + + +.. _GUIDED_P: + +GUIDED\_P: PID Proportional Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +P Gain which produces an output value that is proportional to the current error value + + +.. _GUIDED_I: + +GUIDED\_I: PID Integral Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +I Gain which produces an output that is proportional to both the magnitude and the duration of the error + + +.. _GUIDED_D: + +GUIDED\_D: PID Derivative Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +D Gain which produces an output that is proportional to the rate of change of the error + + +.. _GUIDED_FF: + +GUIDED\_FF: FF FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +FF Gain which produces an output value that is proportional to the demanded input + + +.. _GUIDED_IMAX: + +GUIDED\_IMAX: PID Integral Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum\/minimum value that the I term can output + + +.. _GUIDED_FLTT: + +GUIDED\_FLTT: PID Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_FLTE: + +GUIDED\_FLTE: PID Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_FLTD: + +GUIDED\_FLTD: PID Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _GUIDED_SMAX: + +GUIDED\_SMAX: Slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _GUIDED_PDMX: + +GUIDED\_PDMX: PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum\/minimum value that the sum of the P and D term can output + + +.. _GUIDED_D_FF: + +GUIDED\_D\_FF: PID Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _GUIDED_NTF: + +GUIDED\_NTF: PID Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PID Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _GUIDED_NEF: + +GUIDED\_NEF: PID Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PID Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_ICE_: + +ICE\_ Parameters +---------------- + + +.. _ICE_ENABLE: + +ICE\_ENABLE: Enable ICEngine control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables internal combustion engine control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ICE_STARTER_TIME: + +ICE\_STARTER\_TIME: Time to run starter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the number of seconds to run the starter when trying to start the engine + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0.1 to 5 | seconds | ++----------+---------+ + + + + +.. _ICE_START_DELAY: + +ICE\_START\_DELAY: Time to wait between starts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Delay between start attempts + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | seconds | ++---------+---------+ + + + + +.. _ICE_RPM_THRESH: + +ICE\_RPM\_THRESH: RPM threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the measured RPM above which the engine is considered to be running + + ++---------------+ +| Range | ++===============+ +| 100 to 100000 | ++---------------+ + + + + +.. _ICE_RPM_CHAN: + +ICE\_RPM\_CHAN: RPM instance channel to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is which of the RPM instances to use for detecting the RPM of the engine + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | RPM1 | ++-------+---------+ +| 2 | RPM2 | ++-------+---------+ + + + + +.. _ICE_START_PCT: + +ICE\_START\_PCT: Throttle percentage for engine start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the percentage throttle output for engine start + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _ICE_IDLE_PCT: + +ICE\_IDLE\_PCT: Throttle percentage for engine idle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum percentage throttle output while running\, this includes being disarmed\, but not safe + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _ICE_IDLE_RPM: + +ICE\_IDLE\_RPM: RPM Setpoint for Idle Governor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This configures the RPM that will be commanded by the idle governor\. Set to \-1 to disable + + +.. _ICE_IDLE_DB: + +ICE\_IDLE\_DB: Deadband for Idle Governor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This configures the deadband that is tolerated before adjusting the idle setpoint + + +.. _ICE_IDLE_SLEW: + +ICE\_IDLE\_SLEW: Slew Rate for idle control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This configures the slewrate used to adjust the idle setpoint in percentage points per second + + +.. _ICE_OPTIONS: + +ICE\_OPTIONS: ICE options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for ICE control\. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R\/C failsafe\. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode\. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO\_ENGINE\_CONTROL command\. + + ++-----+-----------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================+ +| 0 | Disable ignition in RC failsafe | ++-----+-----------------------------------------------------------+ +| 1 | Disable redline governor | ++-----+-----------------------------------------------------------+ +| 2 | Throttle control in MANUAL while disarmed with safety off | ++-----+-----------------------------------------------------------+ +| 3 | Disable while disarmed | ++-----+-----------------------------------------------------------+ +| 4 | Crank direction Reverse | ++-----+-----------------------------------------------------------+ + + + + +.. _ICE_STARTCHN_MIN: + +ICE\_STARTCHN\_MIN: Input channel for engine start minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a minimum PWM value for engine start channel for an engine stop to be commanded\. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop\. A value of zero means any PWM above 800 and below 1300 triggers an engine stop\. To stop the engine start channel must above the larger of this value and 800 and below 1300\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1300 | ++-----------+ + + + + +.. _ICE_REDLINE_RPM: + +ICE\_REDLINE\_RPM: RPM of the redline limit for the engine +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum RPM for the engine provided by the manufacturer\. A value of 0 disables this feature\. See ICE\_OPTIONS to enable or disable the governor\. + + ++--------------+------------------------+ +| Range | Units | ++==============+========================+ +| 0 to 2000000 | Revolutions Per Minute | ++--------------+------------------------+ + + + + +.. _ICE_STRT_MX_RTRY: + +ICE\_STRT\_MX\_RTRY: Maximum number of retries +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If set 0 then there is no limit to retrials\. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Never | ++-------+---------------+ +| 1 | Start-up only | ++-------+---------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++-------+--------------------------------------------------------+ +| Value | Meaning | ++=======+========================================================+ +| 0 | Don't adjust the trims | ++-------+--------------------------------------------------------+ +| 1 | Assume first orientation was level | ++-------+--------------------------------------------------------+ +| 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | ++-------+--------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | IMU 1 | ++-------+---------+ +| 2 | IMU 2 | ++-------+---------+ +| 3 | IMU 3 | ++-------+---------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | FirstIMU | ++-----+------------+ +| 1 | SecondIMU | ++-----+------------+ +| 2 | ThirdIMU | ++-----+------------+ +| 3 | FourthIMU | ++-----+------------+ +| 4 | FifthIMU | ++-----+------------+ +| 5 | SixthIMU | ++-----+------------+ +| 6 | SeventhIMU | ++-----+------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 1kHz | ++-------+---------+ +| 1 | 2kHz | ++-------+---------+ +| 2 | 4kHz | ++-------+---------+ +| 3 | 8kHz | ++-------+---------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | PersistTemps | ++-----+---------------+ +| 1 | PersistAccels | ++-----+---------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Log primary gyro only | ++-----+-----------------------+ +| 1 | Log all gyros | ++-----+-----------------------+ +| 2 | Post filter | ++-----+-----------------------+ +| 3 | Pre and post filter | ++-----+-----------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | IMU1 | ++-----+---------+ +| 1 | IMU2 | ++-----+---------+ +| 2 | IMU3 | ++-----+---------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | ++-----+-------------------------------------------------------------+ +| 1 | Sample post-filtering | ++-----+-------------------------------------------------------------+ +| 2 | Sample pre- and post-filter | ++-----+-------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LAND_: + +LAND\_ Parameters +----------------- + + +.. _LAND_SLOPE_RCALC: + +LAND\_SLOPE\_RCALC: Landing slope re\-calc threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your altitude is lower than the intended slope path\. This value is the threshold of the correction to re\-calculate the landing approach slope\. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching\/throttling up to snap back to resume the original slope path\. Otherwise\, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re\-calculate to give a shallower slope\. This also smoothes out the approach when flying over objects such as trees\. Recommend a value of 2m\. + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.5 | 0 to 5 | meters | ++-----------+--------+--------+ + + + + +.. _LAND_ABORT_DEG: + +LAND\_ABORT\_DEG: Landing auto\-abort slope threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used when using a rangefinder during landing for altitude correction from baro drift \(RNGFND\_LANDING\=1\) and the altitude correction indicates your actual altitude is higher than the intended slope path\. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self\-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope\. An auto\-abort go\-around will only happen once\, next attempt will not auto\-abort again\. This operation happens entirely automatically in AUTO mode\. This value is the delta degrees threshold to trigger the go\-around compared to the original slope\. Example\: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go\-around\. Set to 0 to disable\. Requires LAND\_SLOPE\_RCALC \> 0\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _LAND_PITCH_DEG: + +LAND\_PITCH\_DEG: Landing Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used in autoland to give the minimum pitch in the final stage of landing \(after the flare\)\. This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft\. Note that it is a minimum pitch only \- the landing code will control pitch above this value to try to achieve the configured landing sink rate\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 10 | -20 to 20 | degrees | ++-----------+-----------+---------+ + + + + +.. _LAND_FLARE_ALT: + +LAND\_FLARE\_ALT: Landing flare altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude in autoland at which to lock heading and flare to the LAND\_PITCH\_DEG pitch\. Note that this option is secondary to LAND\_FLARE\_SEC\. For a good landing it preferable that the flare is triggered by LAND\_FLARE\_SEC\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _LAND_FLARE_SEC: + +LAND\_FLARE\_SEC: Landing flare time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical time before landing point at which to lock heading and flare with the motor stopped\. This is vertical time\, and is calculated based solely on the current height above the ground and the current descent rate\. Set to 0 if you only wish to flare based on altitude \(see LAND\_FLARE\_ALT\)\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _LAND_PF_ALT: + +LAND\_PF\_ALT: Landing pre\-flare altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. The pre\-flare flight stage trigger works just like LAND\_FLARE\_ALT but higher\. Disabled when LAND\_PF\_ARSPD is 0\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 30 | meters | ++-----------+---------+--------+ + + + + +.. _LAND_PF_SEC: + +LAND\_PF\_SEC: Landing pre\-flare time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical time to ground to trigger pre\-flare flight stage where LAND\_PF\_ARSPD controls airspeed\. This pre\-flare flight stage trigger works just like LAND\_FLARE\_SEC but earlier\. Disabled when LAND\_PF\_ARSPD is 0\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | seconds | ++-----------+---------+---------+ + + + + +.. _LAND_PF_ARSPD: + +LAND\_PF\_ARSPD: Landing pre\-flare airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired airspeed during pre\-flare flight stage\. This is useful to reduce airspeed just before the flare\. Use 0 to disable\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _LAND_THR_SLEW: + +LAND\_THR\_SLEW: Landing throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the slew rate for the throttle during auto landing\. When this is zero the THR\_SLEWRATE parameter is used during landing\. The value is a percentage throttle change per second\, so a value of 20 means to advance the throttle over 5 seconds on landing\. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_DISARMDELAY: + +LAND\_DISARMDELAY: Landing disarm delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +After a landing has completed using a LAND waypoint\, automatically disarm after this many seconds have passed\. Use 0 to not disarm\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _LAND_THEN_NEUTRL: + +LAND\_THEN\_NEUTRL: Set servos to neutral after landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, after an autoland and auto\-disarm via LAND\_DISARMDELAY happens then set all servos to neutral\. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain\. + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | Servos to Neutral | ++-------+--------------------+ +| 2 | Servos to Zero PWM | ++-------+--------------------+ + + + + +.. _LAND_ABORT_THR: + +LAND\_ABORT\_THR: Landing abort using throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow a landing abort to trigger with an input throttle \>\= 90\%\. This works with or without stick\-mixing enabled\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LAND_FLAP_PERCNT: + +LAND\_FLAP\_PERCNT: Landing flap percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The amount of flaps \(as a percentage\) to apply in the landing approach and flare of an automatic landing + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_OPTIONS: + +LAND\_OPTIONS: Landing options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of options to use with landing\. + + ++-----+--------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+================================================================================+ +| 0 | honor min throttle during landing flare | ++-----+--------------------------------------------------------------------------------+ +| 1 | Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX | ++-----+--------------------------------------------------------------------------------+ + + + + +.. _LAND_FLARE_AIM: + +LAND\_FLARE\_AIM: Flare aim point adjustment percentage\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre\. When set to 100\% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS\_LAND\_SINK\. when set to 0\%\, no aim point adjustment is made\. If the plane consistently touches down short of the aim point reduce the parameter and vice verse\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_WIND_COMP: + +LAND\_WIND\_COMP: Headwind Compensation when Landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This param controls how much headwind compensation is used when landing\. Headwind speed component multiplied by this parameter is added to TECS\_LAND\_ARSPD command\. Set to Zero to disable\. Note\: The target landing airspeed command is still limited to AIRSPEED\_MAX\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _LAND_TYPE: + +LAND\_TYPE: Auto\-landing type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the auto\-landing type to use + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Standard Glide Slope | ++-------+----------------------+ +| 1 | Deepstall | ++-------+----------------------+ + + + + + +.. _parameters_LAND_DS_: + +LAND\_DS\_ Parameters +--------------------- + + +.. _LAND_DS_V_FWD: + +LAND\_DS\_V\_FWD: Deepstall forward velocity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The forward velocity of the aircraft while stalled + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_SLOPE_A: + +LAND\_DS\_SLOPE\_A: Deepstall slope a +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The a component of distance \= a\*wind \+ b + + +.. _LAND_DS_SLOPE_B: + +LAND\_DS\_SLOPE\_B: Deepstall slope b +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The a component of distance \= a\*wind \+ b + + +.. _LAND_DS_APP_EXT: + +LAND\_DS\_APP\_EXT: Deepstall approach extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The horizontal distance from which the aircraft will approach before the stall + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 10 to 200 | meters | ++-----------+--------+ + + + + +.. _LAND_DS_V_DWN: + +LAND\_DS\_V\_DWN: Deepstall velocity down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The downward velocity of the aircraft while stalled + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_SLEW_SPD: + +LAND\_DS\_SLEW\_SPD: Deepstall slew speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The speed at which the elevator slews to deepstall + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 2 | seconds | ++--------+---------+ + + + + +.. _LAND_DS_ELEV_PWM: + +LAND\_DS\_ELEV\_PWM: Deepstall elevator PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The PWM value in microseconds for the elevator at full deflection in deepstall + + ++-------------+---------------------+ +| Range | Units | ++=============+=====================+ +| 900 to 2100 | PWM in microseconds | ++-------------+---------------------+ + + + + +.. _LAND_DS_ARSP_MAX: + +LAND\_DS\_ARSP\_MAX: Deepstall enabled airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum aispeed where the deepstall steering controller is allowed to have control + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_ARSP_MIN: + +LAND\_DS\_ARSP\_MIN: Deepstall minimum derating airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall lowest airspeed where the deepstall controller isn\'t allowed full control + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 5 to 20 | meters per second | ++---------+-------------------+ + + + + +.. _LAND_DS_L1: + +LAND\_DS\_L1: Deepstall L1 period +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall L1 navigational controller period + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | seconds | ++---------+---------+ + + + + +.. _LAND_DS_L1_I: + +LAND\_DS\_L1\_I: Deepstall L1 I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Deepstall L1 integratior gain + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _LAND_DS_YAW_LIM: + +LAND\_DS\_YAW\_LIM: Deepstall yaw rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The yaw rate limit while navigating in deepstall + + ++---------+--------------------+ +| Range | Units | ++=========+====================+ +| 0 to 90 | degrees per second | ++---------+--------------------+ + + + + +.. _LAND_DS_L1_TCON: + +LAND\_DS\_L1\_TCON: Deepstall L1 time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant for deepstall L1 control + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 1 | seconds | ++--------+---------+ + + + + +.. _LAND_DS_P: + +LAND\_DS\_P: P gain +~~~~~~~~~~~~~~~~~~~ + + +P gain + + +.. _LAND_DS_I: + +LAND\_DS\_I: I gain +~~~~~~~~~~~~~~~~~~~ + + +I gain + + +.. _LAND_DS_D: + +LAND\_DS\_D: D gain +~~~~~~~~~~~~~~~~~~~ + + +D gain + + +.. _LAND_DS_IMAX: + +LAND\_DS\_IMAX: IMax +~~~~~~~~~~~~~~~~~~~~ + + +Maximum integrator value + + +.. _LAND_DS_ABORTALT: + +LAND\_DS\_ABORTALT: Deepstall minimum abort altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum altitude which the aircraft must be above to abort a deepstall landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _LAND_DS_AIL_SCL: + +LAND\_DS\_AIL\_SCL: Aileron landing gain scalaing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A scalar to reduce or increase the aileron control + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + + +.. _parameters_LGR_: + +LGR\_ Parameters +---------------- + + +.. _LGR_ENABLE: + +LGR\_ENABLE: Enable landing gear +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable landing gear control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LGR_STARTUP: + +LGR\_STARTUP: Landing Gear Startup position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Landing Gear Startup behaviour control + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | WaitForPilotInput | ++-------+-------------------+ +| 1 | Retract | ++-------+-------------------+ +| 2 | Deploy | ++-------+-------------------+ + + + + +.. _LGR_DEPLOY_PIN: + +LGR\_DEPLOY\_PIN: Chassis deployment feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for detection of gear deployment\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _LGR_DEPLOY_POL: + +LGR\_DEPLOY\_POL: Chassis deployment feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when gear are deployed\. If set to 0 then then deployed gear level is low\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _LGR_WOW_PIN: + +LGR\_WOW\_PIN: Weight on wheels feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number to use for feedback of weight on wheels condition\. If set to \-1 feedback is disabled\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _LGR_WOW_POL: + +LGR\_WOW\_POL: Weight on wheels feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the pin should be high when there is weight on wheels\. If set to 0 then then weight on wheels level is low\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _LGR_DEPLOY_ALT: + +LGR\_DEPLOY\_ALT: Landing gear deployment altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be deployed\. This should be lower than the RETRACT\_ALT\. If zero then altitude is not used for deploying landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_RETRACT_ALT: + +LGR\_RETRACT\_ALT: Landing gear retract altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Altitude where the landing gear will be retracted\. This should be higher than the DEPLOY\_ALT\. If zero then altitude is not used for retracting landing gear\. Only applies when vehicle is armed\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 1000 | meters | ++-----------+-----------+--------+ + + + + +.. _LGR_OPTIONS: + +LGR\_OPTIONS: Landing gear auto retract\/deploy options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to retract or deploy landing gear in Auto or Guided mode + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Retract after Takeoff | ++-----+-----------------------+ +| 1 | Deploy during Land | ++-----+-----------------------+ + + + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | File | ++-----+---------+ +| 1 | MAVLink | ++-----+---------+ +| 2 | Block | ++-----+---------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Disabled on USB connection | ++-------+--------------------------------------+ +| 3 | Discard log on reboot if never armed | ++-------+--------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Resume Mission | ++-------+-----------------+ +| 1 | Restart Mission | ++-------+-----------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++-----+-----------------------------------------------+ +| Bit | Meaning | ++=====+===============================================+ +| 0 | Clear Mission on reboot | ++-----+-----------------------------------------------+ +| 1 | Use distance to land calc on battery failsafe | ++-----+-----------------------------------------------+ +| 2 | ContinueAfterLand | ++-----+-----------------------------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | 1 | ++-------+---------+ +| 2 | 2 | ++-------+---------+ +| 3 | 3 | ++-------+---------+ +| 4 | 4 | ++-------+---------+ +| 5 | 5 | ++-------+---------+ +| 6 | 6 | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | EnableTelemetryMode | ++-----+---------------------+ +| 1 | unused | ++-----+---------------------+ +| 2 | EnableBTFLFonts | ++-----+---------------------+ + + + + + +.. _parameters_NAVL1_: + +NAVL1\_ Parameters +------------------ + + +.. _NAVL1_PERIOD: + +NAVL1\_PERIOD: L1 control period +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Period in seconds of L1 tracking loop\. This parameter is the primary control for agressiveness of turns in auto mode\. This needs to be larger for less responsive airframes\. The default of 20 is quite conservative\, but for most RC aircraft will lead to reasonable flight\. For smaller more agile aircraft a value closer to 15 is appropriate\, or even as low as 10 for some very agile aircraft\. When tuning\, change this value in small increments\, as a value that is much too small \(say 5 or 10 below the right value\) can lead to very radical turns\, and a risk of stalling\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 1 to 60 | seconds | ++-----------+---------+---------+ + + + + +.. _NAVL1_DAMPING: + +NAVL1\_DAMPING: L1 control damping ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping ratio for L1 control\. Increase this in increments of 0\.05 if you are getting overshoot in path tracking\. You should not need a value below 0\.7 or above 0\.85\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.6 to 1.0 | ++-----------+------------+ + + + + +.. _NAVL1_XTRACK_I: + +NAVL1\_XTRACK\_I: L1 control crosstrack integrator gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Crosstrack error integrator gain\. This gain is applied to the crosstrack error to ensure it converges to zero\. Set to zero to disable\. Smaller values converge slower\, higher values will cause crosstrack error oscillation\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.1 | ++-----------+----------+ + + + + +.. _NAVL1_LIM_BANK: + +NAVL1\_LIM\_BANK: Loiter Radius Bank Angle Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sealevel bank angle limit for a continous loiter\. \(Used to calculate airframe loading limits at higher altitudes\)\. Setting to 0\, will instead just scale the loiter radius directly + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 89 | degrees | ++---------+---------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | UDP echo test | ++-----+------------------+ +| 1 | TCP echo test | ++-----+------------------+ +| 2 | TCP discard test | ++-----+------------------+ +| 3 | TCP reflect test | ++-----+------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | EnablePPP Ethernet gateway | ++-----+-------------------------------+ +| 1 | Enable CAN1 multicast gateway | ++-----+-------------------------------+ +| 2 | Enable CAN2 multicast gateway | ++-----+-------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPGGA | ++-----+---------+ +| 1 | GPRMC | ++-----+---------+ +| 2 | PASHR | ++-----+---------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Off | ++-------+---------+ +| 1 | Low | ++-------+---------+ +| 2 | Medium | ++-------+---------+ +| 3 | High | ++-------+---------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Built-in buzzer | ++-----+-----------------+ +| 1 | DShot | ++-----+-----------------+ +| 2 | DroneCAN | ++-----+-----------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | Standard | ++-------+-----------------------------+ +| 1 | MAVLink/Scripting/AP_Periph | ++-------+-----------------------------+ +| 2 | OutbackChallenge | ++-------+-----------------------------+ +| 3 | TrafficLight | ++-------+-----------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | ssd1306 | ++-------+---------+ +| 2 | sh1106 | ++-------+---------+ +| 10 | SITL | ++-------+---------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Aircraft | ++-------+----------+ +| 2 | Rover | ++-------+----------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Built-in LED | ++-----+---------------------+ +| 1 | Internal ToshibaLED | ++-----+---------------------+ +| 2 | External ToshibaLED | ++-----+---------------------+ +| 3 | External PCA9685 | ++-----+---------------------+ +| 4 | Oreo LED | ++-----+---------------------+ +| 5 | DroneCAN | ++-----+---------------------+ +| 6 | NCP5623 External | ++-----+---------------------+ +| 7 | NCP5623 Internal | ++-----+---------------------+ +| 8 | NeoPixel | ++-----+---------------------+ +| 9 | ProfiLED | ++-----+---------------------+ +| 10 | Scripting | ++-----+---------------------+ +| 11 | DShot | ++-----+---------------------+ +| 12 | ProfiLED_SPI | ++-----+---------------------+ +| 13 | LP5562 External | ++-----+---------------------+ +| 14 | LP5562 Internal | ++-----+---------------------+ +| 15 | IS31FL3195 External | ++-----+---------------------+ +| 16 | IS31FL3195 Internal | ++-----+---------------------+ +| 17 | DiscreteRGB | ++-----+---------------------+ +| 18 | NeoPixelRGB | ++-----+---------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | LowIsOn | ++-------+----------+ +| 1 | HighIsOn | ++-------+----------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 5 | Chan5 | ++-------+---------+ +| 6 | Chan6 | ++-------+---------+ +| 7 | Chan7 | ++-------+---------+ +| 8 | Chan8 | ++-------+---------+ +| 9 | Chan9 | ++-------+---------+ +| 10 | Chan10 | ++-------+---------+ +| 11 | Chan11 | ++-------+---------+ +| 12 | Chan12 | ++-------+---------+ +| 13 | Chan13 | ++-------+---------+ +| 14 | Chan14 | ++-------+---------+ +| 15 | Chan15 | ++-------+---------+ +| 16 | Chan16 | ++-------+---------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++-------+---------------------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=============================================================================================+ +| 0 | switch to next screen if channel value was changed | ++-------+---------------------------------------------------------------------------------------------+ +| 1 | select screen based on pwm ranges specified for each screen | ++-------+---------------------------------------------------------------------------------------------+ +| 2 | switch to next screen after low to high transition and every 1s while channel value is high | ++-------+---------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++-----+----------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================+ +| 0 | UseDecimalPack | ++-----+----------------------------------------------------+ +| 1 | InvertedWindArrow | ++-----+----------------------------------------------------+ +| 2 | InvertedAHRoll | ++-----+----------------------------------------------------+ +| 3 | Convert feet to miles at 5280ft instead of 10000ft | ++-----+----------------------------------------------------+ +| 4 | DisableCrosshair | ++-----+----------------------------------------------------+ +| 5 | TranslateArrows | ++-----+----------------------------------------------------+ +| 6 | AviationStyleAH | ++-----+----------------------------------------------------+ +| 7 | Prefix LQ with RF Mode | ++-----+----------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Metric | ++-------+----------+ +| 1 | Imperial | ++-------+----------+ +| 2 | SI | ++-------+----------+ +| 3 | Aviation | ++-------+----------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | MAVLink | ++-------+-------------+ +| 2 | IRLock | ++-------+-------------+ +| 3 | SITL_Gazebo | ++-------+-------------+ +| 4 | SITL | ++-------+-------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | RawSensor | ++-------+--------------+ +| 1 | KalmanFilter | ++-------+--------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| -1 | DefaultBus | ++-------+-------------+ +| 0 | InternalI2C | ++-------+-------------+ +| 1 | ExternalI2C | ++-------+-------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++-------+----------------------------------------+ +| Value | Meaning | ++=======+========================================+ +| 0 | Land Vertically (Not strict) | ++-------+----------------------------------------+ +| 1 | Retry Landing(Normal Strictness) | ++-------+----------------------------------------+ +| 2 | Do not land (just Hover) (Very Strict) | ++-------+----------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++-------+--------------------------------------------------------------------+ +| Value | Meaning | ++=======+====================================================================+ +| 0 | Go to the last location where landing target was detected | ++-------+--------------------------------------------------------------------+ +| 1 | Go towards the approximate location of the detected landing target | ++-------+--------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----+-------------------------------------------------+ +| Bit | Meaning | ++=====+=================================================+ +| 0 | Moving Landing Target | ++-----+-------------------------------------------------+ +| 1 | Allow Precision Landing after manual reposition | ++-----+-------------------------------------------------+ +| 2 | Maintain high speed in final descent | ++-----+-------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + + +.. _parameters_PTCH: + +PTCH Parameters +--------------- + + +.. _PTCH2SRV_TCONST: + +PTCH2SRV\_TCONST: Pitch Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved pitch angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _PTCH2SRV_RMAX_UP: + +PTCH2SRV\_RMAX\_UP: Pitch up max rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum nose up pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _PTCH2SRV_RMAX_DN: + +PTCH2SRV\_RMAX\_DN: Pitch down max rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum nose down pitch rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables the limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 100 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _PTCH2SRV_RLL: + +PTCH2SRV\_RLL: Roll compensation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gain added to pitch to keep aircraft from descending or ascending in turns\. Increase in increments of 0\.05 to reduce altitude loss\. Decrease for altitude gain\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.7 to 1.5 | ++-----------+------------+ + + + + +.. _PTCH_RATE_P: + +PTCH\_RATE\_P: Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _PTCH_RATE_I: + +PTCH\_RATE\_I: Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _PTCH_RATE_IMAX: + +PTCH\_RATE\_IMAX: Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PTCH_RATE_D: + +PTCH\_RATE\_D: Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _PTCH_RATE_FF: + +PTCH\_RATE\_FF: Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _PTCH_RATE_FLTT: + +PTCH\_RATE\_FLTT: Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_FLTE: + +PTCH\_RATE\_FLTE: Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_FLTD: + +PTCH\_RATE\_FLTD: Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _PTCH_RATE_SMAX: + +PTCH\_RATE\_SMAX: Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _PTCH_RATE_PDMX: + +PTCH\_RATE\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _PTCH_RATE_D_FF: + +PTCH\_RATE\_D\_FF: Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _PTCH_RATE_NTF: + +PTCH\_RATE\_NTF: Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _PTCH_RATE_NEF: + +PTCH\_RATE\_NEF: Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_PUP_: + +PUP\_ Parameters +---------------- + + +.. _PUP_ENABLE: + +PUP\_ENABLE: Enable pullup after altitude wait +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable pullup after altitude wait + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PUP_ELEV_OFS: + +PUP\_ELEV\_OFS: Elevator deflection used before starting pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Elevator deflection offset from \-1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup\. + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _PUP_NG_LIM: + +PUP\_NG\_LIM: Maximum normal load factor during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup\. + + ++------------+ +| Range | ++============+ +| 1.0 to 4.0 | ++------------+ + + + + +.. _PUP_NG_JERK_LIM: + +PUP\_NG\_JERK\_LIM: Maximum normal load factor rate of change during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP\_NG\_LIM at the rate of change set by this parameter\. The parameter value specified will be scaled internally by 1\/EAS2TAS\. + + ++-------------+------------+ +| Range | Units | ++=============+============+ +| 0.1 to 10.0 | per second | ++-------------+------------+ + + + + +.. _PUP_PITCH: + +PUP\_PITCH: Target pitch angle during pullup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will attempt achieve this pitch angle during the pull\-up maneouvre\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| -5 to 15 | degrees | ++----------+---------+ + + + + +.. _PUP_ARSPD_START: + +PUP\_ARSPD\_START: Pullup target airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target airspeed for initial airspeed wait + + ++----------+-------------------+ +| Range | Units | ++==========+===================+ +| 0 to 100 | meters per second | ++----------+-------------------+ + + + + +.. _PUP_PITCH_START: + +PUP\_PITCH\_START: Pullup target pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Target pitch for initial pullup + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| -80 to 0 | degrees | ++----------+---------+ + + + + + +.. _parameters_Q_: + +Q\_ Parameters +-------------- + + +.. _Q_ENABLE: + +Q\_ENABLE: Enable QuadPlane +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables QuadPlane functionality\, assuming multicopter motors start on output 5\. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disable | ++-------+------------------+ +| 1 | Enable | ++-------+------------------+ +| 2 | Enable VTOL AUTO | ++-------+------------------+ + + + + +.. _Q_ANGLE_MAX: + +Q\_ANGLE\_MAX: Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle in all VTOL flight modes + + ++-----------+--------------+--------------+ +| Increment | Range | Units | ++===========+==============+==============+ +| 10 | 1000 to 8000 | centidegrees | ++-----------+--------------+--------------+ + + + + +.. _Q_TRANSITION_MS: + +Q\_TRANSITION\_MS: Transition time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Transition time in milliseconds after minimum airspeed is reached + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 500 to 30000 | milliseconds | ++--------------+--------------+ + + + + +.. _Q_PILOT_SPD_UP: + +Q\_PILOT\_SPD\_UP: Pilot maximum vertical speed up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum ascending vertical velocity the pilot may request in m\/s + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.5 to 5 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_PILOT_SPD_DN: + +Q\_PILOT\_SPD\_DN: Pilot maximum vertical speed down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum vertical velocity the pilot may request in m\/s going down\. If 0\, uses Q\_PILOT\_SPD\_UP value\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.5 to 5 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_PILOT_ACCEL_Z: + +Q\_PILOT\_ACCEL\_Z: Pilot vertical acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vertical acceleration used when pilot is controlling the altitude + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0.5 to 5 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _Q_RC_SPEED: + +Q\_RC\_SPEED: RC output speed in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the PWM refresh rate in Hz for QuadPlane quad motors + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 10 | 50 to 500 | hertz | ++-----------+-----------+-------+ + + + + +.. _Q_ASSIST_SPEED: + +Q\_ASSIST\_SPEED: Quadplane assistance speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes\. The default value of 0 disables assistance but will generate a pre\-arm failure to encourage users to set this parameter to \-1\, or a positive\, non\-zero value\. If this is set to \-1 then all Q\_ASSIST features are disabled except during transitions\. A high non\-zero\,positive value will lead to more false positives which can waste battery\. A lower value will result in less false positive\, but will result in assistance taking longer to trigger\. If unsure then set to 3 m\/s below the minimum airspeed you will fly at\. If you don\'t have an airspeed sensor then use 5 m\/s below the minimum airspeed you fly at\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_YAW_RATE_MAX: + +Q\_YAW\_RATE\_MAX: Maximum yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum yaw rate for pilot input on rudder stick in degrees\/second + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 50 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_LAND_FINAL_SPD: + +Q\_LAND\_FINAL\_SPD: Land final speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The descent speed for the final stage of landing in m\/s + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0.3 to 2 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _Q_LAND_FINAL_ALT: + +Q\_LAND\_FINAL\_ALT: Land final altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude at which we should switch to Q\_LAND\_SPEED descent rate + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 0.1 | 0.5 to 50 | meters | ++-----------+-----------+--------+ + + + + +.. _Q_TRAN_PIT_MAX: + +Q\_TRAN\_PIT\_MAX: Transition max pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum pitch during transition to auto fixed wing flight + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_FRAME_CLASS: + +Q\_FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls major frame class for multicopter component + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Undefined | ++-------+--------------------------+ +| 1 | Quad | ++-------+--------------------------+ +| 2 | Hexa | ++-------+--------------------------+ +| 3 | Octa | ++-------+--------------------------+ +| 4 | OctaQuad | ++-------+--------------------------+ +| 5 | Y6 | ++-------+--------------------------+ +| 7 | Tri | ++-------+--------------------------+ +| 10 | Single/Dual | ++-------+--------------------------+ +| 12 | DodecaHexa | ++-------+--------------------------+ +| 14 | Deca | ++-------+--------------------------+ +| 15 | Scripting Matrix | ++-------+--------------------------+ +| 17 | Dynamic Scripting Matrix | ++-------+--------------------------+ + + + + +.. _Q_FRAME_TYPE: + +Q\_FRAME\_TYPE: Frame Type \(\+\, X or V\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls motor mixing for multicopter component + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | Plus | ++-------+---------------------------+ +| 1 | X | ++-------+---------------------------+ +| 2 | V | ++-------+---------------------------+ +| 3 | H | ++-------+---------------------------+ +| 4 | V-Tail | ++-------+---------------------------+ +| 5 | A-Tail | ++-------+---------------------------+ +| 10 | Y6B | ++-------+---------------------------+ +| 11 | Y6F | ++-------+---------------------------+ +| 12 | BetaFlightX | ++-------+---------------------------+ +| 13 | DJIX | ++-------+---------------------------+ +| 14 | ClockwiseX | ++-------+---------------------------+ +| 15 | I | ++-------+---------------------------+ +| 16 | MOTOR_FRAME_TYPE_NYT_PLUS | ++-------+---------------------------+ +| 17 | MOTOR_FRAME_TYPE_NYT_X | ++-------+---------------------------+ +| 18 | BetaFlightXReversed | ++-------+---------------------------+ +| 19 | Y4 | ++-------+---------------------------+ + + + + +.. _Q_VFWD_GAIN: + +Q\_VFWD\_GAIN: Forward velocity hold gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q\_FWD\_THR\_USE parameter\. This Q\_VFD\_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller\. Set to 0 to disable this function\. A value of 0\.05 is a good place to start if you want to use the forward motor for position control\. No forward motor will be used in QSTABILIZE or QHOVER modes\. Use with QLOITER for position hold with the forward motor\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_RTL_ALT: + +Q\_RTL\_ALT: QRTL return altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude which QRTL mode heads to initially + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_RTL_MODE: + +Q\_RTL\_MODE: VTOL RTL mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If this is set to 1 then an RTL will change to QRTL when within RTL\_RADIUS meters of the RTL destination\, VTOL approach\: vehicle will RTL at RTL alt and circle with a radius of Q\_FW\_LND\_APR\_RAD down to Q\_RTL\_ALT and then transition into the wind and QRTL\, see \'AUTO VTOL Landing\'\, QRTL Always\: do a QRTL instead of RTL + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | Enabled | ++-------+---------------+ +| 2 | VTOL approach | ++-------+---------------+ +| 3 | QRTL Always | ++-------+---------------+ + + + + +.. _Q_GUIDED_MODE: + +Q\_GUIDED\_MODE: Enable VTOL in GUIDED mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables use of VTOL in guided mode\. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _Q_ESC_CAL: + +Q\_ESC\_CAL: ESC Calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is used to calibrate the throttle range of the VTOL motors\. Please read https\:\/\/ardupilot\.org\/plane\/docs\/quadplane\-esc\-calibration\.html before using\. This parameter is automatically set back to 0 on every boot\. This parameter only takes effect in QSTABILIZE mode\. When set to 1 the output of all motors will come directly from the throttle stick when armed\, and will be zero when disarmed\. When set to 2 the output of all motors will be maximum when armed and zero when disarmed\. Make sure you remove all properllers before using\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | ThrottleInput | ++-------+---------------+ +| 2 | FullInput | ++-------+---------------+ + + + + +.. _Q_VFWD_ALT: + +Q\_VFWD\_ALT: Forward velocity alt cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls altitude to disable forward velocity assist when below this relative altitude\. This is useful to keep the forward velocity propeller from hitting the ground\. Rangefinder height data is incorporated when available\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.25 | 0 to 10 | meters | ++-----------+---------+--------+ + + + + +.. _Q_LAND_ICE_CUT: + +Q\_LAND\_ICE\_CUT: Cut IC engine on landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls stopping an internal combustion engine in the final landing stage of a VTOL\. This is important for aircraft where the forward thrust engine may experience prop\-strike if left running during landing\. This requires the engine controls are enabled using the ICE\_\* parameters\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _Q_ASSIST_ANGLE: + +Q\_ASSIST\_ANGLE: Quadplane assistance angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance\. This will only be used if Q\_ASSIST\_SPEED is also positive and non\-zero\. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q\_ASSIST\_DELAY seconds\. Set to zero to disable angle assistance\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_MAV_TYPE: + +Q\_MAV\_TYPE: MAVLink type identifier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the mavlink type given in HEARTBEAT messages\. For some GCS types a particular setting will be needed for correct operation\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | AUTO | ++-------+----------------+ +| 1 | FIXED_WING | ++-------+----------------+ +| 2 | QUADROTOR | ++-------+----------------+ +| 3 | COAXIAL | ++-------+----------------+ +| 4 | HELICOPTER | ++-------+----------------+ +| 7 | AIRSHIP | ++-------+----------------+ +| 8 | FREE_BALLOON | ++-------+----------------+ +| 9 | ROCKET | ++-------+----------------+ +| 10 | GROUND_ROVER | ++-------+----------------+ +| 11 | SURFACE_BOAT | ++-------+----------------+ +| 12 | SUBMARINE | ++-------+----------------+ +| 16 | FLAPPING_WING | ++-------+----------------+ +| 17 | KITE | ++-------+----------------+ +| 19 | VTOL_DUOROTOR | ++-------+----------------+ +| 20 | VTOL_QUADROTOR | ++-------+----------------+ +| 21 | VTOL_TILTROTOR | ++-------+----------------+ + + + + +.. _Q_OPTIONS: + +Q\_OPTIONS: quadplane options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================================================================================================================+ +| 0 | Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 1 | Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 2 | Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 3 | Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 4 | Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 5 | USE QRTL-instead of QLAND for rc failsafe when in VTOL modes | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 6 | Use Governor-use ICE Idle Governor in MANUAL for forward motor | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 7 | Force Qassist-on always | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 8 | Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 10 | Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 11 | Delay Spoolup-delay VTOL spoolup for 2 seconds after arming | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 12 | Disable speed based Qassist when using synthethic airspeed estimates | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 13 | Disable Ground Effect Compensation-on baro altitude reports | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 14 | Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 15 | ThrLandControl-enable throttle stick control of landing rate | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 16 | DisableApproach-disable use of approach and airbrake stages in VTOL landing | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 17 | EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 18 | ARMVTOL-arm only in VTOL or AUTO modes | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 19 | CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 20 | Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL) | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 21 | Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes. | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ +| 22 | Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed. | ++-----+-------------------------------------------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _Q_TRANS_DECEL: + +Q\_TRANS\_DECEL: Transition deceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight\. + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0.2 to 5 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _Q_TRIM_PITCH: + +Q\_TRIM\_PITCH: Quadplane AHRS trim pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch\. NOTE\! this is relative to calibrated AHRS trim\, not forward flight trim which includes PTCH\_TRIM\_DEG\. For tailsitters\, this is relative to a baseline of 90 degrees in AHRS\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | -10 to +10 | degrees | ++-----------+------------+---------+ + + + + +.. _Q_FW_LND_APR_RAD: + +Q\_FW\_LND\_APR\_RAD: Quadplane fixed wing landing approach radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This provides the radius used\, when using a fixed wing landing approach\. If set to 0 then the WP\_LOITER\_RAD will be selected\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 5 | 0 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_TRANS_FAIL: + +Q\_TRANS\_FAIL: Quadplane transition failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum time allowed for forward transitions\, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q\_TRANS\_FAIL\_ACT or finish the transition depending on Q\_OPTIONS bit 19\. 0 for no limit\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 20 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_THROTTLE_EXPO: + +Q\_THROTTLE\_EXPO: Throttle expo strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of curvature in throttle curve\: 0 is linear\, 1 is cubic + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| .1 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_ACRO_RLL_RATE: + +Q\_ACRO\_RLL\_RATE: QACRO mode roll rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum roll rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_ACRO_PIT_RATE: + +Q\_ACRO\_PIT\_RATE: QACRO mode pitch rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum pitch rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_ACRO_YAW_RATE: + +Q\_ACRO\_YAW\_RATE: QACRO mode yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum yaw rate at full stick deflection in QACRO mode + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 500 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TKOFF_FAIL_SCL: + +Q\_TKOFF\_FAIL\_SCL: Takeoff time failure scalar +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND\. If set to 0 there is no limit on takeoff time\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 5.1 | 1.1 to 5.0 | ++-----------+------------+ + + + + +.. _Q_TKOFF_ARSP_LIM: + +Q\_TKOFF\_ARSP\_LIM: Takeoff airspeed limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed limit during takeoff\. If the airspeed exceeds this level the vehicle will switch to QLAND\. This is useful for ensuring that you don\'t takeoff into excessively strong wind\. If set to 0 there is no limit on airspeed during takeoff\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 1 | 0 to 20 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _Q_ASSIST_ALT: + +Q\_ASSIST\_ALT: Quadplane assistance altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude below which quadplane assistance will be triggered\. This acts the same way as Q\_ASSIST\_ANGLE and Q\_ASSIST\_SPEED\, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running\. A value of zero disables this feature\. The altitude is calculated as being above ground level\. The height above ground is given from a Lidar used if available and RNGFND\_LANDING\=1\. Otherwise it comes from terrain data if TERRAIN\_FOLLOW\=1 and comes from height above home otherwise\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 120 | meters | ++-----------+----------+--------+ + + + + +.. _Q_ASSIST_DELAY: + +Q\_ASSIST\_DELAY: Quadplane assistance delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is delay between the assistance thresholds being met and the assistance starting\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_FWD_MANTHR_MAX: + +Q\_FWD\_MANTHR\_MAX: VTOL manual forward throttle max percent +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for manual forward throttle\; used with RC option FWD\_THR \(209\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _Q_BACKTRANS_MS: + +Q\_BACKTRANS\_MS: SLT and Tiltrotor back transition pitch limit duration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a postion control mode\. 0 Disables\. + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _Q_TRANS_FAIL_ACT: + +Q\_TRANS\_FAIL\_ACT: Quadplane transition failure action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the mode that is changed to when Q\_TRANS\_FAIL time elapses\, if set\. See also Q\_OPTIONS bit 19\: CompleteTransition if Q\_TRANS\_FAIL + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| -1 | Warn only | ++-------+-----------+ +| 0 | QLand | ++-------+-----------+ +| 1 | QRTL | ++-------+-----------+ + + + + +.. _Q_LAND_ALTCHG: + +Q\_LAND\_ALTCHG: Land detection altitude change threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum altitude change allowed during land detection\. You can raise this value if you find that landing detection takes a long time to complete\. It is the maximum change in altitude over a period of 4 seconds for landing to be detected + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 0.05 | 0.1 to 0.6 | meters | ++-----------+------------+--------+ + + + + +.. _Q_NAVALT_MIN: + +Q\_NAVALT\_MIN: Minimum navigation altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the altitude in meters above which navigation begins in auto takeoff\. Below this altitude the target roll and pitch will be zero\. A value of zero disables the feature + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _Q_PLT_Y_RATE: + +Q\_PLT\_Y\_RATE: Pilot controlled yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot controlled yaw rate max\. Used in all pilot controlled modes except QAcro + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 1 to 360 | degrees per second | ++----------+--------------------+ + + + + +.. _Q_PLT_Y_EXPO: + +Q\_PLT\_Y\_EXPO: Pilot controlled yaw expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pilot controlled yaw expo to allow faster rotation when stick at edges + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + ++-------------+ +| Range | ++=============+ +| -0.5 to 1.0 | ++-------------+ + + + + +.. _Q_PLT_Y_RATE_TC: + +Q\_PLT\_Y\_RATE\_TC: Pilot yaw rate control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot yaw rate control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_RTL_ALT_MIN: + +Q\_RTL\_ALT\_MIN: QRTL minimum altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home\. If outside 150\% the larger of WP\_LOITER\_RAD and RTL\_RADIUS the vehicle will VTOL climb to Q\_RTL\_ALT\. This parameter has no effect if the vehicle is in forward flight\. Should be between Q\_LAND\_FINAL\_ALT and Q\_RTL\_ALT + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _Q_FWD_THR_GAIN: + +Q\_FWD\_THR\_GAIN: Q mode fwd throttle gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the gain from forward accel\/tilt to forward throttle in certain Q modes\. The Q modes this feature operates in is controlled by the Q\_FWD\_THR\_USE parameter\. Vehicles using separate forward thrust motors\, eg quadplanes\, should set this parameter to \(all up weight\) \/ \(maximum combined thrust of forward motors\) with a value of 2 being typical\. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to \(all up weight\) \/ \(weight lifted by tilting rotors\) which for most aircraft can be approximated as \(total number of lifting rotors\) \/ \(number of lifting rotors that tilt\)\. When using this method of forward throttle control\, the forward tilt angle limit is controlled by the Q\_FWD\_PIT\_LIM parameter\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 5.0 | ++-----------+------------+ + + + + +.. _Q_FWD_PIT_LIM: + +Q\_FWD\_PIT\_LIM: Q mode forward pitch limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When forward throttle is being controlled by the Q\_FWD\_THR\_GAIN parameter in Q modes\, the vehicle forward \(nose down\) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor\(s\) or tilting of moveable rotors\. Larger values allow the vehicle to pitch more nose down\. Set initially to the amount of nose down pitch required to remove wing lift\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.0 to 5.0 | degrees | ++-----------+------------+---------+ + + + + +.. _Q_FWD_THR_USE: + +Q\_FWD\_THR\_USE: Q mode forward throttle use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter determines when the feature that uses forward throttle instead of forward tilt is used\. The amount of forward throttle is controlled by the Q\_FWD\_THR\_GAIN parameter\. The maximum amount of forward pitch allowed is controlled by the Q\_FWD\_PIT\_LIM parameter\. Q\_FWD\_THR\_USE \= 0 disables the feature\. Q\_FWD\_THR\_USE \= 1 enables the feature in all position controlled modes such as QLOITER\, QLAND\, QRTL and VTOL TAKEOFF\. Q\_FWD\_THR\_USE \= 2 enables the feature in all Q modes except QAUTOTUNE and QACRO\. When enabling the feature\, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q\_VFWD\_GAIN to 0\. Do not use this feature with tailsitters\. + + ++-------+----------------------------------------------+ +| Value | Meaning | ++=======+==============================================+ +| 0 | Off | ++-------+----------------------------------------------+ +| 1 | On in all position controlled Q modes | ++-------+----------------------------------------------+ +| 2 | On in all Q modes except QAUTOTUNE and QACRO | ++-------+----------------------------------------------+ + + + + +.. _Q_BCK_PIT_LIM: + +Q\_BCK\_PIT\_LIM: Q mode rearward pitch limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED\_MIN\, and is used to prevent excessive sutructural loads when pitching up decelerate\. If airspeed is above or below AIRSPEED\_MIN\, the pitch up\/back will be adjusted according to the formula pitch\_limit \= Q\_BCK\_PIT\_LIM \* \(AIRSPEED\_MIN \/ IAS\)\^2\. The backwards\/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH\_LIM\_MAX\_DEG and Q\_ANGLE\_MAX\. The BCK\_PIT\_LIM limit is only applied when Q\_FWD\_THR\_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed\. Set to a non positive value 0 to deactivate this limit\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.1 | 0.0 to 15.0 | degrees | ++-----------+-------------+---------+ + + + + +.. _Q_APPROACH_DIST: + +Q\_APPROACH\_DIST: Q mode approach distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach\. This is useful if you don\'t want the fixed wing approach logic to be used when you are close to the destination\. Set to zero to always use fixed wing approach\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | 0.0 to 1000 | meters | ++-----------+-------------+--------+ + + + + + +.. _parameters_Q_AUTOTUNE_: + +Q\_AUTOTUNE\_ Parameters +------------------------ + + +.. _Q_AUTOTUNE_AXES: + +Q\_AUTOTUNE\_AXES: Autotune axis bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +1\-byte bitmap of axes to autotune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ +| 3 | YawD | ++-----+---------+ + + + + +.. _Q_AUTOTUNE_AGGR: + +Q\_AUTOTUNE\_AGGR: Autotune aggressiveness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Autotune aggressiveness\. Defines the bounce back used to detect size of the D term\. + + ++--------------+ +| Range | ++==============+ +| 0.05 to 0.10 | ++--------------+ + + + + +.. _Q_AUTOTUNE_MIN_D: + +Q\_AUTOTUNE\_MIN\_D: AutoTune minimum D +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the minimum D gain + + ++-----------------+ +| Range | ++=================+ +| 0.0001 to 0.005 | ++-----------------+ + + + + + +.. _parameters_Q_A_: + +Q\_A\_ Parameters +----------------- + + +.. _Q_A_SLEW_YAW: + +Q\_A\_SLEW\_YAW: Yaw target slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum rate the yaw target can be updated in RTL and Auto flight modes + + ++-----------+--------------+-------------------------+ +| Increment | Range | Units | ++===========+==============+=========================+ +| 100 | 500 to 18000 | centidegrees per second | ++-----------+--------------+-------------------------+ + + + + +.. _Q_A_ACCEL_Y_MAX: + +Q\_A\_ACCEL\_Y\_MAX: Acceleration Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in yaw axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 9000 | VerySlow | ++-------+----------+ +| 18000 | Slow | ++-------+----------+ +| 36000 | Medium | ++-------+----------+ +| 54000 | Fast | ++-------+----------+ + + + + ++-----------+------------+--------------------------------+ +| Increment | Range | Units | ++===========+============+================================+ +| 1000 | 0 to 72000 | centidegrees per square second | ++-----------+------------+--------------------------------+ + + + + +.. _Q_A_RATE_FF_ENAB: + +Q\_A\_RATE\_FF\_ENAB: Rate Feedforward Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls whether body\-frame rate feedforward is enabled or disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _Q_A_ACCEL_R_MAX: + +Q\_A\_ACCEL\_R\_MAX: Acceleration Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in roll axis + + ++--------+----------+ +| Value | Meaning | ++========+==========+ +| 0 | Disabled | ++--------+----------+ +| 30000 | VerySlow | ++--------+----------+ +| 72000 | Slow | ++--------+----------+ +| 108000 | Medium | ++--------+----------+ +| 162000 | Fast | ++--------+----------+ + + + + ++-----------+-------------+--------------------------------+ +| Increment | Range | Units | ++===========+=============+================================+ +| 1000 | 0 to 180000 | centidegrees per square second | ++-----------+-------------+--------------------------------+ + + + + +.. _Q_A_ACCEL_P_MAX: + +Q\_A\_ACCEL\_P\_MAX: Acceleration Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum acceleration in pitch axis + + ++--------+----------+ +| Value | Meaning | ++========+==========+ +| 0 | Disabled | ++--------+----------+ +| 30000 | VerySlow | ++--------+----------+ +| 72000 | Slow | ++--------+----------+ +| 108000 | Medium | ++--------+----------+ +| 162000 | Fast | ++--------+----------+ + + + + ++-----------+-------------+--------------------------------+ +| Increment | Range | Units | ++===========+=============+================================+ +| 1000 | 0 to 180000 | centidegrees per square second | ++-----------+-------------+--------------------------------+ + + + + +.. _Q_A_ANGLE_BOOST: + +Q\_A\_ANGLE\_BOOST: Angle Boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _Q_A_ANG_RLL_P: + +Q\_A\_ANG\_RLL\_P: Roll axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis angle controller P gain\. Converts the error between the desired roll angle and actual angle to a desired roll rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_PIT_P: + +Q\_A\_ANG\_PIT\_P: Pitch axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis angle controller P gain\. Converts the error between the desired pitch angle and actual angle to a desired pitch rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_YAW_P: + +Q\_A\_ANG\_YAW\_P: Yaw axis angle controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis angle controller P gain\. Converts the error between the desired yaw angle and actual angle to a desired yaw rate + + ++-----------------+ +| Range | ++=================+ +| 3.000 to 12.000 | ++-----------------+ + + + + +.. _Q_A_ANG_LIM_TC: + +Q\_A\_ANG\_LIM\_TC: Angle Limit \(to maintain altitude\) Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Angle Limit \(to maintain altitude\) Time Constant + + ++-------------+ +| Range | ++=============+ +| 0.5 to 10.0 | ++-------------+ + + + + +.. _Q_A_RATE_R_MAX: + +Q\_A\_RATE\_R\_MAX: Angular Velocity Max for Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in roll axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_A_RATE_P_MAX: + +Q\_A\_RATE\_P\_MAX: Angular Velocity Max for Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in pitch axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_A_RATE_Y_MAX: + +Q\_A\_RATE\_Y\_MAX: Angular Velocity Max for Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum angular velocity in yaw axis + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 60 | Slow | ++-------+----------+ +| 180 | Medium | ++-------+----------+ +| 360 | Fast | ++-------+----------+ + + + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1080 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_A_INPUT_TC: + +Q\_A\_INPUT\_TC: Attitude control input time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Attitude control input time constant\. Low numbers lead to sharper response\, higher numbers to softer response + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0.5 | Very Soft | ++-------+------------+ +| 0.2 | Soft | ++-------+------------+ +| 0.15 | Medium | ++-------+------------+ +| 0.1 | Crisp | ++-------+------------+ +| 0.05 | Very Crisp | ++-------+------------+ + + + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.01 | 0 to 1 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_A_LAND_R_MULT: + +Q\_A\_LAND\_R\_MULT: Landed roll gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the roll axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_LAND_P_MULT: + +Q\_A\_LAND\_P\_MULT: Landed pitch gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the pitch axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_LAND_Y_MULT: + +Q\_A\_LAND\_Y\_MULT: Landed yaw gain multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw gain multiplier active when landed\. A factor of 1\.0 means no reduction in gain while landed\. Reduce this factor to reduce ground oscitation in the yaw axis\. + + ++-------------+ +| Range | ++=============+ +| 0.25 to 1.0 | ++-------------+ + + + + +.. _Q_A_RAT_RLL_P: + +Q\_A\_RAT\_RLL\_P: Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.005 | 0.01 to 0.5 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_I: + +Q\_A\_RAT\_RLL\_I: Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_IMAX: + +Q\_A\_RAT\_RLL\_IMAX: Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_RLL_D: + +Q\_A\_RAT\_RLL\_D: Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_RLL_FF: + +Q\_A\_RAT\_RLL\_FF: Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_RLL_FLTT: + +Q\_A\_RAT\_RLL\_FLTT: Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_FLTE: + +Q\_A\_RAT\_RLL\_FLTE: Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_FLTD: + +Q\_A\_RAT\_RLL\_FLTD: Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_RLL_SMAX: + +Q\_A\_RAT\_RLL\_SMAX: Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_RLL_PDMX: + +Q\_A\_RAT\_RLL\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_RLL_D_FF: + +Q\_A\_RAT\_RLL\_D\_FF: Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_RLL_NTF: + +Q\_A\_RAT\_RLL\_NTF: Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_RLL_NEF: + +Q\_A\_RAT\_RLL\_NEF: Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_PIT_P: + +Q\_A\_RAT\_PIT\_P: Pitch axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller P gain\. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.01 to 0.50 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_PIT_I: + +Q\_A\_RAT\_PIT\_I: Pitch axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain\. Corrects long\-term difference in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 2.0 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_PIT_IMAX: + +Q\_A\_RAT\_PIT\_IMAX: Pitch axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_PIT_D: + +Q\_A\_RAT\_PIT\_D: Pitch axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller D gain\. Compensates for short\-term change in desired pitch rate vs actual pitch rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.001 | 0.0 to 0.05 | ++-----------+-------------+ + + + + +.. _Q_A_RAT_PIT_FF: + +Q\_A\_RAT\_PIT\_FF: Pitch axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_PIT_FLTT: + +Q\_A\_RAT\_PIT\_FLTT: Pitch axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller target frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_FLTE: + +Q\_A\_RAT\_PIT\_FLTE: Pitch axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 0 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_FLTD: + +Q\_A\_RAT\_PIT\_FLTD: Pitch axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 5 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_A_RAT_PIT_SMAX: + +Q\_A\_RAT\_PIT\_SMAX: Pitch slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_PIT_PDMX: + +Q\_A\_RAT\_PIT\_PDMX: Pitch axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_PIT_D_FF: + +Q\_A\_RAT\_PIT\_D\_FF: Pitch Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_PIT_NTF: + +Q\_A\_RAT\_PIT\_NTF: Pitch Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_PIT_NEF: + +Q\_A\_RAT\_PIT\_NEF: Pitch Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_RAT_YAW_P: + +Q\_A\_RAT\_YAW\_P: Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.10 to 2.50 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_YAW_I: + +Q\_A\_RAT\_YAW\_I: Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.010 to 1.0 | ++-----------+--------------+ + + + + +.. _Q_A_RAT_YAW_IMAX: + +Q\_A\_RAT\_YAW\_IMAX: Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_YAW_D: + +Q\_A\_RAT\_YAW\_D: Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.000 to 0.02 | ++-----------+---------------+ + + + + +.. _Q_A_RAT_YAW_FF: + +Q\_A\_RAT\_YAW\_FF: Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_A_RAT_YAW_FLTT: + +Q\_A\_RAT\_YAW\_FLTT: Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_FLTE: + +Q\_A\_RAT\_YAW\_FLTE: Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 20 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_FLTD: + +Q\_A\_RAT\_YAW\_FLTD: Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 5 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_A_RAT_YAW_SMAX: + +Q\_A\_RAT\_YAW\_SMAX: Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_A_RAT_YAW_PDMX: + +Q\_A\_RAT\_YAW\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_A_RAT_YAW_D_FF: + +Q\_A\_RAT\_YAW\_D\_FF: Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_A_RAT_YAW_NTF: + +Q\_A\_RAT\_YAW\_NTF: Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+-------+ +| Range | Units | ++========+=======+ +| 1 to 8 | hertz | ++--------+-------+ + + + + +.. _Q_A_RAT_YAW_NEF: + +Q\_A\_RAT\_YAW\_NEF: Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_A_THR_MIX_MIN: + +Q\_A\_THR\_MIX\_MIN: Throttle Mix Minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used when landing \(higher values mean we prioritise attitude control over throttle\) + + ++-------------+ +| Range | ++=============+ +| 0.1 to 0.25 | ++-------------+ + + + + +.. _Q_A_THR_MIX_MAX: + +Q\_A\_THR\_MIX\_MAX: Throttle Mix Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during active flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.5 to 0.9 | ++------------+ + + + + +.. _Q_A_THR_MIX_MAN: + +Q\_A\_THR\_MIX\_MAN: Throttle Mix Manual +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle vs attitude control prioritisation used during manual flight \(higher values mean we prioritise attitude control over throttle\) + + ++------------+ +| Range | ++============+ +| 0.1 to 0.9 | ++------------+ + + + + +.. _Q_A_THR_G_BOOST: + +Q\_A\_THR\_G\_BOOST: Throttle\-gain boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Throttle\-gain boost ratio\. A value of 0 means no boosting is applied\, a value of 1 means full boosting is applied\. Describes the ratio increase that is applied to angle P and PD on pitch and roll\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + + +.. _parameters_Q_LOIT_: + +Q\_LOIT\_ Parameters +-------------------- + + +.. _Q_LOIT_ANG_MAX: + +Q\_LOIT\_ANG\_MAX: Loiter pilot angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum pilot requested lean angle\. Set to zero for 2\/3 of Q\_P\_ANGLE\_MAX\/Q\_ANGLE\_MAX\. The maximum vehicle lean angle is still limited by Q\_P\_ANGLE\_MAX\/Q\_ANGLE\_MAX + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_LOIT_SPEED: + +Q\_LOIT\_SPEED: Loiter Horizontal Maximum Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum speed in cm\/s which the aircraft will travel horizontally while in loiter mode + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 20 to 3500 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_LOIT_ACC_MAX: + +Q\_LOIT\_ACC\_MAX: Loiter maximum correction acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter maximum correction acceleration in cm\/s\/s\. Higher values cause the copter to correct position errors more aggressively\. + + ++-----------+------------+-------------------------------+ +| Increment | Range | Units | ++===========+============+===============================+ +| 1 | 100 to 981 | centimeters per square second | ++-----------+------------+-------------------------------+ + + + + +.. _Q_LOIT_BRK_ACCEL: + +Q\_LOIT\_BRK\_ACCEL: Loiter braking acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking acceleration in cm\/s\/s\. Higher values stop the copter more quickly when the stick is centered\. + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 1 | 25 to 250 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_LOIT_BRK_JERK: + +Q\_LOIT\_BRK\_JERK: Loiter braking jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter braking jerk in cm\/s\/s\/s\. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 1 | 500 to 5000 | centimeters per cubic second | ++-----------+-------------+------------------------------+ + + + + +.. _Q_LOIT_BRK_DELAY: + +Q\_LOIT\_BRK\_DELAY: Loiter brake start delay \(in seconds\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loiter brake start delay \(in seconds\) + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_Q_M_: + +Q\_M\_ Parameters +----------------- + + +.. _Q_M_YAW_HEADROOM: + +Q\_M\_YAW\_HEADROOM: Matrix Yaw Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw control is given at least this pwm in microseconds range + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 500 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _Q_M_THST_EXPO: + +Q\_M\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust curve exponent \(0\.0 for linear to 1\.0 for second order curve\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _Q_M_SPIN_MAX: + +Q\_M\_SPIN\_MAX: Motor Spin maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.9 | Low | ++-------+---------+ +| 0.95 | Default | ++-------+---------+ +| 1.0 | High | ++-------+---------+ + + + + +.. _Q_M_BAT_VOLT_MAX: + +Q\_M\_BAT\_VOLT\_MAX: Battery voltage compensation maximum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation maximum voltage \(voltage above this will have no additional scaling effect on thrust\)\. Recommend 4\.2 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 53 | volt | ++---------+-------+ + + + + +.. _Q_M_BAT_VOLT_MIN: + +Q\_M\_BAT\_VOLT\_MIN: Battery voltage compensation minimum voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage compensation minimum voltage \(voltage below this will have no additional scaling effect on thrust\)\. Recommend 3\.3 \* cell count\, 0 \= Disabled + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 6 to 42 | volt | ++---------+-------+ + + + + +.. _Q_M_BAT_CURR_MAX: + +Q\_M\_BAT\_CURR\_MAX: Motor Current Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum current over which maximum throttle is limited \(0 \= Disabled\) + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 200 | ampere | ++----------+--------+ + + + + +.. _Q_M_PWM_TYPE: + +Q\_M\_PWM\_TYPE: Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type\, allowing for normal PWM continuous output\, OneShot\, brushed or DShot motor output\.PWMRange and PWMAngle are PWM special\/rare cases for ESCs that dont calibrate normally \(some Sub motors\) or where each ESC must have its PWM range set individually using the Servo params instead of PWM\_MIN\/MAX parameters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Normal | ++-------+------------+ +| 1 | OneShot | ++-------+------------+ +| 2 | OneShot125 | ++-------+------------+ +| 3 | Brushed | ++-------+------------+ +| 4 | DShot150 | ++-------+------------+ +| 5 | DShot300 | ++-------+------------+ +| 6 | DShot600 | ++-------+------------+ +| 7 | DShot1200 | ++-------+------------+ +| 8 | PWMRange | ++-------+------------+ +| 9 | PWMAngle | ++-------+------------+ + + + + +.. _Q_M_PWM_MIN: + +Q\_M\_PWM\_MIN: PWM output minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the min PWM output value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _Q_M_PWM_MAX: + +Q\_M\_PWM\_MAX: PWM output maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the max PWM value in microseconds that will ever be output to the motors + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _Q_M_SPIN_MIN: + +Q\_M\_SPIN\_MIN: Motor Spin minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range\. Should be higher than MOT\_SPIN\_ARM\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.0 | Low | ++-------+---------+ +| 0.15 | Default | ++-------+---------+ +| 0.25 | High | ++-------+---------+ + + + + +.. _Q_M_SPIN_ARM: + +Q\_M\_SPIN\_ARM: Motor Spin armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range\. Should be lower than MOT\_SPIN\_MIN\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.0 | Low | ++-------+---------+ +| 0.1 | Default | ++-------+---------+ +| 0.2 | High | ++-------+---------+ + + + + +.. _Q_M_BAT_CURR_TC: + +Q\_M\_BAT\_CURR\_TC: Motor Current Max Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant used to limit the maximum current + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _Q_M_THST_HOVER: + +Q\_M\_THST\_HOVER: Thrust Hover Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor thrust needed to hover expressed as a number from 0 to 1 + + ++------------+ +| Range | ++============+ +| 0.2 to 0.8 | ++------------+ + + + + +.. _Q_M_HOVER_LEARN: + +Q\_M\_HOVER\_LEARN: Hover Value Learning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable automatic learning of hover throttle + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | Learn | ++-------+----------------+ +| 2 | Learn and Save | ++-------+----------------+ + + + + +.. _Q_M_SAFE_DISARM: + +Q\_M\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | PWM enabled while disarmed | ++-------+-----------------------------+ +| 1 | PWM disabled while disarmed | ++-------+-----------------------------+ + + + + +.. _Q_M_YAW_SV_ANGLE: + +Q\_M\_YAW\_SV\_ANGLE: Yaw Servo Max Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw servo\'s maximum lean angle \(Tricopter only\) + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 5 to 80 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_M_SPOOL_TIME: + +Q\_M\_SPOOL\_TIME: Spool up time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to spool up the motors from zero to min throttle\. + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.1 | 0.05 to 2 | seconds | ++-----------+-----------+---------+ + + + + +.. _Q_M_BOOST_SCALE: + +Q\_M\_BOOST\_SCALE: Motor boost scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Booster motor output scaling factor vs main throttle\. The output to the BoostThrottle servo will be the main throttle times this scaling factor\. A higher scaling factor will put more of the load on the booster motor\. A value of 1 will set the BoostThrottle equal to the main throttle\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 5 | ++-----------+--------+ + + + + +.. _Q_M_BAT_IDX: + +Q\_M\_BAT\_IDX: Battery compensation index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Which battery monitor should be used for doing compensation + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | First battery | ++-------+----------------+ +| 1 | Second battery | ++-------+----------------+ + + + + +.. _Q_M_SLEW_UP_TIME: + +Q\_M\_SLEW\_UP\_TIME: Output slew time for increasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from zero to full\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_M_SLEW_DN_TIME: + +Q\_M\_SLEW\_DN\_TIME: Output slew time for decreasing throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds to slew output from full to zero\. This is used to limit the rate at which output can change\. Range is constrained between 0 and 0\.5\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.001 | 0 to .5 | seconds | ++-----------+---------+---------+ + + + + +.. _Q_M_SAFE_TIME: + +Q\_M\_SAFE\_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to disable and enable the motor PWM output when disarmed and armed\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _Q_M_OPTIONS: + +Q\_M\_OPTIONS: Motor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Motor options + + ++-----+---------------------------------------+ +| Bit | Meaning | ++=====+=======================================+ +| 0 | Voltage compensation uses raw voltage | ++-----+---------------------------------------+ + + + + +.. _Q_M_SPOOL_TIM_DN: + +Q\_M\_SPOOL\_TIM\_DN: Spool down time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time taken to spool down the motors from min to zero throttle\. If set to 0 then SPOOL\_TIME is used instead\. + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.001 | 0 to 2 | seconds | ++-----------+--------+---------+ + + + + + +.. _parameters_Q_P: + +Q\_P Parameters +--------------- + + +.. _Q_P_ACC_XY_FILT: + +Q\_P\_ACC\_XY\_FILT: XY Acceleration filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower values will slow the response of the navigation controller and reduce twitchiness + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.1 | 0.5 to 5 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_POSZ_P: + +Q\_P\_POSZ\_P: Position \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position \(vertical\) controller P gain\. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 3.000 | ++----------------+ + + + + +.. _Q_P_VELZ_P: + +Q\_P\_VELZ\_P: Velocity \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _Q_P_VELZ_I: + +Q\_P\_VELZ\_I: Velocity \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller I gain\. Corrects long\-term difference in desired velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELZ_IMAX: + +Q\_P\_VELZ\_IMAX: Velocity \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Velocity \(vertical\) controller I gain maximum\. Constrains the target acceleration that the I gain will output + + ++----------------+ +| Range | ++================+ +| 1.000 to 8.000 | ++----------------+ + + + + +.. _Q_P_VELZ_D: + +Q\_P\_VELZ\_D: Velocity \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELZ_FF: + +Q\_P\_VELZ\_FF: Velocity \(vertical\) controller Feed Forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) controller Feed Forward gain\. Produces an output that is proportional to the magnitude of the target + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_P_VELZ_FLTE: + +Q\_P\_VELZ\_FLTE: Velocity \(vertical\) error filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) error filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELZ_FLTD: + +Q\_P\_VELZ\_FLTD: Velocity \(vertical\) input filter for D term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(vertical\) input filter for D term\. This filter \(in Hz\) is applied to the input for D terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_ACCZ_P: + +Q\_P\_ACCZ\_P: Acceleration \(vertical\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller P gain\. Converts the difference between desired vertical acceleration and actual acceleration into a motor output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.05 | 0.200 to 1.500 | ++-----------+----------------+ + + + + +.. _Q_P_ACCZ_I: + +Q\_P\_ACCZ\_I: Acceleration \(vertical\) controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain\. Corrects long\-term difference in desired vertical acceleration and actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 3.000 | ++----------------+ + + + + +.. _Q_P_ACCZ_IMAX: + +Q\_P\_ACCZ\_IMAX: Acceleration \(vertical\) controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller I gain maximum\. Constrains the maximum pwm that the I term will generate + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _Q_P_ACCZ_D: + +Q\_P\_ACCZ\_D: Acceleration \(vertical\) controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller D gain\. Compensates for short\-term change in desired vertical acceleration vs actual acceleration + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _Q_P_ACCZ_FF: + +Q\_P\_ACCZ\_FF: Acceleration \(vertical\) controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 0.5 | ++-----------+----------+ + + + + +.. _Q_P_ACCZ_FLTT: + +Q\_P\_ACCZ\_FLTT: Acceleration \(vertical\) controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _Q_P_ACCZ_FLTE: + +Q\_P\_ACCZ\_FLTE: Acceleration \(vertical\) controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller error frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_ACCZ_FLTD: + +Q\_P\_ACCZ\_FLTD: Acceleration \(vertical\) controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller derivative frequency in Hz + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 1 | 1 to 100 | hertz | ++-----------+----------+-------+ + + + + +.. _Q_P_ACCZ_SMAX: + +Q\_P\_ACCZ\_SMAX: Accel \(vertical\) slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _Q_P_ACCZ_PDMX: + +Q\_P\_ACCZ\_PDMX: Acceleration \(vertical\) controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration \(vertical\) controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+-------------+ +| Range | Units | ++===========+=============+ +| 0 to 1000 | decipercent | ++-----------+-------------+ + + + + +.. _Q_P_ACCZ_D_FF: + +Q\_P\_ACCZ\_D\_FF: Accel \(vertical\) Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.0001 | 0 to 0.02 | ++-----------+-----------+ + + + + +.. _Q_P_ACCZ_NTF: + +Q\_P\_ACCZ\_NTF: Accel \(vertical\) Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_P_ACCZ_NEF: + +Q\_P\_ACCZ\_NEF: Accel \(vertical\) Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accel \(vertical\) Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _Q_P_POSXY_P: + +Q\_P\_POSXY\_P: Position \(horizontal\) controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance \(in the latitude direction\) to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _Q_P_VELXY_P: + +Q\_P\_VELXY\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _Q_P_VELXY_I: + +Q\_P\_VELXY\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.02 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELXY_D: + +Q\_P\_VELXY\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _Q_P_VELXY_IMAX: + +Q\_P\_VELXY\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_P_VELXY_FLTE: + +Q\_P\_VELXY\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELXY_FLTD: + +Q\_P\_VELXY\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _Q_P_VELXY_FF: + +Q\_P\_VELXY\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + +.. _Q_P_ANGLE_MAX: + +Q\_P\_ANGLE\_MAX: Position Control Angle Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum lean angle autopilot can request\. Set to zero to use ANGLE\_MAX parameter value + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 45 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_P_JERK_XY: + +Q\_P\_JERK\_XY: Jerk limit for the horizontal kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 1 to 20 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + +.. _Q_P_JERK_Z: + +Q\_P\_JERK\_Z: Jerk limit for the vertical kinematic input shaping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target + + ++-----------+---------+-------------------------+ +| Increment | Range | Units | ++===========+=========+=========================+ +| 1 | 5 to 50 | meters per cubic second | ++-----------+---------+-------------------------+ + + + + + +.. _parameters_Q_TAILSIT_: + +Q\_TAILSIT\_ Parameters +----------------------- + + +.. _Q_TAILSIT_ENABLE: + +Q\_TAILSIT\_ENABLE: Enable Tailsitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Tailsitter functionality\. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle\, for use on vehicles with no control surfaces\, vehicle will not arm in forward flight modes\, see also Q\_OPTIONS \"Mtrs\_Only\_Qassist\" + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disable | ++-------+---------------+ +| 1 | Enable | ++-------+---------------+ +| 2 | Enable Always | ++-------+---------------+ + + + + +.. _Q_TAILSIT_ANGLE: + +Q\_TAILSIT\_ANGLE: Tailsitter fixed wing transition angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_ANG_VT: + +Q\_TAILSIT\_ANG\_VT: Tailsitter VTOL transition angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control\, if zero Q\_TAILSIT\_ANGLE will be used + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_INPUT: + +Q\_TAILSIT\_INPUT: Tailsitter input type bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering\. When PlaneMode is not enabled \(bit0 \= 0\) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame\. When PlaneMode input is enabled\, the roll and yaw sticks are swapped so that the roll stick controls earth\-frame yaw and rudder controls earth\-frame roll\. When body\-frame roll is enabled \(bit1 \= 1\)\, the yaw stick controls earth\-frame yaw rate and the roll stick controls roll in the tailsitter\'s body frame when flying level\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | PlaneMode | ++-----+---------------+ +| 1 | BodyFrameRoll | ++-----+---------------+ + + + + +.. _Q_TAILSIT_VFGAIN: + +Q\_TAILSIT\_VFGAIN: Tailsitter vector thrust gain in forward flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_VHGAIN: + +Q\_TAILSIT\_VHGAIN: Tailsitter vector thrust gain in hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of vectored thrust control used in hover for a vectored tailsitter + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_VHPOW: + +Q\_TAILSIT\_VHPOW: Tailsitter vector thrust gain power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of extra pitch given to the vectored control when at high pitch errors + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 4 | ++-----------+--------+ + + + + +.. _Q_TAILSIT_GSCMAX: + +Q\_TAILSIT\_GSCMAX: Maximum tailsitter gain scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options + + ++--------+ +| Range | ++========+ +| 1 to 5 | ++--------+ + + + + +.. _Q_TAILSIT_RLL_MX: + +Q\_TAILSIT\_RLL\_MX: Maximum Roll angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum Allowed roll angle for tailsitters\. If this is zero then Q\_ANGLE\_MAX is used\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 80 | degrees | ++---------+---------+ + + + + +.. _Q_TAILSIT_MOTMX: + +Q\_TAILSIT\_MOTMX: Tailsitter motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of motors to remain active in forward flight for a \'Copter\' tailsitter\. Non\-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q\_FRAME\_CLASS and Q\_FRAME\_TYPE\. This should be zero for non\-Copter tailsitters\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Motor 1 | ++-----+----------+ +| 1 | Motor 2 | ++-----+----------+ +| 2 | Motor 3 | ++-----+----------+ +| 3 | Motor 4 | ++-----+----------+ +| 4 | Motor 5 | ++-----+----------+ +| 5 | Motor 6 | ++-----+----------+ +| 6 | Motor 7 | ++-----+----------+ +| 7 | Motor 8 | ++-----+----------+ +| 8 | Motor 9 | ++-----+----------+ +| 9 | Motor 10 | ++-----+----------+ +| 10 | Motor 11 | ++-----+----------+ +| 11 | Motor 12 | ++-----+----------+ + + + + +.. _Q_TAILSIT_GSCMSK: + +Q\_TAILSIT\_GSCMSK: Tailsitter gain scaling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of gain scaling methods to be applied\: Throttle\: scale gains with throttle\, ATT\_THR\: reduce gain at high throttle\/tilt\, 2\:Disk theory velocity calculation\, requires Q\_TAILSIT\_DSKLD to be set\, ATT\_THR must not be set\, 3\:Altitude correction\, scale with air density + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Throttle | ++-----+---------------------+ +| 1 | ATT_THR | ++-----+---------------------+ +| 2 | Disk Theory | ++-----+---------------------+ +| 3 | Altitude correction | ++-----+---------------------+ + + + + +.. _Q_TAILSIT_GSCMIN: + +Q\_TAILSIT\_GSCMIN: Minimum tailsitter gain scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum gain scaling for tailsitter Q\_TAILSIT\_GSCMSK options + + ++----------+ +| Range | ++==========+ +| 0.1 to 1 | ++----------+ + + + + +.. _Q_TAILSIT_DSKLD: + +Q\_TAILSIT\_DSKLD: Tailsitter disk loading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the vehicle weight in kg divided by the total disk area of all propellers in m\^2\. Only used with Q\_TAILSIT\_GSCMSK \= 4 + + ++---------+----------------------------+ +| Range | Units | ++=========+============================+ +| 0 to 50 | kilograms per square meter | ++---------+----------------------------+ + + + + +.. _Q_TAILSIT_RAT_FW: + +Q\_TAILSIT\_RAT\_FW: Tailsitter VTOL to forward flight transition rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 10 to 500 | degrees per second | ++-----------+--------------------+ + + + + +.. _Q_TAILSIT_RAT_VT: + +Q\_TAILSIT\_RAT\_VT: Tailsitter forward flight to VTOL transition rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL + + ++-----------+--------------------+ +| Range | Units | ++===========+====================+ +| 10 to 500 | degrees per second | ++-----------+--------------------+ + + + + +.. _Q_TAILSIT_THR_VT: + +Q\_TAILSIT\_THR\_VT: Tailsitter forward flight to VTOL transition throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle used during FW\-\>VTOL transition\, \-1 uses hover throttle + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + +.. _Q_TAILSIT_VT_R_P: + +Q\_TAILSIT\_VT\_R\_P: Tailsitter VTOL control surface roll gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_VT_P_P: + +Q\_TAILSIT\_VT\_P\_P: Tailsitter VTOL control surface pitch gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_VT_Y_P: + +Q\_TAILSIT\_VT\_Y\_P: Tailsitter VTOL control surface yaw gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale from PID output to control surface\, for use where a single axis is actuated by both motors and Tilt\/control surface on a copter style tailsitter\, increase to favor control surfaces and reduce motor output by reducing gains + + ++--------+ +| Range | ++========+ +| 0 to 2 | ++--------+ + + + + +.. _Q_TAILSIT_MIN_VO: + +Q\_TAILSIT\_MIN\_VO: Tailsitter Disk loading minimum outflow speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Use in conjunction with disk theory gain scaling and Q\_TAILSIT\_DSKLD to specify minumum airspeed over control surfaces\, this will be used to boost throttle\, when descending for example\, 0 disables + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_Q_TILT_: + +Q\_TILT\_ Parameters +-------------------- + + +.. _Q_TILT_ENABLE: + +Q\_TILT\_ENABLE: Enable Tiltrotor functionality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Tiltrotor functionality + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _Q_TILT_MASK: + +Q\_TILT\_MASK: Tiltrotor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of motors that are tiltable in a tiltrotor \(or tiltwing\)\. The mask is in terms of the standard motor order for the frame type\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Motor 1 | ++-----+----------+ +| 1 | Motor 2 | ++-----+----------+ +| 2 | Motor 3 | ++-----+----------+ +| 3 | Motor 4 | ++-----+----------+ +| 4 | Motor 5 | ++-----+----------+ +| 5 | Motor 6 | ++-----+----------+ +| 6 | Motor 7 | ++-----+----------+ +| 7 | Motor 8 | ++-----+----------+ +| 8 | Motor 9 | ++-----+----------+ +| 9 | Motor 10 | ++-----+----------+ +| 10 | Motor 11 | ++-----+----------+ +| 11 | Motor 12 | ++-----+----------+ + + + + +.. _Q_TILT_RATE_UP: + +Q\_TILT\_RATE\_UP: Tiltrotor upwards tilt rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 300 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TILT_MAX: + +Q\_TILT\_MAX: Tiltrotor maximum VTOL angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum angle of the tiltable motors at which multicopter control will be enabled\. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT\_RATE + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 20 to 80 | degrees | ++-----------+----------+---------+ + + + + +.. _Q_TILT_TYPE: + +Q\_TILT\_TYPE: Tiltrotor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the type of tiltrotor when TILT\_MASK is non\-zero\. A continuous tiltrotor can tilt the rotors to any angle on demand\. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up\. In both cases the servo can\'t move faster than Q\_TILT\_RATE\. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover\, Bicopter tiltrotor must use the tailsitter frame class \(10\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Continuous | ++-------+-------------+ +| 1 | Binary | ++-------+-------------+ +| 2 | VectoredYaw | ++-------+-------------+ +| 3 | Bicopter | ++-------+-------------+ + + + + +.. _Q_TILT_RATE_DN: + +Q\_TILT\_RATE\_DN: Tiltrotor downwards tilt rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight\. When this is zero the Q\_TILT\_RATE\_UP value is used\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 10 to 300 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _Q_TILT_YAW_ANGLE: + +Q\_TILT\_YAW\_ANGLE: Tilt minimum angle for vectored yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angle of the tilt servos when in VTOL mode and at minimum output \(fully back\)\. This needs to be set in addition to Q\_TILT\_TYPE\=2\, to enable vectored control for yaw in tilt quadplanes\. This is also used to limit the forward travel of bicopter tilts\(Q\_TILT\_TYPE\=3\) when in VTOL modes\. + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _Q_TILT_FIX_ANGLE: + +Q\_TILT\_FIX\_ANGLE: Fixed wing tiltrotor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the angle the motors tilt down when at maximum output for forward flight\. Set this to a non\-zero value to enable vectoring for roll\/pitch in forward flight on tilt\-vectored aircraft + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 30 | degrees | ++---------+---------+ + + + + +.. _Q_TILT_FIX_GAIN: + +Q\_TILT\_FIX\_GAIN: Fixed wing tiltrotor gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _Q_TILT_WING_FLAP: + +Q\_TILT\_WING\_FLAP: Tiltrotor tilt angle that will be used as flap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +For use on tilt wings\, the wing will tilt up to this angle for flap\, transition will be complete when the wing reaches this angle from the forward fight position\, 0 disables + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + + +.. _parameters_Q_WP_: + +Q\_WP\_ Parameters +------------------ + + +.. _Q_WP_SPEED: + +Q\_WP\_SPEED: Waypoint Horizontal Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain horizontally during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 2000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_WP_RADIUS: + +Q\_WP\_RADIUS: Waypoint Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the distance from a waypoint\, that when crossed indicates the wp has been hit\. + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | 5 to 1000 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _Q_WP_SPEED_UP: + +Q\_WP\_SPEED\_UP: Waypoint Climb Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while climbing during a WP mission + + ++-----------+------------+------------------------+ +| Increment | Range | Units | ++===========+============+========================+ +| 50 | 10 to 1000 | centimeters per second | ++-----------+------------+------------------------+ + + + + +.. _Q_WP_SPEED_DN: + +Q\_WP\_SPEED\_DN: Waypoint Descent Speed Target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the speed in cm\/s which the aircraft will attempt to maintain while descending during a WP mission + + ++-----------+-----------+------------------------+ +| Increment | Range | Units | ++===========+===========+========================+ +| 10 | 10 to 500 | centimeters per second | ++-----------+-----------+------------------------+ + + + + +.. _Q_WP_ACCEL: + +Q\_WP\_ACCEL: Waypoint Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_WP_ACCEL_Z: + +Q\_WP\_ACCEL\_Z: Waypoint Vertical Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the vertical acceleration in cm\/s\/s used during missions + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 50 to 500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _Q_WP_RFND_USE: + +Q\_WP\_RFND\_USE: Waypoint missions use rangefinder for terrain following +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls if waypoint missions use rangefinder for terrain following + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _Q_WP_JERK: + +Q\_WP\_JERK: Waypoint Jerk +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the horizontal jerk in m\/s\/s used during missions + + ++---------+-------------------------+ +| Range | Units | ++=========+=========================+ +| 1 to 20 | meters per cubic second | ++---------+-------------------------+ + + + + +.. _Q_WP_TER_MARGIN: + +Q\_WP\_TER\_MARGIN: Waypoint Terrain following altitude margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint Terrain following altitude margin\. Vehicle will stop if distance from target altitude is larger than this margin \(in meters\) + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0.1 to 100 | meters | ++------------+--------+ + + + + +.. _Q_WP_ACCEL_C: + +Q\_WP\_ACCEL\_C: Waypoint Cornering Acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Defines the maximum cornering acceleration in cm\/s\/s used during missions\. If zero uses 2x accel value\. + + ++-----------+----------+-------------------------------+ +| Increment | Range | Units | ++===========+==========+===============================+ +| 10 | 0 to 500 | centimeters per square second | ++-----------+----------+-------------------------------+ + + + + + +.. _parameters_Q_WVANE_: + +Q\_WVANE\_ Parameters +--------------------- + + +.. _Q_WVANE_ENABLE: + +Q\_WVANE\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable weather vaning\. When active\, the aircraft will automatically yaw into wind when in a VTOL position controlled mode\. Pilot yaw commands override the weathervaning action\. + + ++-------+------------------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+==========================================================================================+ +| -1 | Only use during takeoffs or landing see weathervane takeoff and land override parameters | ++-------+------------------------------------------------------------------------------------------+ +| 0 | Disabled | ++-------+------------------------------------------------------------------------------------------+ +| 1 | Nose into wind | ++-------+------------------------------------------------------------------------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------------------------------------------------------------------------+ +| 3 | Side into wind | ++-------+------------------------------------------------------------------------------------------+ +| 4 | tail into wind | ++-------+------------------------------------------------------------------------------------------+ + + + + +.. _Q_WVANE_GAIN: + +Q\_WVANE\_GAIN: Weathervaning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This converts the target roll\/pitch angle of the aircraft into the correcting \(into wind\) yaw rate\. e\.g\. Gain \= 2\, roll \= 30 deg\, pitch \= 0 deg\, yaw rate \= 60 deg\/s\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 0.5 to 4 | ++-----------+----------+ + + + + +.. _Q_WVANE_ANG_MIN: + +Q\_WVANE\_ANG\_MIN: Weathervaning min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The minimum target roll\/pitch angle before active weathervaning will start\. This provides a dead zone that is particularly useful for poorly trimmed quadplanes\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 10 | degrees | ++-----------+---------+---------+ + + + + +.. _Q_WVANE_HGT_MIN: + +Q\_WVANE\_HGT\_MIN: Weathervaning min height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Above this height weathervaning is permitted\. If RNGFND\_LANDING is enabled or terrain is enabled then this parameter sets height AGL\. Otherwise this parameter sets height above home\. Set zero to ignore minimum height requirement to activate weathervaning + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _Q_WVANE_SPD_MAX: + +Q\_WVANE\_SPD\_MAX: Weathervaning max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Below this ground speed weathervaning is permitted\. Set to 0 to ignore this condition when checking if vehicle should weathervane\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 50 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _Q_WVANE_VELZ_MAX: + +Q\_WVANE\_VELZ\_MAX: Weathervaning max vertical speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum climb or descent speed that the vehicle will still attempt to weathervane\. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb\/descent rate\. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _Q_WVANE_TAKEOFF: + +Q\_WVANE\_TAKEOFF: Takeoff override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in takeoffs + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| -1 | No override | ++-------+------------------------+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | Nose into wind | ++-------+------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------+ +| 3 | Side into wind | ++-------+------------------------+ +| 4 | tail into wind | ++-------+------------------------+ + + + + +.. _Q_WVANE_LAND: + +Q\_WVANE\_LAND: Landing override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Override the weather vaning behaviour when in landing + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| -1 | No override | ++-------+------------------------+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | Nose into wind | ++-------+------------------------+ +| 2 | Nose or tail into wind | ++-------+------------------------+ +| 3 | Side into wind | ++-------+------------------------+ +| 4 | tail into wind | ++-------+------------------------+ + + + + +.. _Q_WVANE_OPTIONS: + +Q\_WVANE\_OPTIONS: Weathervaning options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options impacting weathervaning behaviour + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Use pitch when nose or tail-in for faster weathervaning | ++-----+---------------------------------------------------------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | DoNotIncludeHome | ++-------+------------------+ +| 1 | IncludeHome | ++-------+------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++-----+--------------------------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================================+ +| 0 | Ignore RC Receiver | ++-----+--------------------------------------------------------------------+ +| 1 | Ignore MAVLink Overrides | ++-----+--------------------------------------------------------------------+ +| 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | ++-----+--------------------------------------------------------------------+ +| 3 | FPort Pad | ++-----+--------------------------------------------------------------------+ +| 4 | Log RC input bytes | ++-----+--------------------------------------------------------------------+ +| 5 | Arming check throttle for 0 input | ++-----+--------------------------------------------------------------------+ +| 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | ++-----+--------------------------------------------------------------------+ +| 7 | Allow Switch reverse | ++-----+--------------------------------------------------------------------+ +| 8 | Use passthrough for CRSF telemetry | ++-----+--------------------------------------------------------------------+ +| 9 | Suppress CRSF mode/rate message for ELRS systems | ++-----+--------------------------------------------------------------------+ +| 10 | Enable multiple receiver support | ++-----+--------------------------------------------------------------------+ +| 11 | Use Link Quality for RSSI with CRSF | ++-----+--------------------------------------------------------------------+ +| 12 | Annotate CRSF flight mode with * on disarm | ++-----+--------------------------------------------------------------------+ +| 13 | Use 420kbaud for ELRS protocol | ++-----+--------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | All | ++-----+----------+ +| 1 | PPM | ++-----+----------+ +| 2 | IBUS | ++-----+----------+ +| 3 | SBUS | ++-----+----------+ +| 4 | SBUS_NI | ++-----+----------+ +| 5 | DSM | ++-----+----------+ +| 6 | SUMD | ++-----+----------+ +| 7 | SRXL | ++-----+----------+ +| 8 | SRXL2 | ++-----+----------+ +| 9 | CRSF | ++-----+----------+ +| 10 | ST24 | ++-----+----------+ +| 11 | FPORT | ++-----+----------+ +| 12 | FPORT2 | ++-----+----------+ +| 13 | FastSBUS | ++-----+----------+ +| 14 | DroneCAN | ++-----+----------+ +| 15 | Ghost | ++-----+----------+ +| 16 | MAVRadio | ++-----+----------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-----------------------------------------------------+ +| Value | Meaning | ++=======+=====================================================+ +| 0 | Do Nothing | ++-------+-----------------------------------------------------+ +| 4 | RTL | ++-------+-----------------------------------------------------+ +| 9 | Camera Trigger | ++-------+-----------------------------------------------------+ +| 11 | Fence Enable | ++-------+-----------------------------------------------------+ +| 16 | AUTO Mode | ++-------+-----------------------------------------------------+ +| 22 | Parachute Release | ++-------+-----------------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-----------------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-----------------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-----------------------------------------------------+ +| 29 | Landing Gear | ++-------+-----------------------------------------------------+ +| 30 | Lost Plane Sound | ++-------+-----------------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-----------------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-----------------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-----------------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-----------------------------------------------------+ +| 38 | ADSB Avoidance Enable | ++-------+-----------------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-----------------------------------------------------+ +| 43 | InvertedFlight Enable | ++-------+-----------------------------------------------------+ +| 46 | RC Override Enable | ++-------+-----------------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-----------------------------------------------------+ +| 52 | ACRO Mode | ++-------+-----------------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-----------------------------------------------------+ +| 56 | LOITER Mode | ++-------+-----------------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-----------------------------------------------------+ +| 62 | Compass Learn | ++-------+-----------------------------------------------------+ +| 64 | Reverse Throttle | ++-------+-----------------------------------------------------+ +| 65 | GPS Disable | ++-------+-----------------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-----------------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-----------------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-----------------------------------------------------+ +| 77 | TAKEOFF Mode | ++-------+-----------------------------------------------------+ +| 78 | RunCam Control | ++-------+-----------------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-----------------------------------------------------+ +| 81 | Disarm | ++-------+-----------------------------------------------------+ +| 82 | QAssist 3pos | ++-------+-----------------------------------------------------+ +| 84 | AirMode | ++-------+-----------------------------------------------------+ +| 85 | Generator | ++-------+-----------------------------------------------------+ +| 86 | Non Auto Terrain Follow Disable | ++-------+-----------------------------------------------------+ +| 87 | Crow Select | ++-------+-----------------------------------------------------+ +| 88 | Soaring Enable | ++-------+-----------------------------------------------------+ +| 89 | Landing Flare | ++-------+-----------------------------------------------------+ +| 90 | EKF Source Set | ++-------+-----------------------------------------------------+ +| 91 | Airspeed Ratio Calibration | ++-------+-----------------------------------------------------+ +| 92 | FBWA Mode | ++-------+-----------------------------------------------------+ +| 94 | VTX Power | ++-------+-----------------------------------------------------+ +| 95 | FBWA taildragger takeoff mode | ++-------+-----------------------------------------------------+ +| 96 | Trigger re-reading of mode switch | ++-------+-----------------------------------------------------+ +| 98 | TRAINING Mode | ++-------+-----------------------------------------------------+ +| 100 | KillIMU1 | ++-------+-----------------------------------------------------+ +| 101 | KillIMU2 | ++-------+-----------------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-----------------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-----------------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-----------------------------------------------------+ +| 107 | Enable FW Autotune | ++-------+-----------------------------------------------------+ +| 108 | QRTL Mode | ++-------+-----------------------------------------------------+ +| 110 | KillIMU3 | ++-------+-----------------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-----------------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-----------------------------------------------------+ +| 150 | CRUISE Mode | ++-------+-----------------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 154 | ArmDisarm with Quadplane AirMode (4.2 and higher) | ++-------+-----------------------------------------------------+ +| 155 | Set roll pitch and yaw trim to current servo and RC | ++-------+-----------------------------------------------------+ +| 157 | Force FS Action to FBWA | ++-------+-----------------------------------------------------+ +| 158 | Optflow Calibration | ++-------+-----------------------------------------------------+ +| 160 | Weathervane Enable | ++-------+-----------------------------------------------------+ +| 162 | FFT Tune | ++-------+-----------------------------------------------------+ +| 163 | Mount Lock | ++-------+-----------------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-----------------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-----------------------------------------------------+ +| 166 | Camera Record Video | ++-------+-----------------------------------------------------+ +| 167 | Camera Zoom | ++-------+-----------------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-----------------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-----------------------------------------------------+ +| 170 | QSTABILIZE Mode | ++-------+-----------------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-----------------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-----------------------------------------------------+ +| 173 | Plane AUTO Mode Landing Abort | ++-------+-----------------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-----------------------------------------------------+ +| 175 | Camera Lens | ++-------+-----------------------------------------------------+ +| 176 | Quadplane Fwd Throttle Override enable | ++-------+-----------------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-----------------------------------------------------+ +| 179 | ICEngine start / stop | ++-------+-----------------------------------------------------+ +| 180 | Test autotuned gains after tune is complete | ++-------+-----------------------------------------------------+ +| 208 | Flap | ++-------+-----------------------------------------------------+ +| 209 | VTOL Forward Throttle | ++-------+-----------------------------------------------------+ +| 210 | Airbrakes | ++-------+-----------------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-----------------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-----------------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-----------------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-----------------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-----------------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-----------------------------------------------------+ +| 300 | Scripting1 | ++-------+-----------------------------------------------------+ +| 301 | Scripting2 | ++-------+-----------------------------------------------------+ +| 302 | Scripting3 | ++-------+-----------------------------------------------------+ +| 303 | Scripting4 | ++-------+-----------------------------------------------------+ +| 304 | Scripting5 | ++-------+-----------------------------------------------------+ +| 305 | Scripting6 | ++-------+-----------------------------------------------------+ +| 306 | Scripting7 | ++-------+-----------------------------------------------------+ +| 307 | Scripting8 | ++-------+-----------------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Relay | ++-------+-------------+ +| 2 | Ignition | ++-------+-------------+ +| 3 | Parachute | ++-------+-------------+ +| 4 | Camera | ++-------+-------------+ +| 9 | ICE Starter | ++-------+-------------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RLL: + +RLL Parameters +-------------- + + +.. _RLL2SRV_TCONST: + +RLL2SRV\_TCONST: Roll Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant in seconds from demanded to achieved roll angle\. Most models respond well to 0\.5\. May be reduced for faster responses\, but setting lower than a model can achieve will not help\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _RLL2SRV_RMAX: + +RLL2SRV\_RMAX: Maximum Roll Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum roll rate that the attitude controller will demand \(degrees\/sec\) in angle stabilized modes\. Setting it to zero disables this limit\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 180 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _RLL_RATE_P: + +RLL\_RATE\_P: Roll axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller P gain\. Corrects in proportion to the difference between the desired roll rate vs actual roll rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _RLL_RATE_I: + +RLL\_RATE\_I: Roll axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain\. Corrects long\-term difference in desired roll rate vs actual roll rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _RLL_RATE_IMAX: + +RLL\_RATE\_IMAX: Roll axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _RLL_RATE_D: + +RLL\_RATE\_D: Roll axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller D gain\. Compensates for short\-term change in desired roll rate vs actual roll rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _RLL_RATE_FF: + +RLL\_RATE\_FF: Roll axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _RLL_RATE_FLTT: + +RLL\_RATE\_FLTT: Roll axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_FLTE: + +RLL\_RATE\_FLTE: Roll axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_FLTD: + +RLL\_RATE\_FLTD: Roll axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _RLL_RATE_SMAX: + +RLL\_RATE\_SMAX: Roll slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _RLL_RATE_PDMX: + +RLL\_RATE\_PDMX: Roll axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Roll axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _RLL_RATE_D_FF: + +RLL\_RATE\_D\_FF: Roll Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _RLL_RATE_NTF: + +RLL\_RATE\_NTF: Roll Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _RLL_RATE_NEF: + +RLL\_RATE\_NEF: Roll Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Roll Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | AnalogPin | ++-------+--------------------+ +| 2 | RCChannelPwmValue | ++-------+--------------------+ +| 3 | ReceiverProtocol | ++-------+--------------------+ +| 4 | PWMInputPin | ++-------+--------------------+ +| 5 | TelemetryRadioRSSI | ++-------+--------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 8 | V5 Nano | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | ShowSlips | ++-------+--------------+ +| 3 | ShowOverruns | ++-------+--------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | Enable per-task perf info | ++-----+---------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Lua Scripts | ++-------+-------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++-----+----------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================================================+ +| 0 | No Scripts to run message if all scripts have stopped | ++-----+----------------------------------------------------------------------------------------+ +| 1 | Runtime messages for memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 2 | Suppress logging scripts to dataflash | ++-----+----------------------------------------------------------------------------------------+ +| 3 | log runtime memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 4 | Disable pre-arm check | ++-----+----------------------------------------------------------------------------------------+ +| 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | ++-----+----------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | ROMFS | ++-----+-------------+ +| 1 | APM/scripts | ++-----+-------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Normal | ++-------+------------------+ +| 1 | IO Priority | ++-------+------------------+ +| 2 | Storage Priority | ++-------+------------------+ +| 3 | UART Priority | ++-------+------------------+ +| 4 | I2C Priority | ++-------+------------------+ +| 5 | SPI Priority | ++-------+------------------+ +| 6 | Timer Priority | ++-------+------------------+ +| 7 | Main Priority | ++-------+------------------+ +| 8 | Boost Priority | ++-------+------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 1 | MAVLink1 | ++-------+----------+ +| 2 | MAVLink2 | ++-------+----------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_AUTO_TRIM: + +SERVO\_AUTO\_TRIM: Automatic servo trim +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables automatic servo trim in flight\. Servos will be trimed in stabilized flight modes when the aircraft is close to level\. Changes to servo trim will be saved every 10 seconds and will persist between flights\. The automatic trim won\'t go more than 20\% away from a centered trim\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | 1Khz | ++-------+---------------------+ +| 1 | loop-rate | ++-------+---------------------+ +| 2 | double loop-rate | ++-------+---------------------+ +| 3 | triple loop-rate | ++-------+---------------------+ +| 4 | quadruple loop rate | ++-------+---------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | BLHeli32/Kiss/AM32 | ++-------+------------------------+ +| 2 | BLHeli_S/BlueJay | ++-------+------------------------+ +| 3 | BLHeli32/AM32/Kiss+EDT | ++-------+------------------------+ +| 4 | BLHeli_S/BlueJay+EDT | ++-------+------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | RCIN1Scaled | ++-----+---------------+ +| 1 | RCIN2Scaled | ++-----+---------------+ +| 2 | RCIN3Scaled | ++-----+---------------+ +| 3 | RCIN4Scaled | ++-----+---------------+ +| 4 | RCIN5Scaled | ++-----+---------------+ +| 5 | RCIN6Scaled | ++-----+---------------+ +| 6 | RCIN7Scaled | ++-----+---------------+ +| 7 | RCIN8Scaled | ++-----+---------------+ +| 8 | RCIN9Scaled | ++-----+---------------+ +| 9 | RCIN10Scaled | ++-----+---------------+ +| 10 | RCIN11Scaled | ++-----+---------------+ +| 11 | SRCIN12Scaled | ++-----+---------------+ +| 12 | RCIN13Scaled | ++-----+---------------+ +| 13 | RCIN14Scaled | ++-----+---------------+ +| 14 | RCIN15Scaled | ++-----+---------------+ +| 15 | RCIN16Scaled | ++-----+---------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | GPIO | ++-------+---------------------------+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | RCPassThru | ++-------+---------------------------+ +| 2 | Flap | ++-------+---------------------------+ +| 3 | FlapAuto | ++-------+---------------------------+ +| 4 | Aileron | ++-------+---------------------------+ +| 6 | Mount1Yaw | ++-------+---------------------------+ +| 7 | Mount1Pitch | ++-------+---------------------------+ +| 8 | Mount1Roll | ++-------+---------------------------+ +| 9 | Mount1Retract | ++-------+---------------------------+ +| 10 | CameraTrigger | ++-------+---------------------------+ +| 12 | Mount2Yaw | ++-------+---------------------------+ +| 13 | Mount2Pitch | ++-------+---------------------------+ +| 14 | Mount2Roll | ++-------+---------------------------+ +| 15 | Mount2Retract | ++-------+---------------------------+ +| 16 | DifferentialSpoilerLeft1 | ++-------+---------------------------+ +| 17 | DifferentialSpoilerRight1 | ++-------+---------------------------+ +| 19 | Elevator | ++-------+---------------------------+ +| 21 | Rudder | ++-------+---------------------------+ +| 22 | SprayerPump | ++-------+---------------------------+ +| 23 | SprayerSpinner | ++-------+---------------------------+ +| 24 | FlaperonLeft | ++-------+---------------------------+ +| 25 | FlaperonRight | ++-------+---------------------------+ +| 26 | GroundSteering | ++-------+---------------------------+ +| 27 | Parachute | ++-------+---------------------------+ +| 28 | Gripper | ++-------+---------------------------+ +| 29 | LandingGear | ++-------+---------------------------+ +| 30 | EngineRunEnable | ++-------+---------------------------+ +| 33 | Motor1 | ++-------+---------------------------+ +| 34 | Motor2 | ++-------+---------------------------+ +| 35 | Motor3 | ++-------+---------------------------+ +| 36 | Motor4 | ++-------+---------------------------+ +| 37 | Motor5 | ++-------+---------------------------+ +| 38 | Motor6 | ++-------+---------------------------+ +| 39 | Motor7/TailTiltServo | ++-------+---------------------------+ +| 40 | Motor8 | ++-------+---------------------------+ +| 41 | TiltMotorsFront | ++-------+---------------------------+ +| 45 | TiltMotorsRear | ++-------+---------------------------+ +| 46 | TiltMotorRearLeft | ++-------+---------------------------+ +| 47 | TiltMotorRearRight | ++-------+---------------------------+ +| 51 | RCIN1 | ++-------+---------------------------+ +| 52 | RCIN2 | ++-------+---------------------------+ +| 53 | RCIN3 | ++-------+---------------------------+ +| 54 | RCIN4 | ++-------+---------------------------+ +| 55 | RCIN5 | ++-------+---------------------------+ +| 56 | RCIN6 | ++-------+---------------------------+ +| 57 | RCIN7 | ++-------+---------------------------+ +| 58 | RCIN8 | ++-------+---------------------------+ +| 59 | RCIN9 | ++-------+---------------------------+ +| 60 | RCIN10 | ++-------+---------------------------+ +| 61 | RCIN11 | ++-------+---------------------------+ +| 62 | RCIN12 | ++-------+---------------------------+ +| 63 | RCIN13 | ++-------+---------------------------+ +| 64 | RCIN14 | ++-------+---------------------------+ +| 65 | RCIN15 | ++-------+---------------------------+ +| 66 | RCIN16 | ++-------+---------------------------+ +| 67 | Ignition | ++-------+---------------------------+ +| 69 | Starter | ++-------+---------------------------+ +| 70 | Throttle | ++-------+---------------------------+ +| 73 | ThrottleLeft | ++-------+---------------------------+ +| 74 | ThrottleRight | ++-------+---------------------------+ +| 75 | TiltMotorFrontLeft | ++-------+---------------------------+ +| 76 | TiltMotorFrontRight | ++-------+---------------------------+ +| 77 | ElevonLeft | ++-------+---------------------------+ +| 78 | ElevonRight | ++-------+---------------------------+ +| 79 | VTailLeft | ++-------+---------------------------+ +| 80 | VTailRight | ++-------+---------------------------+ +| 82 | Motor9 | ++-------+---------------------------+ +| 83 | Motor10 | ++-------+---------------------------+ +| 84 | Motor11 | ++-------+---------------------------+ +| 85 | Motor12 | ++-------+---------------------------+ +| 86 | DifferentialSpoilerLeft2 | ++-------+---------------------------+ +| 87 | DifferentialSpoilerRight2 | ++-------+---------------------------+ +| 90 | CameraISO | ++-------+---------------------------+ +| 91 | CameraAperture | ++-------+---------------------------+ +| 92 | CameraFocus | ++-------+---------------------------+ +| 93 | CameraShutterSpeed | ++-------+---------------------------+ +| 94 | Script1 | ++-------+---------------------------+ +| 95 | Script2 | ++-------+---------------------------+ +| 96 | Script3 | ++-------+---------------------------+ +| 97 | Script4 | ++-------+---------------------------+ +| 98 | Script5 | ++-------+---------------------------+ +| 99 | Script6 | ++-------+---------------------------+ +| 100 | Script7 | ++-------+---------------------------+ +| 101 | Script8 | ++-------+---------------------------+ +| 102 | Script9 | ++-------+---------------------------+ +| 103 | Script10 | ++-------+---------------------------+ +| 104 | Script11 | ++-------+---------------------------+ +| 105 | Script12 | ++-------+---------------------------+ +| 106 | Script13 | ++-------+---------------------------+ +| 107 | Script14 | ++-------+---------------------------+ +| 108 | Script15 | ++-------+---------------------------+ +| 109 | Script16 | ++-------+---------------------------+ +| 110 | Airbrakes | ++-------+---------------------------+ +| 120 | NeoPixel1 | ++-------+---------------------------+ +| 121 | NeoPixel2 | ++-------+---------------------------+ +| 122 | NeoPixel3 | ++-------+---------------------------+ +| 123 | NeoPixel4 | ++-------+---------------------------+ +| 124 | RateRoll | ++-------+---------------------------+ +| 125 | RatePitch | ++-------+---------------------------+ +| 126 | RateThrust | ++-------+---------------------------+ +| 127 | RateYaw | ++-------+---------------------------+ +| 129 | ProfiLED1 | ++-------+---------------------------+ +| 130 | ProfiLED2 | ++-------+---------------------------+ +| 131 | ProfiLED3 | ++-------+---------------------------+ +| 132 | ProfiLEDClock | ++-------+---------------------------+ +| 134 | SERVOn_MIN | ++-------+---------------------------+ +| 135 | SERVOn_TRIM | ++-------+---------------------------+ +| 136 | SERVOn_MAX | ++-------+---------------------------+ +| 138 | Alarm | ++-------+---------------------------+ +| 139 | Alarm Inverted | ++-------+---------------------------+ +| 140 | RCIN1Scaled | ++-------+---------------------------+ +| 141 | RCIN2Scaled | ++-------+---------------------------+ +| 142 | RCIN3Scaled | ++-------+---------------------------+ +| 143 | RCIN4Scaled | ++-------+---------------------------+ +| 144 | RCIN5Scaled | ++-------+---------------------------+ +| 145 | RCIN6Scaled | ++-------+---------------------------+ +| 146 | RCIN7Scaled | ++-------+---------------------------+ +| 147 | RCIN8Scaled | ++-------+---------------------------+ +| 148 | RCIN9Scaled | ++-------+---------------------------+ +| 149 | RCIN10Scaled | ++-------+---------------------------+ +| 150 | RCIN11Scaled | ++-------+---------------------------+ +| 151 | RCIN12Scaled | ++-------+---------------------------+ +| 152 | RCIN13Scaled | ++-------+---------------------------+ +| 153 | RCIN14Scaled | ++-------+---------------------------+ +| 154 | RCIN15Scaled | ++-------+---------------------------+ +| 155 | RCIN16Scaled | ++-------+---------------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | TestMotor1 | ++-------+------------+ +| 2 | TestMotor2 | ++-------+------------+ +| 3 | TestMotor3 | ++-------+------------+ +| 4 | TestMotor4 | ++-------+------------+ +| 5 | TestMotor5 | ++-------+------------+ +| 6 | TestMotor6 | ++-------+------------+ +| 7 | TestMotor7 | ++-------+------------+ +| 8 | TestMotor8 | ++-------+------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | OneShot | ++-------+------------+ +| 2 | OneShot125 | ++-------+------------+ +| 3 | Brushed | ++-------+------------+ +| 4 | DShot150 | ++-------+------------+ +| 5 | DShot300 | ++-------+------------+ +| 6 | DShot600 | ++-------+------------+ +| 7 | DShot1200 | ++-------+------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Console | ++-------+-------------------------+ +| 1 | Mavlink Serial Channel1 | ++-------+-------------------------+ +| 2 | Mavlink Serial Channel2 | ++-------+-------------------------+ +| 3 | Mavlink Serial Channel3 | ++-------+-------------------------+ +| 4 | Mavlink Serial Channel4 | ++-------+-------------------------+ +| 5 | Mavlink Serial Channel5 | ++-------+-------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ +| 16 | Channel17 | ++-----+-----------+ +| 17 | Channel18 | ++-----+-----------+ +| 18 | Channel19 | ++-----+-----------+ +| 19 | Channel20 | ++-----+-----------+ +| 20 | Channel21 | ++-----+-----------+ +| 21 | Channel22 | ++-----+-----------+ +| 22 | Channel23 | ++-----+-----------+ +| 23 | Channel24 | ++-----+-----------+ +| 24 | Channel25 | ++-----+-----------+ +| 25 | Channel26 | ++-----+-----------+ +| 26 | Channel27 | ++-----+-----------+ +| 28 | Channel29 | ++-----+-----------+ +| 29 | Channel30 | ++-----+-----------+ +| 30 | Channel31 | ++-----+-----------+ +| 31 | Channel32 | ++-----+-----------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-------+-----------------------------------------------+ +| Value | Meaning | ++=======+===============================================+ +| 0 | Disabled | ++-------+-----------------------------------------------+ +| 1 | No RC pusles | ++-------+-----------------------------------------------+ +| 2 | All Channels neutral except Throttle is 950us | ++-------+-----------------------------------------------+ + + + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Transceiever disable | ++-------+----------------------+ +| 1 | Transceiever enable | ++-------+----------------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Servo 1 | ++-----+---------+ +| 1 | Servo 2 | ++-----+---------+ +| 2 | Servo 3 | ++-----+---------+ +| 3 | Servo 4 | ++-----+---------+ +| 4 | Servo 5 | ++-----+---------+ +| 5 | Servo 6 | ++-----+---------+ +| 6 | Servo 7 | ++-----+---------+ +| 7 | Servo 8 | ++-----+---------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | square law | ++-------+------------------------+ +| 1 | none | ++-------+------------------------+ +| 2 | linear-see WIND_T_COEF | ++-------+------------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | disabled | ++-------+--------------------------+ +| 1 | roll and pitch | ++-------+--------------------------+ +| 2 | roll and pitch and heave | ++-------+--------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | MegaSquirt EFI system | ++-------+-----------------------+ +| 2 | Löweheiser EFI system | ++-------+-----------------------+ +| 8 | Hirth engines | ++-------+-----------------------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Vicon Healthy | ++-------+---------------+ +| 1 | Vicon Failed | ++-------+---------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | VISION_POSITION_ESTIMATE | ++-----+--------------------------+ +| 1 | VISION_SPEED_ESTIMATE | ++-----+--------------------------+ +| 2 | VICON_POSITION_ESTIMATE | ++-----+--------------------------+ +| 3 | VISION_POSITION_DELTA | ++-----+--------------------------+ +| 4 | ODOMETRY | ++-----+--------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | MAVLink | ++-----+-------------+ +| 3 | SageTechMXS | ++-----+-------------+ + + + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG1 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG2 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG3 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL1 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL2 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL3 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL4 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL5 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Normal | ++-------+---------+ +| 1 | Reverse | ++-------+---------+ + + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | cylinder | ++-------+----------+ +| 1 | cone | ++-------+----------+ +| 2 | sphere | ++-------+----------+ + + + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Front | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 24 | Up | ++-------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable target distance | ++-----+------------------------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++-----+--------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================+ +| 0 | Reset position on startup | ++-----+--------------------------------------------------------+ +| 1 | Swap first 4 and last 4 servos (for quadplane testing) | ++-----+--------------------------------------------------------+ +| 2 | Demix heli servos and send roll/pitch/collective/yaw | ++-----+--------------------------------------------------------+ +| 3 | Don't print frame rate stats | ++-----+--------------------------------------------------------+ + + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_SOAR_: + +SOAR\_ Parameters +----------------- + + +.. _SOAR_ENABLE: + +SOAR\_ENABLE: Is the soaring mode enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Toggles the soaring mode on and off + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SOAR_VSPEED: + +SOAR\_VSPEED: Vertical v\-speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Rate of climb to trigger themalling speed + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _SOAR_Q1: + +SOAR\_Q1: Process noise +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in process for strength + + ++----------------+ +| Range | ++================+ +| 0.0001 to 0.01 | ++----------------+ + + + + +.. _SOAR_Q2: + +SOAR\_Q2: Process noise +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in process for position and radius + + ++-----------+ +| Range | ++===========+ +| 0.01 to 1 | ++-----------+ + + + + +.. _SOAR_R: + +SOAR\_R: Measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Standard deviation of noise in measurement + + ++-----------+ +| Range | ++===========+ +| 0.01 to 1 | ++-----------+ + + + + +.. _SOAR_DIST_AHEAD: + +SOAR\_DIST\_AHEAD: Distance to thermal center +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Initial guess of the distance to the thermal center + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SOAR_MIN_THML_S: + +SOAR\_MIN\_THML\_S: Minimum thermalling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of seconds to spend thermalling + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _SOAR_MIN_CRSE_S: + +SOAR\_MIN\_CRSE\_S: Minimum cruising time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of seconds to spend cruising + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _SOAR_POLAR_CD0: + +SOAR\_POLAR\_CD0: Zero lift drag coef\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Zero lift drag coefficient + + ++--------------+ +| Range | ++==============+ +| 0.005 to 0.5 | ++--------------+ + + + + +.. _SOAR_POLAR_B: + +SOAR\_POLAR\_B: Induced drag coeffient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Induced drag coeffient + + ++---------------+ +| Range | ++===============+ +| 0.005 to 0.05 | ++---------------+ + + + + +.. _SOAR_POLAR_K: + +SOAR\_POLAR\_K: Cl factor +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cl factor 2\*m\*g\/\(rho\*S\) + + ++-----------+--------------------------------+ +| Range | Units | ++===========+================================+ +| 20 to 400 | square meter per square second | ++-----------+--------------------------------+ + + + + +.. _SOAR_ALT_MAX: + +SOAR\_ALT\_MAX: Maximum soaring altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Don\'t thermal any higher than this\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 5000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_ALT_MIN: + +SOAR\_ALT\_MIN: Minimum soaring altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Don\'t get any lower than this\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 1000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_ALT_CUTOFF: + +SOAR\_ALT\_CUTOFF: Maximum power altitude\, relative to the home location +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cut off throttle at this alt\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0 to 5000.0 | meters | ++-------------+--------+ + + + + +.. _SOAR_MAX_DRIFT: + +SOAR\_MAX\_DRIFT: \(Optional\) Maximum drift distance to allow when thermalling\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value\. \-1 to disable\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1000 | ++-----------+ + + + + +.. _SOAR_MAX_RADIUS: + +SOAR\_MAX\_RADIUS: \(Optional\) Maximum distance from home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RTL will be entered when a thermal is exited and the plane is more than this distance from home\. \-1 to disable\. + + ++-----------+ +| Range | ++===========+ +| 0 to 1000 | ++-----------+ + + + + +.. _SOAR_THML_BANK: + +SOAR\_THML\_BANK: Thermalling bank angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the bank angle to use when thermalling\. Typically 30 \- 45 degrees works well\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 50 | degrees | ++----------+---------+ + + + + +.. _SOAR_THML_ARSPD: + +SOAR\_THML\_ARSPD: Specific setting for airspeed when soaring in THERMAL mode\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If non\-zero this airspeed will be used when thermalling\. A value of 0 will use AIRSPEED\_CRUISE\. + + ++---------+ +| Range | ++=========+ +| 0 to 50 | ++---------+ + + + + +.. _SOAR_CRSE_ARSPD: + +SOAR\_CRSE\_ARSPD: Specific setting for airspeed when soaring in AUTO mode\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If non\-zero this airspeed will be used when cruising between thermals in AUTO\. If set to \-1\, airspeed will be selected based on speed\-to\-fly theory\. If set to 0\, then AIRSPEED\_CRUISE will be used while cruising between thermals\. + + ++----------+ +| Range | ++==========+ +| -1 to 50 | ++----------+ + + + + +.. _SOAR_THML_FLAP: + +SOAR\_THML\_FLAP: Flap percent to be used during thermalling flight\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the flap when in LOITER with soaring active\. Overrides the usual auto flap behaviour\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2\, RPM\, AOA\_SSA\, LANDING\,ESC\_TELEMETRY\,EFI\_STATUS\, and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 50 | ++-----------+---------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, TERRAIN\_REQUEST\, TERRAIN\_REPORT\, BATTERY2\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, and BATTERY\_STATUS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_STEER2SRV_: + +STEER2SRV\_ Parameters +---------------------- + + +.. _STEER2SRV_TCONST: + +STEER2SRV\_TCONST: Steering Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant in seconds from demanded to achieved steering angle\. A value of 0\.75 is a good default and will work with nearly all rovers\. Ground steering in aircraft needs a bit smaller time constant\, and a value of 0\.5 is recommended for best ground handling in fixed wing aircraft\. A value of 0\.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0\.75 seconds\. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.1 | 0.4 to 1.0 | seconds | ++-----------+------------+---------+ + + + + +.. _STEER2SRV_P: + +STEER2SRV\_P: Steering turning gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The proportional gain for steering\. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 10.0 | ++-----------+-------------+ + + + + +.. _STEER2SRV_I: + +STEER2SRV\_I: Integrator Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the gain from the integral of steering angle\. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.05 | 0 to 1.0 | ++-----------+----------+ + + + + +.. _STEER2SRV_D: + +STEER2SRV\_D: Damping Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This adjusts the damping of the steering control loop\. This gain helps to reduce steering jitter with vibration\. It should be increased in 0\.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.1 | ++-----------+----------+ + + + + +.. _STEER2SRV_IMAX: + +STEER2SRV\_IMAX: Integrator limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the number of degrees of steering in centi\-degrees over which the integrator will operate\. At the default setting of 1500 centi\-degrees\, the integrator will be limited to \+\- 15 degrees of servo travel\. The maximum servo deflection is \+\- 45 centi\-degrees\, so the default value represents a 1\/3rd of the total control throw which is adequate unless the vehicle is severely out of trim\. + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + +.. _STEER2SRV_MINSPD: + +STEER2SRV\_MINSPD: Minimum speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the minimum assumed ground speed in meters\/second for steering\. Having a minimum speed prevents oscillations when the vehicle first starts moving\. The vehicle can still drive slower than this limit\, but the steering calculations will be done based on this minimum speed\. + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _STEER2SRV_FF: + +STEER2SRV\_FF: Steering feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering\. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m\/s ground speed\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _STEER2SRV_DRTSPD: + +STEER2SRV\_DRTSPD: Derating speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed after that the maximum degree of steering will start to derate\. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing\. If 0 then no derating is used\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.0 to 30.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _STEER2SRV_DRTFCT: + +STEER2SRV\_DRTFCT: Derating factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Degrees of steering wheel to derate at each additional m\/s of speed above \"Derating speed\"\. Should be set so that at higher speeds the plane does not roll to the wing in turns\. + + ++-----------+-------------+------------------------------+ +| Increment | Range | Units | ++===========+=============+==============================+ +| 0.1 | 0.0 to 50.0 | degrees per meter per second | ++-----------+-------------+------------------------------+ + + + + +.. _STEER2SRV_DRTMIN: + +STEER2SRV\_DRTMIN: Minimum angle of wheel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The angle that limits smallest angle of steering wheel at maximum speed\. Even if it should derate below\, it will stop derating at this angle\. + + ++-----------+-----------+--------------+ +| Increment | Range | Units | ++===========+===========+==============+ +| 10 | 0 to 4500 | centidegrees | ++-----------+-----------+--------------+ + + + + + +.. _parameters_TECS_: + +TECS\_ Parameters +----------------- + + +.. _TECS_CLMB_MAX: + +TECS\_CLMB\_MAX: Maximum Climb Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum demanded climb rate\. Do not set higher than the climb speed at THR\_MAX at AIRSPEED\_CRUISE when the battery is at low voltage\. Reduce value if airspeed cannot be maintained on ascent\. Increase value if throttle does not increase significantly to ascend\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 20.0 | ++-----------+-------------+ + + + + +.. _TECS_SINK_MIN: + +TECS\_SINK\_MIN: Minimum Sink Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum sink rate when at THR\_MIN and AIRSPEED\_CRUISE\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.1 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_TIME_CONST: + +TECS\_TIME\_CONST: Controller time constant \(sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time constant of the TECS control algorithm\. Small values make faster altitude corrections but can cause overshoot and aggressive behavior\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.2 | 3.0 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_THR_DAMP: + +TECS\_THR\_DAMP: Controller throttle damping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for throttle demand loop\. Increase to add throttle activity to dampen oscillations in speed and height\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_INTEG_GAIN: + +TECS\_INTEG\_GAIN: Controller integrator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Integrator gain to trim out long\-term speed and height errors\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_VERT_ACC: + +TECS\_VERT\_ACC: Vertical Acceleration Limit \(metres\/sec\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum vertical acceleration used to correct speed or height errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _TECS_HGT_OMEGA: + +TECS\_HGT\_OMEGA: Height complementary filter frequency \(radians\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the cross\-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 1.0 to 5.0 | ++-----------+------------+ + + + + +.. _TECS_SPD_OMEGA: + +TECS\_SPD\_OMEGA: Speed complementary filter frequency \(radians\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the cross\-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.5 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_RLL2THR: + +TECS\_RLL2THR: Bank angle compensation gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns\. Set to approximately 10x the sink rate in m\/s caused by a 45\-degree turn\. High efficiency models may need less while less efficient aircraft may need more\. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees\. Tune with PTCH2SRV\_RLL and KFF\_RDDRMIX to achieve constant airspeed\, constant altitude turns\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1.0 | 5.0 to 30.0 | ++-----------+-------------+ + + + + +.. _TECS_SPDWEIGHT: + +TECS\_SPDWEIGHT: Weighting applied to speed control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mixing of pitch and throttle correction for height and airspeed errors\. Pitch controls altitude and throttle controls airspeed if set to 0\. Pitch controls airspeed and throttle controls altitude if set to 2 \(good for gliders\)\. Blended if set to 1\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_PTCH_DAMP: + +TECS\_PTCH\_DAMP: Controller pitch damping +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for pitch control from TECS control\. Increasing may correct for oscillations in speed and height\, but too much may cause additional oscillation and degraded control\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_SINK_MAX: + +TECS\_SINK\_MAX: Maximum Descent Rate \(metres\/sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum demanded descent rate\. Do not set higher than the vertical speed the aircraft can maintain at THR\_MIN\, TECS\_PITCH\_MIN\, and AIRSPEED\_MAX\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | 0.0 to 20.0 | ++-----------+-------------+ + + + + +.. _TECS_LAND_ARSPD: + +TECS\_LAND\_ARSPD: Airspeed during landing approach \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When performing an autonomus landing\, this value is used as the goal airspeed during approach\. Max airspeed allowed is Trim Airspeed or AIRSPEED\_MAX as defined by LAND\_OPTIONS bitmask\. Note that this parameter is not useful if your platform does not have an airspeed sensor \(use TECS\_LAND\_THR instead\)\. If negative then this value is halfway between AIRSPEED\_MIN and TRIM\_CRUISE\_CM speed for fixed wing autolandings\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 1 | -1 to 127 | ++-----------+-----------+ + + + + +.. _TECS_LAND_THR: + +TECS\_LAND\_THR: Cruise throttle during landing approach \(percentage\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Use this parameter instead of LAND\_ARSPD if your platform does not have an airspeed sensor\. It is the cruise throttle during landing approach\. If this value is negative then it is disabled and TECS\_LAND\_ARSPD is used instead\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.1 | -1 to 100 | ++-----------+-----------+ + + + + +.. _TECS_LAND_SPDWGT: + +TECS\_LAND\_SPDWGT: Weighting applied to speed control during landing\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Same as SPDWEIGHT parameter\, with the exception that this parameter is applied during landing flight stages\. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up \-\- sometimes good for a glider landing \(with the side effect that you will likely glide a ways past the landing point\)\. A value closer to 0 results in the plane ignoring speed error \-\- use caution when lowering the value below 1 \-\- ignoring speed could result in a stall\. Values between 0 and 2 are valid values for a fixed landing weight\. When using \-1 the weight will be scaled during the landing\. At the start of the landing approach it starts with TECS\_SPDWEIGHT and scales down to 0 by the time you reach the land point\. Example\: Halfway down the landing approach you\'ll effectively have a weight of TECS\_SPDWEIGHT\/2\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.1 | -1.0 to 2.0 | ++-----------+-------------+ + + + + +.. _TECS_PITCH_MAX: + +TECS\_PITCH\_MAX: Maximum pitch in auto flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overrides PTCH\_LIM\_MAX\_DEG in automatic throttle modes to reduce climb rates\. Uses PTCH\_LIM\_MAX\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can climb at AIRSPEED\_CRUISE and THR\_MAX\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 45 | ++-----------+---------+ + + + + +.. _TECS_PITCH_MIN: + +TECS\_PITCH\_MIN: Minimum pitch in auto flight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overrides PTCH\_LIM\_MIN\_DEG in automatic throttle modes to reduce descent rates\. Uses PTCH\_LIM\_MIN\_DEG if set to 0\. For proper TECS tuning\, set to the angle that the aircraft can descend at without overspeeding\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -45 to 0 | ++-----------+----------+ + + + + +.. _TECS_LAND_SINK: + +TECS\_LAND\_SINK: Sink rate for final landing stage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sink rate in meters\/second for the final stage of landing\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_TCONST: + +TECS\_LAND\_TCONST: Land controller time constant \(sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time constant of the TECS control algorithm when in final landing stage of flight\. It should be smaller than TECS\_TIME\_CONST to allow for faster flare + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.2 | 1.0 to 5.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_DAMP: + +TECS\_LAND\_DAMP: Controller sink rate to pitch gain during flare +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the sink rate gain for the pitch demand loop when in final landing stage of flight\. It should be larger than TECS\_PTCH\_DAMP to allow for better sink rate control during flare\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_PMAX: + +TECS\_LAND\_PMAX: Maximum pitch during final stage of landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the pitch used during the final stage of automatic landing\. During the final landing stage most planes need to keep their pitch small to avoid stalling\. A maximum of 10 degrees is usually good\. A value of zero means to use the normal pitch limits\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -5 to 40 | ++-----------+----------+ + + + + +.. _TECS_APPR_SMAX: + +TECS\_APPR\_SMAX: Sink rate max for landing approach stage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The sink rate max for the landing approach stage of landing\. This will need to be large for steep landing approaches especially when using reverse thrust\. If 0\, then use TECS\_SINK\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.0 to 20.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _TECS_LAND_SRC: + +TECS\_LAND\_SRC: Land sink rate change +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When zero\, the flare sink rate \(TECS\_LAND\_SINK\) is a fixed sink demand\. With this enabled the flare sinkrate will increase\/decrease the flare sink demand as you get further beyond the LAND waypoint\. Has no effect before the waypoint\. This value is added to TECS\_LAND\_SINK proportional to distance traveled after wp\. With an increasing sink rate you can still land in a given distance if you\'re traveling too fast and cruise passed the land point\. A positive value will force the plane to land sooner proportional to distance passed land point\. A negative number will tell the plane to slowly climb allowing for a pitched\-up stall landing\. Recommend 0\.2 as initial value\. + + ++-----------+-------------+-----------------------------+ +| Increment | Range | Units | ++===========+=============+=============================+ +| 0.1 | -2.0 to 2.0 | meters per second per meter | ++-----------+-------------+-----------------------------+ + + + + +.. _TECS_LAND_TDAMP: + +TECS\_LAND\_TDAMP: Controller throttle damping when landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Damping gain for the throttle demand loop during an auto\-landing\. Same as TECS\_THR\_DAMP but only in effect during an auto\-land\. Increase to add throttle activity to dampen oscillations in speed and height\. When set to 0 landing throttle damping is controlled by TECS\_THR\_DAMP\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_LAND_IGAIN: + +TECS\_LAND\_IGAIN: Controller integrator during landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during landing\. When set to 0 then TECS\_INTEG\_GAIN is used\. Increase to increase the rate at which speed and height offsets are trimmed out\. Typically values lower than TECS\_INTEG\_GAIN work best + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_TKOFF_IGAIN: + +TECS\_TKOFF\_IGAIN: Controller integrator during takeoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the integrator gain on the control loop during takeoff\. Increase to increase the rate at which speed and height offsets are trimmed out\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.02 | 0.0 to 0.5 | ++-----------+------------+ + + + + +.. _TECS_LAND_PDAMP: + +TECS\_LAND\_PDAMP: Pitch damping gain when landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the damping gain for the pitch demand loop during landing\. Increase to add damping to correct for oscillations in speed and height\. If set to 0 then TECS\_PTCH\_DAMP will be used instead\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 1.0 | ++-----------+------------+ + + + + +.. _TECS_SYNAIRSPEED: + +TECS\_SYNAIRSPEED: Enable the use of synthetic airspeed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of synthetic airspeed in TECS for aircraft that don\'t have a real airspeed sensor\. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system\, such as very poor estimates when a wind estimate is not accurate\. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate\. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _TECS_OPTIONS: + +TECS\_OPTIONS: Extra TECS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows the enabling of special features in the speed\/height controller\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | GliderOnly | ++-----+---------------------+ +| 1 | AllowDescentSpeedup | ++-----+---------------------+ + + + + +.. _TECS_PTCH_FF_V0: + +TECS\_PTCH\_FF\_V0: Baseline airspeed for pitch feed\-forward\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the airspeed at which no feed\-forward is applied between demanded airspeed and pitch\. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB\_PITCH\_DOWN\. + + ++-------------+ +| Range | ++=============+ +| 5.0 to 50.0 | ++-------------+ + + + + +.. _TECS_PTCH_FF_K: + +TECS\_PTCH\_FF\_K: Gain for pitch feed\-forward\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the gain between demanded airspeed and pitch\. It has units of radians per metre per second and should generally be negative\. A good starting value is \-0\.04 for gliders and \-0\.08 for draggy airframes\. The default \(0\.0\) disables this feed\-forward\. + + ++-------------+ +| Range | ++=============+ +| -5.0 to 0.0 | ++-------------+ + + + + +.. _TECS_FLARE_HGT: + +TECS\_FLARE\_HGT: Flare holdoff height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When height above ground is below this\, the sink rate will be held at TECS\_LAND\_SINK\. Use this to perform a hold\-off manoeuvre when combined with small values for TECS\_LAND\_SINK\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 15 | meters | ++---------+--------+ + + + + +.. _TECS_HDEM_TCONST: + +TECS\_HDEM\_TCONST: Height Demand Time Constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the time constant of the low pass filter that is applied to the height demand input when bit 1 of TECS\_OPTIONS is not selected\. + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| 0.2 | 1.0 to 5.0 | seconds | ++-----------+------------+---------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++-------+---------------------------------------------------+ +| Value | Meaning | ++=======+===================================================+ +| 0 | Disabled | ++-------+---------------------------------------------------+ +| 1 | Log all instances | ++-------+---------------------------------------------------+ +| 2 | Log only instances with sensor source set to None | ++-------+---------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TERRAIN_: + +TERRAIN\_ Parameters +-------------------- + + +.. _TERRAIN_ENABLE: + +TERRAIN\_ENABLE: Terrain data enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable terrain data\. This enables the vehicle storing a database of terrain data on the SD card\. The terrain data is requested from the ground station as needed\, and stored for later use on the SD card\. To be useful the ground station must support TERRAIN\_REQUEST messages and have access to a terrain database\, such as the SRTM database\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _TERRAIN_SPACING: + +TERRAIN\_SPACING: Terrain grid spacing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Distance between terrain grid points in meters\. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station\. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy\, then a resolution of 100 meters is appropriate\. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution\. The grid spacing also controls how much data is kept in memory during flight\. A larger grid spacing will allow for a larger amount of data in memory\. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2\.7 kilometers by 3\.2 kilometers\. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 1 | meters | ++-----------+--------+ + + + + +.. _TERRAIN_OPTIONS: + +TERRAIN\_OPTIONS: Terrain options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options to change behaviour of terrain system + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | Disable Download | ++-----+------------------+ + + + + +.. _TERRAIN_MARGIN: + +TERRAIN\_MARGIN: Acceptance margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Margin in centi\-meters to accept terrain data from the GCS\. This can be used to allow older terrain data generated with less accurate latitude\/longitude scaling to be used + + ++---------------+--------+ +| Range | Units | ++===============+========+ +| 0.05 to 50000 | meters | ++---------------+--------+ + + + + +.. _TERRAIN_OFS_MAX: + +TERRAIN\_OFS\_MAX: Terrain reference offset maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed\. When the vehicle is armed the location of the vehicle is recorded\, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming\. This height adjustment is applied to all terrain data\. This parameter clamps the amount of adjustment\. A value of zero disables the use of terrain height adjustment\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _TERRAIN_CACHE_SZ: + +TERRAIN\_CACHE\_SZ: Terrain cache size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of 32x28 cache blocks to keep in memory\. Each block uses about 1800 bytes of memory + + ++----------+ +| Range | ++==========+ +| 0 to 128 | ++----------+ + + + + + +.. _parameters_TKOFF_: + +TKOFF\_ Parameters +------------------ + + +.. _TKOFF_ALT: + +TKOFF\_ALT: Takeoff mode altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the target altitude for TAKEOFF mode + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 200 | meters | ++-----------+----------+--------+ + + + + +.. _TKOFF_LVL_ALT: + +TKOFF\_LVL\_ALT: Takeoff mode altitude level altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the altitude below which the wings are held level for TAKEOFF and AUTO modes\. Below this altitude\, roll demand is restricted to LEVEL\_ROLL\_LIMIT\. Normal\-flight roll restriction resumes above TKOFF\_LVL\_ALT\*3 or TKOFF\_ALT\, whichever is lower\. Roll limits are scaled while between TKOFF\_LVL\_ALT and those altitudes for a smooth transition\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 50 | meters | ++-----------+---------+--------+ + + + + +.. _TKOFF_LVL_PITCH: + +TKOFF\_LVL\_PITCH: Takeoff mode altitude initial pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the target pitch during the takeoff\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | degrees | ++-----------+---------+---------+ + + + + +.. _TKOFF_DIST: + +TKOFF\_DIST: Takeoff mode distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the distance from the takeoff location where the plane will loiter\. The loiter point will be in the direction of takeoff \(the direction the plane is facing when the plane begins takeoff\) + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 500 | meters | ++-----------+----------+--------+ + + + + +.. _TKOFF_GND_PITCH: + +TKOFF\_GND\_PITCH: Takeoff run pitch demand +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF\_ROTATE\_SPD\. For taildraggers set to 3\-point ground pitch angle and use TKOFF\_TDRAG\_ELEV to prevent nose tipover\. For nose\-wheel steer aircraft set to the ground pitch angle and if a reduction in nose\-wheel load is required as speed rises\, use a positive offset in TKOFF\_GND\_PITCH of up to 5 degrees above the angle on ground\, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment\. To increase nose\-wheel load\, use a negative TKOFF\_TDRAG\_ELEV and refer to notes on TKOFF\_TDRAG\_ELEV before making adjustments\. + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 0.1 | -5.0 to 10.0 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_TUNE_: + +TUNE\_ Parameters +----------------- + + +.. _TUNE_PARAM: + +TUNE\_PARAM: Transmitter tuning parameter or set of parameters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets which parameter or set of parameters will be tuned\. Values greater than 100 indicate a set of parameters rather than a single parameter\. Parameters less than 50 are for QuadPlane vertical lift motors only\. + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 1 | RateRollPI | ++-------+--------------------+ +| 2 | RateRollP | ++-------+--------------------+ +| 3 | RateRollI | ++-------+--------------------+ +| 4 | RateRollD | ++-------+--------------------+ +| 5 | RatePitchPI | ++-------+--------------------+ +| 6 | RatePitchP | ++-------+--------------------+ +| 7 | RatePitchI | ++-------+--------------------+ +| 8 | RatePitchD | ++-------+--------------------+ +| 9 | RateYawPI | ++-------+--------------------+ +| 10 | RateYawP | ++-------+--------------------+ +| 11 | RateYawI | ++-------+--------------------+ +| 12 | RateYawD | ++-------+--------------------+ +| 13 | AngleRollP | ++-------+--------------------+ +| 14 | AnglePitchP | ++-------+--------------------+ +| 15 | AngleYawP | ++-------+--------------------+ +| 16 | PosXYP | ++-------+--------------------+ +| 17 | PosZP | ++-------+--------------------+ +| 18 | VelXYP | ++-------+--------------------+ +| 19 | VelXYI | ++-------+--------------------+ +| 20 | VelZP | ++-------+--------------------+ +| 21 | AccelZP | ++-------+--------------------+ +| 22 | AccelZI | ++-------+--------------------+ +| 23 | AccelZD | ++-------+--------------------+ +| 24 | RatePitchFF | ++-------+--------------------+ +| 25 | RateRollFF | ++-------+--------------------+ +| 26 | RateYawFF | ++-------+--------------------+ +| 50 | FixedWingRollP | ++-------+--------------------+ +| 51 | FixedWingRollI | ++-------+--------------------+ +| 52 | FixedWingRollD | ++-------+--------------------+ +| 53 | FixedWingRollFF | ++-------+--------------------+ +| 54 | FixedWingPitchP | ++-------+--------------------+ +| 55 | FixedWingPitchI | ++-------+--------------------+ +| 56 | FixedWingPitchD | ++-------+--------------------+ +| 57 | FixedWingPitchFF | ++-------+--------------------+ +| 101 | Set_RateRollPitch | ++-------+--------------------+ +| 102 | Set_RateRoll | ++-------+--------------------+ +| 103 | Set_RatePitch | ++-------+--------------------+ +| 104 | Set_RateYaw | ++-------+--------------------+ +| 105 | Set_AngleRollPitch | ++-------+--------------------+ +| 106 | Set_VelXY | ++-------+--------------------+ +| 107 | Set_AccelZ | ++-------+--------------------+ +| 108 | Set_RatePitchDP | ++-------+--------------------+ +| 109 | Set_RateRollDP | ++-------+--------------------+ +| 110 | Set_RateYawDP | ++-------+--------------------+ + + + + +.. _TUNE_CHAN: + +TUNE\_CHAN: Transmitter tuning channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel for transmitter tuning\. This should be connected to a knob or slider on your transmitter\. It needs to be setup to use the PWM range given by TUNE\_CHAN\_MIN to TUNE\_CHAN\_MAX + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 5 | Chan5 | ++-------+---------+ +| 6 | Chan6 | ++-------+---------+ +| 7 | Chan7 | ++-------+---------+ +| 8 | Chan8 | ++-------+---------+ +| 9 | Chan9 | ++-------+---------+ +| 10 | Chan10 | ++-------+---------+ +| 11 | Chan11 | ++-------+---------+ +| 12 | Chan12 | ++-------+---------+ +| 13 | Chan13 | ++-------+---------+ +| 14 | Chan14 | ++-------+---------+ +| 15 | Chan15 | ++-------+---------+ +| 16 | Chan16 | ++-------+---------+ + + + + +.. _TUNE_CHAN_MIN: + +TUNE\_CHAN\_MIN: Transmitter tuning channel minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for the tuning channel + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _TUNE_CHAN_MAX: + +TUNE\_CHAN\_MAX: Transmitter tuning channel maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for the tuning channel + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _TUNE_SELECTOR: + +TUNE\_SELECTOR: Transmitter tuning selector channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel for the transmitter tuning selector switch\. This should be a 2 position switch\, preferably spring loaded\. A PWM above 1700 means high\, below 1300 means low\. If no selector is set then you won\'t be able to switch between parameters during flight or re\-center the tuning knob + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Chan1 | ++-------+---------+ +| 2 | Chan3 | ++-------+---------+ +| 3 | Chan3 | ++-------+---------+ +| 4 | Chan4 | ++-------+---------+ +| 5 | Chan5 | ++-------+---------+ +| 6 | Chan6 | ++-------+---------+ +| 7 | Chan7 | ++-------+---------+ +| 8 | Chan8 | ++-------+---------+ +| 9 | Chan9 | ++-------+---------+ +| 10 | Chan10 | ++-------+---------+ +| 11 | Chan11 | ++-------+---------+ +| 12 | Chan12 | ++-------+---------+ +| 13 | Chan13 | ++-------+---------+ +| 14 | Chan14 | ++-------+---------+ +| 15 | Chan15 | ++-------+---------+ +| 16 | Chan16 | ++-------+---------+ + + + + +.. _TUNE_RANGE: + +TUNE\_RANGE: Transmitter tuning range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range over which tuning will change a parameter\. A value of 2 means the tuning parameter will go from 0\.5 times the start value to 2x the start value over the range of the tuning channel + + +.. _TUNE_MODE_REVERT: + +TUNE\_MODE\_REVERT: Revert on mode change +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls whether tuning values will revert on a flight mode change\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _TUNE_ERR_THRESH: + +TUNE\_ERR\_THRESH: Controller error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning\. The error is the rms value of the P\+D corrections in the loop\. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios\.\-1 will disable this message\. + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | MAVLink | ++-------+---------------+ +| 2 | IntelT265 | ++-------+---------------+ +| 3 | VOXL(ModalAI) | ++-------+---------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 2 | Right | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 6 | Left | ++-------+---------+ +| 24 | Up | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Band A | ++-------+--------------+ +| 1 | Band B | ++-------+--------------+ +| 2 | Band E | ++-------+--------------+ +| 3 | Airwave | ++-------+--------------+ +| 4 | RaceBand | ++-------+--------------+ +| 5 | Low RaceBand | ++-------+--------------+ +| 6 | 1G3 Band A | ++-------+--------------+ +| 7 | 1G3 Band B | ++-------+--------------+ +| 8 | Band X | ++-------+--------------+ +| 9 | 3G3 Band A | ++-------+--------------+ +| 10 | 3G3 Band B | ++-------+--------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++-----+-----------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================+ +| 0 | Pitmode | ++-----+-----------------------------------------------------------+ +| 1 | Pitmode until armed | ++-----+-----------------------------------------------------------+ +| 2 | Pitmode when disarmed | ++-----+-----------------------------------------------------------+ +| 3 | Unlocked | ++-----+-----------------------------------------------------------+ +| 4 | Add leading zero byte to requests | ++-----+-----------------------------------------------------------+ +| 5 | Use 1 stop-bit in SmartAudio | ++-----+-----------------------------------------------------------+ +| 6 | Ignore CRC in SmartAudio | ++-----+-----------------------------------------------------------+ +| 7 | Ignore status updates in CRSF and blindly set VTX options | ++-----+-----------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_YAW: + +YAW Parameters +-------------- + + +.. _YAW2SRV_SLIP: + +YAW2SRV\_SLIP: Sideslip control gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips\. Do not enable for flying wings and gliders\. Actively coordinates flight more than just yaw damping\. Set after YAW2SRV\_DAMP and YAW2SRV\_INT are tuned\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 4 | ++-----------+--------+ + + + + +.. _YAW2SRV_INT: + +YAW2SRV\_INT: Sideslip control integrator +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Integral gain from lateral acceleration error\. Effectively trims rudder to eliminate long\-term sideslip\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 2 | ++-----------+--------+ + + + + +.. _YAW2SRV_DAMP: + +YAW2SRV\_DAMP: Yaw damping +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain from yaw rate to rudder\. Most effective at yaw damping and should be tuned after KFF\_RDDRMIX\. Also disables YAW2SRV\_INT if set to 0\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.25 | 0 to 2 | ++-----------+--------+ + + + + +.. _YAW2SRV_RLL: + +YAW2SRV\_RLL: Yaw coordination gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn\. Corrects for yaw tendencies after the turn is established\. Increase yaw into the turn by raising\. Increase yaw out of the turn by decreasing\. Values outside of 0\.9\-1\.1 range indicate airspeed calibration problems\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.05 | 0.8 to 1.2 | ++-----------+------------+ + + + + +.. _YAW2SRV_IMAX: + +YAW2SRV\_IMAX: Integrator limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Limit of yaw integrator gain in centi\-degrees of servo travel\. Servos are assumed to have \+\/\- 4500 centi\-degrees of travel\, so a value of 1500 allows trim of up to 1\/3 of servo travel range\. + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 1 | 0 to 4500 | ++-----------+-----------+ + + + + +.. _YAW_RATE_ENABLE: + +YAW\_RATE\_ENABLE: Yaw rate enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable yaw rate controller for aerobatic flight + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _YAW_RATE_P: + +YAW\_RATE\_P: Yaw axis rate controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller P gain\. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.005 | 0.08 to 0.35 | ++-----------+--------------+ + + + + +.. _YAW_RATE_I: + +YAW\_RATE\_I: Yaw axis rate controller I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain\. Corrects long\-term difference in desired yaw rate vs actual yaw rate + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.01 | 0.01 to 0.6 | ++-----------+-------------+ + + + + +.. _YAW_RATE_IMAX: + +YAW\_RATE\_IMAX: Yaw axis rate controller I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller I gain maximum\. Constrains the maximum that the I term will output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _YAW_RATE_D: + +YAW\_RATE\_D: Yaw axis rate controller D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller D gain\. Compensates for short\-term change in desired yaw rate vs actual yaw rate + + ++-----------+---------------+ +| Increment | Range | ++===========+===============+ +| 0.001 | 0.001 to 0.03 | ++-----------+---------------+ + + + + +.. _YAW_RATE_FF: + +YAW\_RATE\_FF: Yaw axis rate controller feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller feed forward + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.001 | 0 to 3.0 | ++-----------+----------+ + + + + +.. _YAW_RATE_FLTT: + +YAW\_RATE\_FLTT: Yaw axis rate controller target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_FLTE: + +YAW\_RATE\_FLTE: Yaw axis rate controller error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 2 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_FLTD: + +YAW\_RATE\_FLTD: Yaw axis rate controller derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _YAW_RATE_SMAX: + +YAW\_RATE\_SMAX: Yaw slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _YAW_RATE_PDMX: + +YAW\_RATE\_PDMX: Yaw axis rate controller PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Yaw axis rate controller PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 1 | ++-----------+--------+ + + + + +.. _YAW_RATE_D_FF: + +YAW\_RATE\_D\_FF: Yaw Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _YAW_RATE_NTF: + +YAW\_RATE\_NTF: Yaw Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _YAW_RATE_NEF: + +YAW\_RATE\_NEF: Yaw Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + diff --git a/Plane-4.6/apm.pdef.json b/Plane-4.6/apm.pdef.json new file mode 100644 index 0000000..9457db2 --- /dev/null +++ b/Plane-4.6/apm.pdef.json @@ -0,0 +1,54639 @@ +{ + "ADSB_": { + "ADSB_EMIT_TYPE": { + "Description": "ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).", + "DisplayName": "Emitter type", + "User": "Advanced", + "Values": { + "0": "NoInfo", + "1": "Light", + "10": "LightAir", + "11": "Parachute", + "12": "UltraLight", + "13": "RESERVED", + "14": "UAV", + "15": "Space", + "16": "RESERVED", + "17": "EmergencySurface", + "18": "ServiceSurface", + "19": "PointObstacle", + "2": "Small", + "3": "Large", + "4": "HighVortexlarge", + "5": "Heavy", + "6": "HighlyManuv", + "7": "Rotocraft", + "8": "RESERVED", + "9": "Glider" + } + }, + "ADSB_ICAO_ID": { + "Description": "ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.", + "DisplayName": "ICAO_ID vehicle identification number", + "Range": { + "high": "16777215", + "low": "-1" + }, + "User": "Advanced" + }, + "ADSB_ICAO_SPECL": { + "Description": "ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.", + "DisplayName": "ICAO_ID of special vehicle", + "User": "Advanced" + }, + "ADSB_LEN_WIDTH": { + "Description": "Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.", + "DisplayName": "Aircraft length and width", + "User": "Advanced", + "Values": { + "0": "NO_DATA", + "1": "L15W23", + "10": "L65W59P5", + "11": "L65W67", + "12": "L75W72P5", + "13": "L75W80", + "14": "L85W80", + "15": "L85W90", + "2": "L25W28P5", + "3": "L25W34", + "4": "L35W33", + "5": "L35W38", + "6": "L45W39P5", + "7": "L45W45", + "8": "L55W45", + "9": "L55W52" + } + }, + "ADSB_LIST_ALT": { + "Description": "ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.", + "DisplayName": "ADSB vehicle list altitude filter", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "ADSB_LIST_MAX": { + "Description": "ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.", + "DisplayName": "ADSB vehicle list size", + "Range": { + "high": "100", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "ADSB_LIST_RADIUS": { + "Description": "ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.", + "DisplayName": "ADSB vehicle list radius filter", + "Range": { + "high": "100000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "ADSB_LOG": { + "Description": "0: no logging, 1: log only special ID, 2:log all", + "DisplayName": "ADS-B logging", + "User": "Advanced", + "Values": { + "0": "no logging", + "1": "log only special ID", + "2": "log all" + } + }, + "ADSB_OFFSET_LAT": { + "Description": "GPS antenna lateral offset. This describes the physical location offset from center of the GPS antenna on the aircraft.", + "DisplayName": "GPS antenna lateral offset", + "User": "Advanced", + "Values": { + "0": "NoData", + "1": "Left2m", + "2": "Left4m", + "3": "Left6m", + "4": "Center", + "5": "Right2m", + "6": "Right4m", + "7": "Right6m" + } + }, + "ADSB_OFFSET_LON": { + "Description": "GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor", + "DisplayName": "GPS antenna longitudinal offset", + "User": "Advanced", + "Values": { + "0": "NO_DATA", + "1": "AppliedBySensor" + } + }, + "ADSB_OPTIONS": { + "Bitmask": { + "0": "Ping200X Send GPS", + "1": "Squawk 7400 on RC failsafe", + "2": "Squawk 7400 on GCS failsafe", + "3": "Sagetech MXS use External Config" + }, + "Description": "Options for emergency failsafe codes and device capabilities", + "DisplayName": "ADS-B Options", + "User": "Advanced" + }, + "ADSB_RF_CAPABLE": { + "Bitmask": { + "0": "UAT_in", + "1": "1090ES_in", + "2": "UAT_out", + "3": "1090ES_out" + }, + "Description": "Describes your hardware RF In/Out capabilities.", + "DisplayName": "RF capabilities", + "User": "Advanced" + }, + "ADSB_RF_SELECT": { + "Bitmask": { + "0": "Rx", + "1": "Tx" + }, + "Description": "Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.", + "DisplayName": "Transceiver RF selection", + "User": "Advanced" + }, + "ADSB_SQUAWK": { + "Description": "VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.", + "DisplayName": "Squawk code", + "Range": { + "high": "7777", + "low": "0" + }, + "Units": "octal", + "User": "Advanced" + }, + "ADSB_TYPE": { + "Description": "Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled", + "DisplayName": "ADSB Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "uAvionix-MAVLink", + "2": "Sagetech", + "3": "uAvionix-UCP", + "4": "Sagetech MX Series" + } + } + }, + "AFS_": { + "AFS_AMSL_ERR_GPS": { + "Description": "This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.", + "DisplayName": "Error margin for GPS based AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_AMSL_LIMIT": { + "Description": "This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.", + "DisplayName": "AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_DUAL_LOSS": { + "Description": "This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a \"dual loss\" and cause termination.", + "DisplayName": "Enable dual loss terminate due to failure of both GCS and GPS simultaneously", + "User": "Advanced" + }, + "AFS_ENABLE": { + "Description": "This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect", + "DisplayName": "Enable Advanced Failsafe", + "User": "Advanced" + }, + "AFS_GCS_TIMEOUT": { + "Description": "The time (in seconds) of persistent data link loss before GCS failsafe occurs. ", + "DisplayName": "GCS timeout", + "Units": "s", + "User": "Advanced" + }, + "AFS_GEOFENCE": { + "Description": "This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable geofence Advanced Failsafe", + "User": "Advanced" + }, + "AFS_HB_PIN": { + "Description": "This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Heartbeat Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_MAN_PIN": { + "Description": "This sets a digital output pin to set high when in manual mode. See the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Manual Pin", + "User": "Advanced" + }, + "AFS_MAX_COM_LOSS": { + "Description": "Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.", + "DisplayName": "Maximum number of comms loss events", + "User": "Advanced" + }, + "AFS_MAX_GPS_LOSS": { + "Description": "Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.", + "DisplayName": "Maximum number of GPS loss events", + "User": "Advanced" + }, + "AFS_MAX_RANGE": { + "Description": "This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.", + "DisplayName": "Max allowed range", + "Units": "km", + "User": "Advanced" + }, + "AFS_OPTIONS": { + "Bitmask": { + "0": "Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)", + "1": "Enable AFS for all autonomous modes (not just AUTO)" + }, + "Description": "See description for each bitmask bit description", + "DisplayName": "AFS options" + }, + "AFS_QNH_PRESSURE": { + "Description": "This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.", + "DisplayName": "QNH pressure", + "Units": "hPa", + "User": "Advanced" + }, + "AFS_RC": { + "Description": "This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable RC Advanced Failsafe", + "User": "Advanced" + }, + "AFS_RC_FAIL_TIME": { + "Description": "This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.", + "DisplayName": "RC failure time", + "Units": "s", + "User": "Advanced" + }, + "AFS_RC_MAN_ONLY": { + "Description": "If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.", + "DisplayName": "Enable RC Termination only in manual control modes", + "User": "Advanced" + }, + "AFS_TERMINATE": { + "Description": "Can be set in flight to force termination of the heartbeat signal", + "DisplayName": "Force Terminate", + "User": "Advanced" + }, + "AFS_TERM_ACTION": { + "Description": "This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter", + "DisplayName": "Terminate action", + "User": "Advanced" + }, + "AFS_TERM_PIN": { + "Description": "This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Terminate Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_WP_COMMS": { + "Description": "Waypoint number to navigate to on comms loss", + "DisplayName": "Comms Waypoint", + "User": "Advanced" + }, + "AFS_WP_GPS_LOSS": { + "Description": "Waypoint number to navigate to on GPS lock loss", + "DisplayName": "GPS Loss Waypoint", + "User": "Advanced" + } + }, + "AHRS_": { + "AHRS_COMP_BETA": { + "Description": "This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.", + "DisplayName": "AHRS Velocity Complementary Filter Beta Coefficient", + "Increment": ".01", + "Range": { + "high": "0.5", + "low": "0.001" + }, + "User": "Advanced" + }, + "AHRS_CUSTOM_PIT": { + "Description": "Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_ROLL": { + "Description": "Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_YAW": { + "Description": "Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_EKF_TYPE": { + "Description": "This controls which NavEKF Kalman filter version is used for attitude and position estimation", + "DisplayName": "Use NavEKF Kalman filter for attitude and position estimation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "11": "ExternalAHRS", + "2": "Enable EKF2", + "3": "Enable EKF3" + } + }, + "AHRS_GPS_GAIN": { + "Description": "This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.", + "DisplayName": "AHRS GPS gain", + "Increment": ".01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "AHRS_GPS_MINSATS": { + "Description": "Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.", + "DisplayName": "AHRS GPS Minimum satellites", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "AHRS_GPS_USE": { + "Description": "This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.", + "DisplayName": "AHRS use GPS for DCM navigation and position-down", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use GPS for DCM position", + "2": "Use GPS for DCM position and height" + } + }, + "AHRS_OPTIONS": { + "Bitmask": { + "0": "DisableDCMFallbackFW", + "1": "DisableDCMFallbackVTOL", + "2": "DontDisableAirspeedUsingEKF" + }, + "Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency", + "DisplayName": "Optional AHRS behaviour", + "User": "Advanced" + }, + "AHRS_ORIENTATION": { + "Description": "Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.", + "DisplayName": "Board Orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "AHRS_RP_P": { + "Description": "This controls how fast the accelerometers correct the attitude", + "DisplayName": "AHRS RP_P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + }, + "AHRS_TRIM_X": { + "Description": "Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.", + "DisplayName": "AHRS Trim Roll", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Y": { + "Description": "Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.", + "DisplayName": "AHRS Trim Pitch", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Z": { + "Description": "Not Used", + "DisplayName": "AHRS Trim Yaw", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Advanced" + }, + "AHRS_WIND_MAX": { + "Description": "This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.", + "DisplayName": "Maximum wind", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "AHRS_YAW_P": { + "Description": "This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.", + "DisplayName": "Yaw P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "AIS_": { + "AIS_LIST_MAX": { + "Description": "AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.", + "DisplayName": "AIS vessel list size", + "Range": { + "high": "100", + "low": "1" + }, + "User": "Advanced" + }, + "AIS_LOGGING": { + "Bitmask": { + "0": "Log all AIVDM messages", + "1": "Log only unsupported AIVDM messages", + "2": "Log decoded messages" + }, + "Description": "Bitmask of AIS logging options", + "DisplayName": "AIS logging options", + "User": "Advanced" + }, + "AIS_TIME_OUT": { + "Description": "if no updates are received in this time a vessel will be removed from the list", + "DisplayName": "AIS vessel time out", + "Range": { + "high": "2000", + "low": "1" + }, + "Units": "s", + "User": "Advanced" + }, + "AIS_TYPE": { + "Description": "AIS receiver type", + "DisplayName": "AIS receiver type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "NMEA AIVDM message" + } + } + }, + "ARMING_": { + "ARMING_ACCTHRESH": { + "Description": "Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.", + "DisplayName": "Accelerometer error threshold", + "Range": { + "high": "3.0", + "low": "0.25" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "ARMING_BBOX_SPD": { + "Description": "This is a 3D GPS speed threshold above which we will force arm the vehicle to start logging. WARNING: This should only be used on a vehicle with no propellers attached to the flight controller and when the flight controller is not in control of the vehicle.", + "DisplayName": "Blackbox speed", + "Increment": "1", + "Range": { + "high": "20", + "low": "1" + }, + "Units": "m/s", + "User": "Advanced" + }, + "ARMING_CHECK": { + "Bitmask": { + "0": "All", + "1": "Barometer", + "10": "Logging Available", + "11": "Hardware safety switch", + "12": "GPS Configuration", + "13": "System", + "14": "Mission", + "15": "Rangefinder", + "16": "Camera", + "17": "AuxAuth", + "19": "FFT", + "2": "Compass", + "3": "GPS lock", + "4": "INS", + "5": "Parameters", + "6": "RC Channels", + "7": "Board voltage", + "8": "Battery Level", + "9": "Airspeed" + }, + "Description": "Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.", + "DisplayName": "Arm Checks to Perform (bitmask)", + "User": "Standard" + }, + "ARMING_CRSDP_IGN": { + "Description": "Must have value \"1\" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.", + "DisplayName": "Disable CrashDump Arming check", + "User": "Advanced", + "Values": { + "0": "Crash Dump arming check active", + "1": "Crash Dump arming check deactivated" + } + }, + "ARMING_MAGTHRESH": { + "Description": "Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check", + "DisplayName": "Compass magnetic field strength error threshold vs earth magnetic model", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "ARMING_MIS_ITEMS": { + "Bitmask": { + "0": "Land", + "1": "VTOL Land", + "2": "DO_LAND_START", + "3": "Takeoff", + "4": "VTOL Takeoff", + "5": "Rallypoint", + "6": "RTL" + }, + "Description": "Bitmask of mission items that are required to be planned in order to arm the aircraft", + "DisplayName": "Required mission items", + "User": "Advanced" + }, + "ARMING_OPTIONS": { + "Bitmask": { + "0": "Disable prearm display", + "1": "Do not send status text on state change" + }, + "Description": "Options that can be applied to change arming behaviour", + "DisplayName": "Arming options", + "User": "Advanced" + }, + "ARMING_REQUIRE": { + "Description": "Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane.", + "DisplayName": "Require Arming Motors ", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "minimum PWM when disarmed", + "2": "0 PWM when disarmed" + } + }, + "ARMING_RUDDER": { + "Description": "Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!", + "DisplayName": "Arming with Rudder enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ArmingOnly", + "2": "ArmOrDisarm" + } + } + }, + "ARSPD": { + "ARSPD_ENABLE": { + "Description": "Enable airspeed sensor support", + "DisplayName": "Airspeed Enable", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_OFF_PCNT": { + "Description": "The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.", + "DisplayName": "Maximum offset cal speed error ", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "%", + "User": "Advanced" + }, + "ARSPD_OPTIONS": { + "Bitmask": { + "0": "SpeedMismatchDisable", + "1": "AllowSpeedMismatchRecovery", + "2": "DisableVoltageCorrection", + "3": "UseEkf3Consistency", + "4": "ReportOffset" + }, + "Description": "Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS", + "DisplayName": "Airspeed options bitmask", + "User": "Advanced" + }, + "ARSPD_PRIMARY": { + "Description": "This selects which airspeed sensor will be the primary if multiple sensors are found", + "DisplayName": "Primary airspeed sensor", + "User": "Advanced", + "Values": { + "0": "FirstSensor", + "1": "2ndSensor" + } + }, + "ARSPD_TUBE_ORDER": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_WIND_GATE": { + "Description": "Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.", + "DisplayName": "Re-enable Consistency Check Gate Size", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "ARSPD_WIND_MAX": { + "Description": "If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.", + "DisplayName": "Maximum airspeed and ground speed difference", + "Units": "m/s", + "User": "Advanced" + }, + "ARSPD_WIND_WARN": { + "Description": "If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.", + "DisplayName": "Airspeed and GPS speed difference that gives a warning", + "Units": "m/s", + "User": "Advanced" + } + }, + "ARSPD2_": { + "ARSPD2_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "Automatic airspeed ratio calibration", + "User": "Advanced" + }, + "ARSPD2_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD2_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD2_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD2_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD2_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD2_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD2_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD2_USE": { + "Description": "Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "ARSPD_": { + "ARSPD_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "Automatic airspeed ratio calibration", + "User": "Advanced" + }, + "ARSPD_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD_USE": { + "Description": "Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "AVD_": { + "AVD_ENABLE": { + "Description": "Enable Avoidance using ADSB", + "DisplayName": "Enable Avoidance using ADSB", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "AVD_F_ACTION": { + "Description": "Specifies aircraft behaviour when a collision is imminent", + "DisplayName": "Collision Avoidance Behavior", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Report", + "2": "Climb Or Descend", + "3": "Move Horizontally", + "4": "Move Perpendicularly in 3D", + "5": "RTL", + "6": "Hover" + } + }, + "AVD_F_ALT_MIN": { + "Description": "Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.", + "DisplayName": "ADS-B avoidance minimum altitude", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_DIST_XY": { + "Description": "Closest allowed projected distance before F_ACTION is undertaken", + "DisplayName": "Distance Fail XY", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_DIST_Z": { + "Description": "Closest allowed projected distance before BEHAVIOUR_F is undertaken", + "DisplayName": "Distance Fail Z", + "Units": "m", + "User": "Advanced" + }, + "AVD_F_RCVRY": { + "Description": "Determines what the aircraft will do after a fail event is resolved", + "DisplayName": "Recovery behaviour after a fail event", + "User": "Advanced", + "Values": { + "0": "Remain in AVOID_ADSB", + "1": "Resume previous flight mode", + "2": "RTL", + "3": "Resume if AUTO else Loiter" + } + }, + "AVD_F_TIME": { + "Description": "Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken", + "DisplayName": "Time Horizon Fail", + "Units": "s", + "User": "Advanced" + }, + "AVD_OBS_MAX": { + "Description": "Maximum number of obstacles to track", + "DisplayName": "Maximum number of obstacles to track", + "User": "Advanced" + }, + "AVD_W_ACTION": { + "Description": "Specifies aircraft behaviour when a collision may occur", + "DisplayName": "Collision Avoidance Behavior - Warn", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Report" + } + }, + "AVD_W_DIST_XY": { + "Description": "Closest allowed projected distance before W_ACTION is undertaken", + "DisplayName": "Distance Warn XY", + "Units": "m", + "User": "Advanced" + }, + "AVD_W_DIST_Z": { + "Description": "Closest allowed projected distance before BEHAVIOUR_W is undertaken", + "DisplayName": "Distance Warn Z", + "Units": "m", + "User": "Advanced" + }, + "AVD_W_TIME": { + "Description": "Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)", + "DisplayName": "Time Horizon Warn", + "Units": "s", + "User": "Advanced" + } + }, + "BARO": { + "BARO1_DEVID": { + "Description": "Barometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO1_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO2_DEVID": { + "Description": "Barometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID2", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO2_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO3_DEVID": { + "Description": "Barometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID3", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO3_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Absolute Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_ALTERR_MAX": { + "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.", + "DisplayName": "Altitude error maximum", + "Increment": "1", + "Range": { + "high": "5000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "BARO_ALT_OFFSET": { + "Description": "altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.", + "DisplayName": "altitude offset", + "Increment": "0.1", + "Units": "m", + "User": "Advanced" + }, + "BARO_EXT_BUS": { + "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.", + "DisplayName": "External baro bus", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Bus0", + "1": "Bus1", + "6": "Bus6" + } + }, + "BARO_FIELD_ELV": { + "Description": "User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.", + "DisplayName": "field elevation", + "Increment": "0.1", + "Units": "m", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "BARO_GND_TEMP": { + "Description": "User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.", + "DisplayName": "ground temperature", + "Increment": "1", + "Units": "degC", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_OPTIONS": { + "Bitmask": { + "0": "Treat MS5611 as MS5607" + }, + "Description": "Barometer options", + "DisplayName": "Barometer options", + "User": "Advanced" + }, + "BARO_PRIMARY": { + "Description": "This selects which barometer will be the primary if multiple barometers are found", + "DisplayName": "Primary barometer", + "User": "Advanced", + "Values": { + "0": "FirstBaro", + "1": "2ndBaro", + "2": "3rdBaro" + } + }, + "BARO_PROBE_EXT": { + "Bitmask": { + "0": "BMP085", + "1": "BMP280", + "10": "BMP388", + "11": "SPL06", + "12": "MSP", + "13": "BMP581", + "2": "MS5611", + "3": "MS5607", + "4": "MS5637", + "5": "FBM320", + "6": "DPS280", + "7": "LPS25H", + "8": "Keller", + "9": "MS5837" + }, + "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.", + "DisplayName": "External barometers to probe", + "User": "Advanced" + } + }, + "BARO1_WCF_": { + "BARO1_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO1_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO2_WCF_": { + "BARO2_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO2_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO3_WCF_": { + "BARO3_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO3_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BATT2_": { + "BATT2_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT2_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT2_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT2_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT2_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT2_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT2_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT2_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT2_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT2_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT2_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT2_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT2_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT2_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT2_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT2_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT2_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT2_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT2_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT2_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT2_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT2_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT2_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT2_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT2_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT3_": { + "BATT3_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT3_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT3_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT3_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT3_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT3_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT3_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT3_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT3_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT3_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT3_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT3_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT3_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT3_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT3_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT3_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT3_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT3_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT3_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT3_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT3_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT3_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT3_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT3_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT3_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT4_": { + "BATT4_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT4_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT4_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT4_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT4_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT4_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT4_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT4_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT4_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT4_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT4_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT4_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT4_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT4_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT4_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT4_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT4_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT4_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT4_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT4_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT4_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT4_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT4_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT4_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT4_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT5_": { + "BATT5_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT5_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT5_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT5_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT5_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT5_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT5_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT5_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT5_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT5_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT5_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT5_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT5_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT5_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT5_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT5_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT5_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT5_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT5_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT5_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT5_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT5_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT5_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT5_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT5_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT5_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT6_": { + "BATT6_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT6_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT6_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT6_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT6_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT6_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT6_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT6_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT6_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT6_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT6_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT6_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT6_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT6_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT6_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT6_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT6_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT6_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT6_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT6_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT6_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT6_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT6_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT6_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT6_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT6_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT7_": { + "BATT7_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT7_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT7_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT7_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT7_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT7_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT7_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT7_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT7_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT7_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT7_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT7_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT7_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT7_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT7_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT7_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT7_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT7_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT7_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT7_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT7_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT7_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT7_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT7_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT7_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT7_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT8_": { + "BATT8_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT8_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT8_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT8_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT8_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT8_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT8_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT8_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT8_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT8_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT8_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT8_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT8_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT8_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT8_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT8_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT8_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT8_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT8_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT8_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT8_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT8_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT8_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT8_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT8_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT8_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT9_": { + "BATT9_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT9_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT9_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT9_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT9_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT9_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT9_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT9_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT9_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT9_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT9_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT9_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT9_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT9_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT9_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT9_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT9_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT9_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT9_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT9_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT9_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT9_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT9_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT9_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT9_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT9_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTA_": { + "BATTA_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTA_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTA_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTA_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTA_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTA_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTA_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTA_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTA_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTA_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTA_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTA_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTA_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTA_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTA_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTA_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTA_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTA_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTA_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTA_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTA_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTA_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTA_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTA_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTA_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTA_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTB_": { + "BATTB_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTB_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTB_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTB_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTB_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTB_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTB_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTB_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTB_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTB_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTB_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTB_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTB_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTB_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTB_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTB_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTB_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTB_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTB_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTB_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTB_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTB_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTB_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTB_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTB_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTB_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTC_": { + "BATTC_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTC_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTC_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTC_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTC_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTC_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTC_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTC_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTC_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTC_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTC_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTC_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTC_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTC_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTC_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTC_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTC_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTC_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTC_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTC_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTC_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTC_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTC_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTC_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTC_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTC_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTD_": { + "BATTD_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTD_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTD_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTD_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTD_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTD_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTD_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTD_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTD_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTD_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTD_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTD_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTD_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTD_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTD_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTD_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTD_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTD_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTD_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTD_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTD_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTD_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTD_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTD_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTD_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTD_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTE_": { + "BATTE_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTE_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTE_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTE_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTE_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTE_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTE_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTE_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTE_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTE_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTE_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTE_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTE_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTE_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTE_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTE_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTE_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTE_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTE_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTE_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTE_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTE_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTE_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTE_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTE_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTE_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTF_": { + "BATTF_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTF_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTF_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTF_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTF_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTF_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTF_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTF_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTF_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTF_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTF_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTF_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTF_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTF_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTF_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTF_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTF_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTF_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTF_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTF_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTF_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTF_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTF_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTF_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTF_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTF_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATTG_": { + "BATTG_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTG_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTG_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTG_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTG_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTG_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTG_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTG_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTG_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTG_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTG_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTG_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATTG_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATTG_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTG_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTG_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTG_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTG_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTG_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTG_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTG_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTG_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTG_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTG_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTG_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTG_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BATT_": { + "BATT_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "5": "Parachute", + "6": "Loiter to QLand" + } + }, + "BATT_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Land", + "3": "Terminate", + "4": "QLand", + "6": "Loiter to QLand" + } + }, + "BATT_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT_WATT_MAX": { + "Description": "If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.", + "DisplayName": "Maximum allowed power (Watts)", + "Increment": "1", + "Units": "W", + "User": "Advanced" + } + }, + "BRD_": { + "BRD_ALT_CONFIG": { + "Description": "Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.", + "DisplayName": "Alternative HW config", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_BOOT_DELAY": { + "Description": "This adds a delay in milliseconds to boot to ensure peripherals initialise fully", + "DisplayName": "Boot delay", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "BRD_HEAT_I": { + "Description": "Board Heater integrator gain", + "DisplayName": "Board Heater I gain", + "Increment": "0.1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_IMAX": { + "Description": "Board Heater integrator maximum", + "DisplayName": "Board Heater IMAX", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_LOWMGN": { + "Description": "Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check", + "DisplayName": "Board heater temp lower margin", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_HEAT_P": { + "Description": "Board Heater P gain", + "DisplayName": "Board Heater P gain", + "Increment": "1", + "Range": { + "high": "500", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_HEAT_TARG": { + "Description": "Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.", + "DisplayName": "Board heater temperature target", + "Range": { + "high": "80", + "low": "-1" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_IO_DSHOT": { + "Description": "This loads the DShot firmware on the IO co-processor", + "DisplayName": "Load DShot FW on IO", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "StandardFW", + "1": "DshotFW" + } + }, + "BRD_IO_ENABLE": { + "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup", + "DisplayName": "Enable IO co-processor", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "EnableNoFWUpdate" + } + }, + "BRD_OPTIONS": { + "Bitmask": { + "0": "Enable hardware watchdog", + "1": "Disable MAVftp", + "2": "Enable set of internal parameters", + "3": "Enable Debug Pins", + "4": "Unlock flash on reboot", + "5": "Write protect firmware flash on reboot", + "6": "Write protect bootloader flash on reboot", + "7": "Skip board validation", + "8": "Disable board arming gpio output change on arm/disarm" + }, + "Description": "Board specific option flags", + "DisplayName": "Board options", + "User": "Advanced" + }, + "BRD_PWM_VOLT_SEL": { + "Description": "This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.", + "DisplayName": "Set PWM Out Voltage", + "User": "Advanced", + "Values": { + "0": "3.3V", + "1": "5V" + } + }, + "BRD_SAFETYOPTION": { + "Bitmask": { + "0": "ActiveForSafetyDisable", + "1": "ActiveForSafetyEnable", + "2": "ActiveWhenArmed", + "3": "Force safety on when the aircraft disarms" + }, + "Description": "This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed", + "DisplayName": "Options for safety button behavior", + "User": "Standard" + }, + "BRD_SAFETY_DEFLT": { + "Description": "This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.", + "DisplayName": "Sets default state of the safety switch", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_SAFETY_MASK": { + "Bitmask": { + "0": "Output1", + "1": "Output2", + "10": "Output11", + "11": "Output12", + "12": "Output13", + "13": "Output14", + "2": "Output3", + "3": "Output4", + "4": "Output5", + "5": "Output6", + "6": "Output7", + "7": "Output8", + "8": "Output9", + "9": "Output10" + }, + "Description": "A bitmask which controls what outputs can move while the safety switch has not been pressed", + "DisplayName": "Outputs which ignore the safety switch state", + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SBUS_OUT": { + "Description": "This sets the SBUS output frame rate in Hz", + "DisplayName": " SBUS output rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "50Hz", + "2": "75Hz", + "3": "100Hz", + "4": "150Hz", + "5": "200Hz", + "6": "250Hz", + "7": "300Hz" + } + }, + "BRD_SD_FENCE": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.", + "DisplayName": " SDCard Fence size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_MISSION": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.", + "DisplayName": " SDCard Mission size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_SLOWDOWN": { + "Description": "This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.", + "DisplayName": "microSD slowdown", + "Increment": "1", + "Range": { + "high": "32", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_SER1_RTSCTS": { + "Description": "Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.", + "DisplayName": "Serial 1 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER2_RTSCTS": { + "Description": "Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 2 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER3_RTSCTS": { + "Description": "Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 3 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER4_RTSCTS": { + "Description": "Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 4 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER5_RTSCTS": { + "Description": "Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 5 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SERIAL_NUM": { + "Description": "User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot", + "DisplayName": "User-defined serial number", + "Range": { + "high": "8388607", + "low": "-8388608" + }, + "User": "Standard" + }, + "BRD_TYPE": { + "Description": "This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)", + "DisplayName": "Board type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "AUTO", + "1": "PX4V1", + "100": "PX4 OLDDRIVERS", + "13": "Intel Aero FC", + "14": "Pixhawk Pro", + "2": "Pixhawk", + "20": "AUAV2.1", + "21": "PCNC1", + "22": "MINDPXV2", + "23": "SP01", + "24": "CUAVv5/FMUV5", + "3": "Cube/Pixhawk2", + "30": "VRX BRAIN51", + "32": "VRX BRAIN52", + "33": "VRX BRAIN52E", + "34": "VRX UBRAIN51", + "35": "VRX UBRAIN52", + "36": "VRX CORE10", + "38": "VRX BRAIN54", + "39": "PX4 FMUV6", + "4": "Pixracer", + "5": "PixhawkMini", + "6": "Pixhawk2Slim" + } + }, + "BRD_VBUS_MIN": { + "Description": "Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Autopilot board voltage requirement", + "Increment": "0.1", + "Range": { + "high": "5.5", + "low": "4.0" + }, + "Units": "V", + "User": "Advanced" + }, + "BRD_VSERVO_MIN": { + "Description": "Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Servo voltage requirement", + "Increment": "0.1", + "Range": { + "high": "12.0", + "low": "3.3" + }, + "Units": "V", + "User": "Advanced" + } + }, + "BRD_RADIO": { + "BRD_RADIO_ABLVL": { + "Description": "This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially", + "DisplayName": "Auto-bind level", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_ABTIME": { + "Description": "When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.", + "DisplayName": "Auto-bind time", + "Range": { + "high": "120", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_BZOFS": { + "Description": "Set transmitter buzzer note adjustment (adjust frequency up)", + "DisplayName": "Transmitter buzzer adjustment", + "Range": { + "high": "40", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DEBUG": { + "Description": "radio debug level", + "DisplayName": "debug level", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DISCRC": { + "Description": "disable receive CRC (for debug)", + "DisplayName": "disable receive CRC", + "User": "Advanced", + "Values": { + "0": "NotDisabled", + "1": "Disabled" + } + }, + "BRD_RADIO_FCCTST": { + "Description": "If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled", + "DisplayName": "Put radio into FCC test mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MinChannel", + "2": "MidChannel", + "3": "MaxChannel", + "4": "MinChannelCW", + "5": "MidChannelCW", + "6": "MaxChannelCW" + } + }, + "BRD_RADIO_PPSCH": { + "Description": "Channel to show received packet-per-second rate, or zero for disabled", + "DisplayName": "Packet rate channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_PROT": { + "Description": "Select air protocol", + "DisplayName": "protocol", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "DSM2", + "2": "DSMX" + } + }, + "BRD_RADIO_SIGCH": { + "Description": "Channel to show receive RSSI signal strength, or zero for disabled", + "DisplayName": "RSSI signal strength", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_STKMD": { + "Description": "This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.", + "DisplayName": "Stick input mode", + "User": "Advanced", + "Values": { + "1": "Mode1", + "2": "Mode2" + } + }, + "BRD_RADIO_TELEM": { + "Description": "If this is non-zero then telemetry packets will be sent over DSM", + "DisplayName": "Enable telemetry", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_RADIO_TESTCH": { + "Description": "This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.", + "DisplayName": "Set radio to factory test channel", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestChan1", + "2": "TestChan2", + "3": "TestChan3", + "4": "TestChan4", + "5": "TestChan5", + "6": "TestChan6", + "7": "TestChan7", + "8": "TestChan8" + } + }, + "BRD_RADIO_TPPSCH": { + "Description": "Channel to show telemetry packets-per-second value, as received at TX", + "DisplayName": "Telemetry PPS channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TSIGCH": { + "Description": "Channel to show telemetry RSSI value as received by TX", + "DisplayName": "RSSI value channel for telemetry data on transmitter", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXMAX": { + "Description": "Set transmitter maximum transmit power (from 1 to 8)", + "DisplayName": "Transmitter transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXPOW": { + "Description": "Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX", + "DisplayName": "Telemetry Transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TYPE": { + "Description": "This enables support for direct attached radio receivers", + "DisplayName": "Set type of direct attached radio", + "Values": { + "0": "None", + "1": "CYRF6936", + "2": "CC2500", + "3": "BK2425" + } + } + }, + "BRD_RTC": { + "BRD_RTC_TYPES": { + "Bitmask": { + "0": "GPS", + "1": "MAVLINK_SYSTEM_TIME", + "2": "HW" + }, + "Description": "Specifies which sources of UTC time will be accepted", + "DisplayName": "Allowed sources of RTC time", + "User": "Advanced" + }, + "BRD_RTC_TZ_MIN": { + "Description": "Adds offset in +- minutes from UTC to calculate local time", + "DisplayName": "Timezone offset from UTC", + "Range": { + "high": "+840", + "low": "-720" + }, + "User": "Advanced" + } + }, + "BTN_": { + "BTN_ENABLE": { + "Description": "This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible", + "DisplayName": "Enable button reporting", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BTN_FUNC1": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 1 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "BTN_FUNC2": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 2 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "BTN_FUNC3": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 3 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "BTN_FUNC4": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 4 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "BTN_OPTIONS1": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 1 Options", + "User": "Standard" + }, + "BTN_OPTIONS2": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 2 Options", + "User": "Standard" + }, + "BTN_OPTIONS3": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 3 Options" + }, + "BTN_OPTIONS4": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 4 Options", + "User": "Standard" + }, + "BTN_PIN1": { + "Description": "Digital pin number for first button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "First button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN2": { + "Description": "Digital pin number for second button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Second button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN3": { + "Description": "Digital pin number for third button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Third button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN4": { + "Description": "Digital pin number for fourth button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Fourth button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_REPORT_SEND": { + "Description": "The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.", + "DisplayName": "Report send time", + "Range": { + "high": "3600", + "low": "0" + }, + "User": "Standard" + } + }, + "CAM": { + "CAM_AUTO_ONLY": { + "Description": "When enabled, trigging by distance is done in AUTO mode only.", + "DisplayName": "Distance-trigging in AUTO mode only", + "User": "Standard", + "Values": { + "0": "Always", + "1": "Only when in AUTO" + } + }, + "CAM_MAX_ROLL": { + "Description": "Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).", + "DisplayName": "Maximum photo roll angle.", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM1": { + "CAM1_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM1_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM1_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM1_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM1_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM1_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM1_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM1_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM1_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM2": { + "CAM2_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM2_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM2_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM2_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM2_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM2_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM2_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM2_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM2_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM_RC_": { + "CAM_RC_BTN_DELAY": { + "Description": "Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam button delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_BT_DELAY": { + "Description": "Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam boot delay before allowing updates", + "User": "Advanced" + }, + "CAM_RC_CONTROL": { + "Bitmask": { + "0": "Stick yaw right", + "1": "Stick roll right", + "2": "3-position switch", + "3": "2-position switch", + "4": "Autorecording enabled" + }, + "Description": "Specifies the allowed actions required to enter the OSD menu and other option like autorecording", + "DisplayName": "RunCam control option", + "User": "Advanced" + }, + "CAM_RC_FEATURES": { + "Bitmask": { + "0": "Power Button", + "1": "WiFi Button", + "2": "Change Mode", + "3": "5-Key OSD", + "4": "Settings Access", + "5": "DisplayPort", + "6": "Start Recording", + "7": "Stop Recording" + }, + "Description": "The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.", + "DisplayName": "RunCam features available", + "User": "Advanced" + }, + "CAM_RC_MDE_DELAY": { + "Description": "Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam mode delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_TYPE": { + "Description": "RunCam device type used to determine OSD menu structure and shutter options.", + "DisplayName": "RunCam device type", + "Values": { + "0": "Disabled", + "1": "RunCam Split Micro/RunCam with UART", + "2": "RunCam Split", + "3": "RunCam Split4 4k", + "4": "RunCam Hybrid/RunCam Thumb Pro", + "5": "Runcam 2 4k" + } + } + }, + "CAN_": { + "CAN_LOGLEVEL": { + "Description": "Loglevel for recording initialisation and debug information from CAN Interface", + "DisplayName": "Loglevel", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Log None", + "1": "Log Error", + "2": "Log Warning and below", + "3": "Log Info and below", + "4": "Log Everything" + } + } + }, + "CAN_D1_": { + "CAN_D1_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D1_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D1_PC_": { + "CAN_D1_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D1_UC_": { + "CAN_D1_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D1_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D1_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D1_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D1_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D1_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D1_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D1_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_": { + "CAN_D2_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D2_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D2_PC_": { + "CAN_D2_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_UC_": { + "CAN_D2_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D2_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D2_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D2_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D2_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D2_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D2_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D2_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_": { + "CAN_D3_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D3_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D3_PC_": { + "CAN_D3_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_UC_": { + "CAN_D3_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D3_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D3_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D3_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D3_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D3_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D3_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D3_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_P1_": { + "CAN_P1_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P1_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P1_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P2_": { + "CAN_P2_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P2_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P2_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P3_": { + "CAN_P3_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P3_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P3_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_SLCAN_": { + "CAN_SLCAN_CPORT": { + "Description": "CAN Interface ID to be routed to SLCAN, 0 means no routing", + "DisplayName": "SLCAN Route", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First interface", + "2": "Second interface" + } + }, + "CAN_SLCAN_SDELAY": { + "Description": "Duration after which slcan starts after setting SERNUM in seconds.", + "DisplayName": "SLCAN Start Delay", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "CAN_SLCAN_SERNUM": { + "Description": "Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details", + "DisplayName": "SLCAN Serial Port", + "User": "Standard", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_SLCAN_TIMOUT": { + "Description": "Duration of inactivity after which SLCAN is switched back to original driver in seconds.", + "DisplayName": "SLCAN Timeout", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + } + }, + "CHUTE_": { + "CHUTE_ALT_MIN": { + "Description": "Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.", + "DisplayName": "Parachute min altitude in meters above home", + "Increment": "1", + "Range": { + "high": "32000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CHUTE_CRT_SINK": { + "Description": "Release parachute when critical sink rate is reached", + "DisplayName": "Critical sink speed rate in m/s to trigger emergency parachute", + "Increment": "1", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "CHUTE_DELAY_MS": { + "Description": "Delay in millseconds between motor stop and chute release", + "DisplayName": "Parachute release delay", + "Increment": "1", + "Range": { + "high": "5000", + "low": "0" + }, + "Units": "ms", + "User": "Standard" + }, + "CHUTE_ENABLED": { + "Description": "Parachute release enabled or disabled", + "DisplayName": "Parachute release enabled or disabled", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CHUTE_OPTIONS": { + "Bitmask": { + "0": "hold open forever after release", + "1": "skip disarm before parachute release" + }, + "Description": "Optional behaviour for parachute", + "DisplayName": "Parachute options", + "User": "Standard" + }, + "CHUTE_SERVO_OFF": { + "Description": "Parachute Servo PWM value in microseconds when parachute is not released", + "DisplayName": "Servo OFF PWM value", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CHUTE_SERVO_ON": { + "Description": "Parachute Servo PWM value in microseconds when parachute is released", + "DisplayName": "Parachute Servo ON PWM value", + "Increment": "1", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CHUTE_TYPE": { + "Description": "Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. ", + "DisplayName": "Parachute release mechanism type (relay or servo)", + "Values": { + "0": "Relay", + "10": "Servo" + } + } + }, + "COMPASS_": { + "COMPASS_AUTODEC": { + "Description": "Enable or disable the automatic calculation of the declination based on gps location", + "DisplayName": "Auto Declination", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_AUTO_ROT": { + "Description": "When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.", + "DisplayName": "Automatically check orientation", + "Values": { + "0": "Disabled", + "1": "CheckOnly", + "2": "CheckAndFix", + "3": "use same tolerance to auto rotate 45 deg rotations" + } + }, + "COMPASS_CAL_FIT": { + "Description": "This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.", + "DisplayName": "Compass calibration fitness", + "Increment": "0.1", + "Range": { + "high": "32", + "low": "4" + }, + "User": "Advanced", + "Values": { + "16": "Default", + "32": "Relaxed", + "4": "Very Strict", + "8": "Strict" + } + }, + "COMPASS_CUS_PIT": { + "Description": "Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_ROLL": { + "Description": "Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_YAW": { + "Description": "Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_DEC": { + "Description": "An angle to compensate between the true north and magnetic north", + "DisplayName": "Compass declination", + "Increment": "0.01", + "Range": { + "high": "3.142", + "low": "-3.142" + }, + "Units": "rad", + "User": "Standard" + }, + "COMPASS_DEV_ID": { + "Description": "Compass device id. Automatically detected, do not set manually", + "DisplayName": "Compass device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID2": { + "Description": "Second compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass2 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID3": { + "Description": "Third compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass3 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID4": { + "Description": "Extra 4th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass4 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID5": { + "Description": "Extra 5th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass5 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID6": { + "Description": "Extra 6th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass6 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID7": { + "Description": "Extra 7th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass7 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID8": { + "Description": "Extra 8th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass8 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DIA2_X": { + "Calibration": "1", + "Description": "DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA2_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA2_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA3_X": { + "Calibration": "1", + "Description": "DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA3_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA3_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA_X": { + "Calibration": "1", + "Description": "DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DISBLMSK": { + "Bitmask": { + "0": "HMC5883", + "1": "LSM303D", + "11": "DroneCAN", + "12": "QMC5883", + "14": "MAG3110", + "15": "IST8308", + "16": "RM3100", + "17": "MSP", + "18": "ExternalAHRS", + "19": "MMC5XX3", + "2": "AK8963", + "20": "QMC5883P", + "21": "BMM350", + "3": "BMM150", + "4": "LSM9DS1", + "5": "LIS3MDL", + "6": "AK09916", + "7": "IST8310", + "8": "ICM20948", + "9": "MMC3416" + }, + "Description": "This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup", + "DisplayName": "Compass disable driver type mask", + "User": "Advanced" + }, + "COMPASS_ENABLE": { + "Description": "Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.", + "DisplayName": "Enable Compass", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_EXTERN2": { + "Description": "Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass2 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERN3": { + "Description": "Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass3 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERNAL": { + "Description": "Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "COMPASS_LEARN": { + "Description": "Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.", + "DisplayName": "Learn compass offsets automatically", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Internal-Learning", + "2": "EKF-Learning", + "3": "InFlight-Learning" + } + }, + "COMPASS_MOT2_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOTCT": { + "Calibration": "1", + "Description": "Set motor interference compensation type to disabled, throttle or current. Do not change manually.", + "DisplayName": "Motor interference compensation type", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use Throttle", + "2": "Use Current" + } + }, + "COMPASS_MOT_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_ODI2_X": { + "Calibration": "1", + "Description": "ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI2_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI2_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI3_X": { + "Calibration": "1", + "Description": "ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI3_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI3_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI_X": { + "Calibration": "1", + "Description": "ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_OFFS_MAX": { + "Description": "This sets the maximum allowed compass offset in calibration and arming checks", + "DisplayName": "Compass maximum offset", + "Increment": "1", + "Range": { + "high": "3000", + "low": "500" + }, + "User": "Advanced" + }, + "COMPASS_OFS2_X": { + "Calibration": "1", + "Description": "Offset to be added to compass2's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass2's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass2's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_X": { + "Calibration": "1", + "Description": "Offset to be added to compass3's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass3's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass3's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_X": { + "Calibration": "1", + "Description": "Offset to be added to the compass x-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Y": { + "Calibration": "1", + "Description": "Offset to be added to the compass y-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Z": { + "Calibration": "1", + "Description": "Offset to be added to the compass z-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OPTIONS": { + "Bitmask": { + "0": "CalRequireGPS", + "1": "Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)" + }, + "Description": "This sets options to change the behaviour of the compass", + "DisplayName": "Compass options", + "User": "Advanced" + }, + "COMPASS_ORIENT": { + "Description": "The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT2": { + "Description": "The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass2 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT3": { + "Description": "The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass3 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_PRIO1_ID": { + "Description": "Compass device id with 1st order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 1st order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO2_ID": { + "Description": "Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 2nd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO3_ID": { + "Description": "Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 3rd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_SCALE": { + "Description": "Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass1 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE2": { + "Description": "Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass2 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE3": { + "Description": "Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass3 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_USE": { + "Description": "Enable or disable the use of the compass (instead of the GPS) for determining heading", + "DisplayName": "Use compass for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE2": { + "Description": "Enable or disable the secondary compass for determining heading.", + "DisplayName": "Compass2 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE3": { + "Description": "Enable or disable the tertiary compass for determining heading.", + "DisplayName": "Compass3 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "COMPASS_PMOT": { + "COMPASS_PMOT1_X": { + "Description": "Compensation for X axis of motor1", + "DisplayName": "Compass per-motor1 X", + "User": "Advanced" + }, + "COMPASS_PMOT1_Y": { + "Description": "Compensation for Y axis of motor1", + "DisplayName": "Compass per-motor1 Y", + "User": "Advanced" + }, + "COMPASS_PMOT1_Z": { + "Description": "Compensation for Z axis of motor1", + "DisplayName": "Compass per-motor1 Z", + "User": "Advanced" + }, + "COMPASS_PMOT2_X": { + "Description": "Compensation for X axis of motor2", + "DisplayName": "Compass per-motor2 X", + "User": "Advanced" + }, + "COMPASS_PMOT2_Y": { + "Description": "Compensation for Y axis of motor2", + "DisplayName": "Compass per-motor2 Y", + "User": "Advanced" + }, + "COMPASS_PMOT2_Z": { + "Description": "Compensation for Z axis of motor2", + "DisplayName": "Compass per-motor2 Z", + "User": "Advanced" + }, + "COMPASS_PMOT3_X": { + "Description": "Compensation for X axis of motor3", + "DisplayName": "Compass per-motor3 X", + "User": "Advanced" + }, + "COMPASS_PMOT3_Y": { + "Description": "Compensation for Y axis of motor3", + "DisplayName": "Compass per-motor3 Y", + "User": "Advanced" + }, + "COMPASS_PMOT3_Z": { + "Description": "Compensation for Z axis of motor3", + "DisplayName": "Compass per-motor3 Z", + "User": "Advanced" + }, + "COMPASS_PMOT4_X": { + "Description": "Compensation for X axis of motor4", + "DisplayName": "Compass per-motor4 X", + "User": "Advanced" + }, + "COMPASS_PMOT4_Y": { + "Description": "Compensation for Y axis of motor4", + "DisplayName": "Compass per-motor4 Y", + "User": "Advanced" + }, + "COMPASS_PMOT4_Z": { + "Description": "Compensation for Z axis of motor4", + "DisplayName": "Compass per-motor4 Z", + "User": "Advanced" + }, + "COMPASS_PMOT_EN": { + "Description": "This enables per-motor compass corrections", + "DisplayName": "per-motor compass correction enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_PMOT_EXP": { + "Description": "This is the exponential correction for the power output of the motor for per-motor compass correction", + "DisplayName": "per-motor exponential correction", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + } + }, + "CUST_ROT": { + "CUST_ROT_ENABLE": { + "Description": "This enables custom rotations", + "DisplayName": "Enable Custom rotations", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + } + }, + "CUST_ROT1_": { + "CUST_ROT1_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "CUST_ROT2_": { + "CUST_ROT2_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "DDS": { + "DDS_DOMAIN_ID": { + "Description": "Set the ROS_DOMAIN_ID", + "DisplayName": "DDS DOMAIN ID", + "Range": { + "high": "232", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_ENABLE": { + "Description": "Enable DDS subsystem", + "DisplayName": "DDS enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DDS_MAX_RETRY": { + "Description": "The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.", + "DisplayName": "DDS ping max attempts", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_TIMEOUT_MS": { + "Description": "The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.", + "DisplayName": "DDS ping timeout", + "Increment": "1", + "Range": { + "high": "10000", + "low": "1" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Standard" + }, + "DDS_UDP_PORT": { + "Description": "UDP port number for DDS", + "DisplayName": "DDS UDP port", + "Range": { + "high": "65535", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + } + }, + "DDS_IP": { + "DDS_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "DID_": { + "DID_BARO_ACC": { + "Description": "Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default", + "DisplayName": "Barometer vertical accuraacy", + "Units": "m", + "User": "Advanced" + }, + "DID_CANDRIVER": { + "Description": "DroneCAN driver index, 0 to disable DroneCAN", + "DisplayName": "DroneCAN driver number", + "Values": { + "0": "Disabled", + "1": "Driver1", + "2": "Driver2" + } + }, + "DID_ENABLE": { + "Description": "Enable ODID subsystem", + "DisplayName": "Enable ODID subsystem", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DID_MAVPORT": { + "Description": "Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.", + "DisplayName": "MAVLink serial port", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "DID_OPTIONS": { + "Bitmask": { + "0": "EnforceArming", + "1": "AllowNonGPSPosition", + "2": "LockUASIDOnFirstBasicIDRx" + }, + "Description": "Options for OpenDroneID subsystem", + "DisplayName": "OpenDroneID options" + } + }, + "EAHRS": { + "EAHRS_LOG_RATE": { + "Description": "Logging rate for EARHS devices", + "DisplayName": "AHRS logging rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_OPTIONS": { + "Bitmask": { + "0": "Vector Nav use uncompensated values for accel gyro and mag." + }, + "Description": "External AHRS options bitmask", + "DisplayName": "External AHRS options", + "User": "Standard" + }, + "EAHRS_RATE": { + "Description": "Requested rate for AHRS device", + "DisplayName": "AHRS data rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_SENSORS": { + "Bitmask": { + "0": "GPS", + "1": "IMU", + "2": "Baro", + "3": "Compass" + }, + "Description": "External AHRS sensors bitmask", + "DisplayName": "External AHRS sensors", + "User": "Advanced" + }, + "EAHRS_TYPE": { + "Description": "Type of AHRS device", + "DisplayName": "AHRS type", + "User": "Standard", + "Values": { + "0": "None", + "1": "VectorNav", + "2": "MicroStrain5", + "5": "InertialLabs", + "7": "MicroStrain7" + } + } + }, + "EFI": { + "EFI_COEF1": { + "Description": "Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle", + "DisplayName": "EFI Calibration Coefficient 1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_COEF2": { + "Description": "Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1", + "DisplayName": "EFI Calibration Coefficient 2", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_FUEL_DENS": { + "Description": "Used to calculate fuel consumption", + "DisplayName": "ECU Fuel Density", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "kg/m/m/m", + "User": "Advanced" + }, + "EFI_TYPE": { + "Description": "What method of communication is used for EFI #1", + "DisplayName": "EFI communication type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Serial-MS", + "2": "NWPMU", + "3": "Serial-Lutan", + "5": "DroneCAN", + "6": "Currawong-ECU", + "7": "Scripting", + "8": "Hirth", + "9": "MAVLink" + } + } + }, + "EFI_THRLIN": { + "EFI_THRLIN_COEF1": { + "Description": "First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)", + "DisplayName": "Throttle linearisation - First Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF2": { + "Description": "Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)", + "DisplayName": "Throttle linearisation - Second Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF3": { + "Description": "Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)", + "DisplayName": "Throttle linearisation - Third Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_EN": { + "Description": "Enable EFI throttle linearisation", + "DisplayName": "Enable throttle linearisation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_THRLIN_OFS": { + "Description": "Offset for throttle linearization ", + "DisplayName": "throttle linearization offset", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "EK2_": { + "EK2_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.005", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK2_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_ALT_SOURCE": { + "Description": "Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).", + "DisplayName": "Primary altitude sensor source", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Use Baro", + "1": "Use Range Finder", + "2": "Use GPS", + "3": "Use Range Beacon" + } + }, + "EK2_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_ENABLE": { + "Description": "This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.", + "DisplayName": "Enable EKF2", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK2_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK2_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK2_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK2_GPS_TYPE": { + "Description": "This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.", + "DisplayName": "GPS mode control", + "User": "Advanced", + "Values": { + "0": "GPS 3D Vel and 2D Pos", + "1": "GPS 2D vel and 2D pos", + "2": "GPS 2D pos", + "3": "No GPS" + } + }, + "EK2_GSCL_P_NSE": { + "Description": "This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.", + "DisplayName": "Rate gyro scale factor stability (1/s)", + "Range": { + "high": "0.001", + "low": "0.000001" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EK2_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK2_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.", + "DisplayName": "Magnetometer default fusion mode", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always" + } + }, + "EK2_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK2_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK2_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_OPTIONS": { + "Bitmask": { + "0": "DisableExternalNavigation" + }, + "Description": "optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK2_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK2_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK2_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK2_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_": { + "EK3_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.02", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK3_ACC_BIAS_LIM": { + "Description": "The accelerometer bias state will be limited to +- this value", + "DisplayName": "Accelerometer bias limit", + "Increment": "0.1", + "Range": { + "high": "2.5", + "low": "0.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_AFFINITY": { + "Bitmask": { + "0": "EnableGPSAffinity", + "1": "EnableBaroAffinity", + "2": "EnableCompassAffinity", + "3": "EnableAirspeedAffinity" + }, + "Description": "These options control the affinity between sensor instances and EKF cores", + "DisplayName": "EKF3 Sensor Affinity Options", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "100.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BETA_MASK": { + "Bitmask": { + "0": "Always", + "1": "WhenNoYawSensor" + }, + "Description": "1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.", + "DisplayName": "Bitmask controlling sidelip angle fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_X": { + "Description": "Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for X axis drag", + "Range": { + "high": "1000.0", + "low": "0.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_Y": { + "Description": "Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for Y axis drag", + "Range": { + "high": "1000.0", + "low": "50.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_MCOEF": { + "Description": "This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.", + "DisplayName": "Momentum coefficient for propeller drag", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "Units": "1/s", + "User": "Advanced" + }, + "EK3_DRAG_M_NSE": { + "Description": "This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters", + "DisplayName": "Observation noise for drag acceleration", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.1" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_ENABLE": { + "Description": "This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.", + "DisplayName": "Enable EKF3", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK3_ERR_THRESH": { + "Description": "lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences", + "DisplayName": "EKF3 Lane Relative Error Sensitivity Threshold", + "Increment": "0.05", + "Range": { + "high": "1", + "low": "0.05" + }, + "User": "Advanced" + }, + "EK3_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK3_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK3_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GND_EFF_DZ": { + "Description": "This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.", + "DisplayName": "Baro height ground effect dead zone", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK3_GPS_VACC_MAX": { + "Description": "Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.", + "DisplayName": "GPS vertical accuracy threshold", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK3_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_LOG_LEVEL": { + "Description": "Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.", + "DisplayName": "Logging Level", + "Increment": "1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.", + "DisplayName": "Magnetometer default fusion mode", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always", + "5": "Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)", + "6": "External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)" + } + }, + "EK3_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK3_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK3_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_OGNM_TEST_SF": { + "Description": "This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.", + "DisplayName": "On ground not moving test scale factor", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "EK3_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_OPTIONS": { + "Bitmask": { + "0": "JammingExpected" + }, + "Description": "This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK3_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_PRIMARY": { + "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.", + "DisplayName": "Primary core number", + "Increment": "1", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK3_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_VIS_VERR_MAX": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry maximum velocity error", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VIS_VERR_MIN": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry minimum velocity error", + "Increment": "0.05", + "Range": { + "high": "0.5", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WENC_VERR": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.", + "DisplayName": "Wheel odometry velocity error", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_SRC": { + "EK3_SRC1_POSXY": { + "Description": "Position Horizontal Source (Primary)", + "DisplayName": "Position Horizontal Source (Primary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_POSZ": { + "Description": "Position Vertical Source", + "DisplayName": "Position Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_VELXY": { + "Description": "Velocity Horizontal Source", + "DisplayName": "Velocity Horizontal Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC1_VELZ": { + "Description": "Velocity Vertical Source", + "DisplayName": "Velocity Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_YAW": { + "Description": "Yaw Source", + "DisplayName": "Yaw Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC2_POSXY": { + "Description": "Position Horizontal Source (Secondary)", + "DisplayName": "Position Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_POSZ": { + "Description": "Position Vertical Source (Secondary)", + "DisplayName": "Position Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_VELXY": { + "Description": "Velocity Horizontal Source (Secondary)", + "DisplayName": "Velocity Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC2_VELZ": { + "Description": "Velocity Vertical Source (Secondary)", + "DisplayName": "Velocity Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_YAW": { + "Description": "Yaw Source (Secondary)", + "DisplayName": "Yaw Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC3_POSXY": { + "Description": "Position Horizontal Source (Tertiary)", + "DisplayName": "Position Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_POSZ": { + "Description": "Position Vertical Source (Tertiary)", + "DisplayName": "Position Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_VELXY": { + "Description": "Velocity Horizontal Source (Tertiary)", + "DisplayName": "Velocity Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC3_VELZ": { + "Description": "Velocity Vertical Source (Tertiary)", + "DisplayName": "Velocity Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_YAW": { + "Description": "Yaw Source (Tertiary)", + "DisplayName": "Yaw Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC_OPTIONS": { + "Bitmask": { + "0": "FuseAllVelocities", + "1": "AlignExtNavPosWhenUsingOptFlow" + }, + "Description": "EKF Source Options", + "DisplayName": "EKF Source Options", + "User": "Advanced" + } + }, + "ESC_TLM": { + "ESC_TLM_MAV_OFS": { + "Description": "Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets", + "DisplayName": "ESC Telemetry mavlink offset", + "Increment": "1", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + } + }, + "FENCE_": { + "FENCE_ACTION": { + "Description": "What action should be taken when fence is breached", + "DisplayName": "Fence Action", + "User": "Standard", + "Values": { + "0": "Report Only", + "1": "RTL", + "6": "Guided", + "7": "GuidedThrottlePass" + } + }, + "FENCE_ALT_MAX": { + "Description": "Maximum altitude allowed before geofence triggers", + "DisplayName": "Fence Maximum Altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_ALT_MIN": { + "Description": "Minimum altitude allowed before geofence triggers", + "DisplayName": "Fence Minimum Altitude", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_AUTOENABLE": { + "Description": "Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings the fences will be disabled. AutoEnableDisableFloorOnLanding enables all configured fences, except the minimum altitude fence (which is enabled when the minimum altitude is reached), after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences on arming, except the minimum altitude fence (which is enabled when the minimum altitude is reached), but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.", + "DisplayName": "Fence Auto-Enable", + "Increment": "1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Standard", + "Values": { + "0": "AutoEnableOff", + "1": "AutoEnableOnTakeoff", + "2": "AutoEnableDisableFloorOnLanding", + "3": "AutoEnableOnlyWhenArmed" + } + }, + "FENCE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.", + "DisplayName": "Fence enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FENCE_MARGIN": { + "Description": "Distance that autopilot's should maintain from the fence to avoid a breach", + "DisplayName": "Fence Margin", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_OPTIONS": { + "Bitmask": { + "0": "Disable mode change following fence action until fence breach is cleared", + "1": "Allow union of inclusion areas" + }, + "Description": "When bit 0 is set sisable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.", + "DisplayName": "Fence options", + "User": "Standard" + }, + "FENCE_RADIUS": { + "Description": "Circle fence radius which when breached will cause an RTL", + "DisplayName": "Circular Fence Radius", + "Range": { + "high": "10000", + "low": "30" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_RET_ALT": { + "Description": "Altitude the vehicle will transit to when a fence breach occurs", + "DisplayName": "Fence Return Altitude", + "Increment": "1", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_RET_RALLY": { + "Description": "Should the vehicle return to fence return point or rally point", + "DisplayName": "Fence Return to Rally", + "Increment": "1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard", + "Values": { + "0": "Fence Return Point", + "1": "Nearest Rally Point" + } + }, + "FENCE_TOTAL": { + "Description": "Number of polygon points saved in eeprom (do not update manually)", + "DisplayName": "Fence polygon point total", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "FENCE_TYPE": { + "Bitmask": { + "0": "Max altitude", + "1": "Circle Centered on Home", + "2": "Inclusion/Exclusion Circles+Polygons", + "3": "Min altitude" + }, + "Description": "Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.", + "DisplayName": "Fence Type", + "User": "Standard" + } + }, + "FFT_": { + "FFT_ATT_REF": { + "Description": "FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.", + "DisplayName": "FFT attenuation for bandwidth calculation", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_BW_HOVER": { + "Description": "FFT learned bandwidth at hover for the attenuation frequencies.", + "DisplayName": "FFT learned bandwidth at hover", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_ENABLE": { + "Description": "Enable Gyro FFT analyser", + "DisplayName": "Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FFT_FREQ_HOVER": { + "Description": "The learned hover noise frequency", + "DisplayName": "FFT learned hover frequency", + "Range": { + "high": "250", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_HMNC_FIT": { + "Description": "FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.", + "DisplayName": "FFT harmonic fit frequency threshold", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_HMNC_PEAK": { + "Description": "The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).", + "DisplayName": "FFT harmonic peak target", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "Center Frequency", + "2": "Lower-Shoulder Frequency", + "3": "Upper-Shoulder Frequency", + "4": "Roll-Axis", + "5": "Pitch-Axis" + } + }, + "FFT_MAXHZ": { + "Description": "Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.", + "DisplayName": "Maximum Frequency", + "Range": { + "high": "495", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_MINHZ": { + "Description": "Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.", + "DisplayName": "Minimum Frequency", + "Range": { + "high": "400", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_NUM_FRAMES": { + "Description": "Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.", + "DisplayName": "FFT output frames to retain and average", + "Range": { + "high": "8", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_OPTIONS": { + "Bitmask": { + "0": "Enable post-filter FFT", + "1": "Check motor noise" + }, + "Description": "FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference", + "DisplayName": "FFT options", + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SAMPLE_MODE": { + "Description": "Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.", + "DisplayName": "Sample Mode", + "Range": { + "high": "4", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SNR_REF": { + "Description": "FFT SNR reference threshold in dB at which a signal is determined to be present.", + "DisplayName": "FFT SNR reference threshold", + "Range": { + "high": "100.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "FFT_THR_REF": { + "Description": "FFT learned thrust reference for the hover frequency and FFT minimum frequency.", + "DisplayName": "FFT learned thrust reference", + "Range": { + "high": "0.9", + "low": "0.01" + }, + "User": "Advanced" + }, + "FFT_WINDOW_OLAP": { + "Description": "Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.", + "DisplayName": "FFT window overlap", + "Range": { + "high": "0.9", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_WINDOW_SIZE": { + "Description": "Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.", + "DisplayName": "FFT window size", + "Range": { + "high": "1024", + "low": "32" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "FILT1_": { + "FILT1_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT1_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT1_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT1_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT2_": { + "FILT2_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT2_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT2_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT2_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT3_": { + "FILT3_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT3_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT3_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT3_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT4_": { + "FILT4_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT4_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT4_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT4_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT5_": { + "FILT5_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT5_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT5_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT5_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT6_": { + "FILT6_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT6_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT6_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT6_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT7_": { + "FILT7_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT7_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT7_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT7_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT8_": { + "FILT8_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT8_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT8_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT8_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FLOW": { + "FLOW_ADDR": { + "Description": "This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.", + "DisplayName": "Address on the bus", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Advanced" + }, + "FLOW_FXSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "X axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_FYSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "Y axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_HGT_OVR": { + "Description": "This is used in rover vehicles, where the sensor is a fixed height above the ground", + "DisplayName": "Height override of sensor above ground", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_ORIENT_YAW": { + "Description": "Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.", + "DisplayName": "Flow sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "+18000", + "low": "-17999" + }, + "Units": "cdeg", + "User": "Standard" + }, + "FLOW_POS_X": { + "Description": "X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Y": { + "Description": "Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Z": { + "Description": "Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_TYPE": { + "Description": "Optical flow sensor type", + "DisplayName": "Optical flow sensor type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "PX4Flow", + "2": "Pixart", + "3": "Bebop", + "4": "CXOF", + "5": "MAVLink", + "6": "DroneCAN", + "7": "MSP", + "8": "UPFLOW" + } + } + }, + "FOLL": { + "FOLL_ALT_TYPE": { + "Description": "Follow altitude type", + "DisplayName": "Follow altitude type", + "User": "Standard", + "Values": { + "0": "absolute", + "1": "relative" + } + }, + "FOLL_DIST_MAX": { + "Description": "Follow distance maximum. targets further than this will be ignored", + "DisplayName": "Follow distance maximum", + "Range": { + "high": "1000", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_ENABLE": { + "Description": "Enabled/disable following a target", + "DisplayName": "Follow enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FOLL_OFS_TYPE": { + "Description": "Follow offset type", + "DisplayName": "Follow offset type", + "User": "Standard", + "Values": { + "0": "North-East-Down", + "1": "Relative to lead vehicle heading" + } + }, + "FOLL_OFS_X": { + "Description": "Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters north/forward", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Y": { + "Description": "Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters east/right", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Z": { + "Description": "Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle", + "DisplayName": "Follow offsets in meters down", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OPTIONS": { + "Description": "Follow options bitmask", + "DisplayName": "Follow options", + "User": "Standard", + "Values": { + "0": "None", + "1": "Mount Follows lead vehicle on mode enter" + } + }, + "FOLL_POS_P": { + "Description": "Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller", + "DisplayName": "Follow position error P gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.01" + }, + "User": "Standard" + }, + "FOLL_SYSID": { + "Description": "Follow target's mavlink system id", + "DisplayName": "Follow target's mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "FOLL_YAW_BEHAVE": { + "Description": "Follow yaw behaviour", + "DisplayName": "Follow yaw behaviour", + "User": "Standard", + "Values": { + "0": "None", + "1": "Face Lead Vehicle", + "2": "Same as Lead vehicle", + "3": "Direction of Flight" + } + } + }, + "FRSKY_": { + "FRSKY_DNLINK1_ID": { + "Description": "Change the first extra downlink sensor id (SPort only)", + "DisplayName": "First downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK2_ID": { + "Description": "Change the second extra downlink sensor id (SPort only)", + "DisplayName": "Second downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK_ID": { + "Description": "Change the default downlink sensor id (SPort only)", + "DisplayName": "Default downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "27": "27", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_OPTIONS": { + "Bitmask": { + "0": "EnableAirspeedAndGroundspeed" + }, + "Description": "A bitmask to set some FRSky Telemetry specific options", + "DisplayName": "FRSky Telemetry Options", + "User": "Standard" + }, + "FRSKY_UPLINK_ID": { + "Description": "Change the uplink sensor id (SPort only)", + "DisplayName": "Uplink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "GEN_": { + "GEN_OPTIONS": { + "Bitmask": { + "0": "Suppress Maintenance-Required Warnings" + }, + "Description": "Bitmask of options for generators", + "DisplayName": "Generator Options", + "User": "Standard" + }, + "GEN_TYPE": { + "Description": "Generator type", + "DisplayName": "Generator type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "IE 650w 800w Fuel Cell", + "2": "IE 2.4kW Fuel Cell", + "3": "Richenpower" + } + } + }, + "GPS": { + "GPS_AUTO_CONFIG": { + "Description": "Controls if the autopilot should automatically configure the GPS based on the parameters and default settings", + "DisplayName": "Automatic GPS configuration", + "User": "Advanced", + "Values": { + "0": "Disables automatic configuration", + "1": "Enable automatic configuration for Serial GPSes only", + "2": "Enable automatic configuration for DroneCAN as well" + } + }, + "GPS_AUTO_SWITCH": { + "Description": "Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary", + "DisplayName": "Automatic Switchover Setting", + "User": "Advanced", + "Values": { + "0": "Use primary", + "1": "UseBest", + "2": "Blend", + "4": "Use primary if 3D fix or better" + } + }, + "GPS_BLEND_MASK": { + "Bitmask": { + "0": "Horiz Pos", + "1": "Vert Pos", + "2": "Speed" + }, + "Description": "Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)", + "DisplayName": "Multi GPS Blending Mask", + "User": "Advanced" + }, + "GPS_CAN_NODEID1": { + "Description": "GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.", + "DisplayName": "GPS Node ID 1", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_CAN_NODEID2": { + "Description": "GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.", + "DisplayName": "GPS Node ID 2", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS_COM_PORT2": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "GPS_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DELAY_MS2": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.", + "DisplayName": "GPS 2 delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DRV_OPTIONS": { + "Bitmask": { + "0": "Use UART2 for moving baseline on ublox", + "1": "Use base station for GPS yaw on SBF", + "2": "Use baudrate 115200", + "3": "Use dedicated CAN port b/w GPSes for moving baseline", + "4": "Use ellipsoid height instead of AMSL", + "5": "Override GPS satellite health of L5 band from L1 health", + "6": "Enable RTCM full parse even for a single channel", + "7": "Disable automatic full RTCM parsing when RTCM seen on more than one channel" + }, + "Description": "Additional backend specific options", + "DisplayName": "driver options", + "User": "Advanced" + }, + "GPS_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS_GNSS_MODE2": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE", + "DisplayName": "GNSS system configuration.", + "User": "Advanced" + }, + "GPS_INJECT_TO": { + "Description": "The GGS can send raw serial packets to inject data to multiple GPSes.", + "DisplayName": "Destination for GPS_INJECT_DATA MAVLink packets", + "User": "Advanced", + "Values": { + "0": "send to first GPS", + "1": "send to 2nd GPS", + "127": "send to all" + } + }, + "GPS_MIN_ELEV": { + "Description": "This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.", + "DisplayName": "Minimum elevation", + "Range": { + "high": "90", + "low": "-100" + }, + "Units": "deg", + "User": "Advanced" + }, + "GPS_NAVFILTER": { + "Description": "Navigation filter engine setting", + "DisplayName": "Navigation filter setting", + "User": "Advanced", + "Values": { + "0": "Portable", + "2": "Stationary", + "3": "Pedestrian", + "4": "Automotive", + "5": "Sea", + "6": "Airborne1G", + "7": "Airborne2G", + "8": "Airborne4G" + } + }, + "GPS_POS1_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_X": { + "Description": "X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Y": { + "Description": "Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Z": { + "Description": "Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_PRIMARY": { + "Description": "This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.", + "DisplayName": "Primary GPS", + "Increment": "1", + "User": "Advanced", + "Values": { + "0": "FirstGPS", + "1": "SecondGPS" + } + }, + "GPS_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RATE_MS2": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS", + "DisplayName": "GPS 2 update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RAW_DATA": { + "Description": "Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming", + "DisplayName": "Raw data logging", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Ignore", + "1": "Always log", + "2": "Stop logging when disarmed (SBF only)", + "5": "Only log every five samples (uBlox only)" + } + }, + "GPS_SAVE_CFG": { + "Description": "Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.", + "DisplayName": "Save GPS configuration", + "User": "Advanced", + "Values": { + "0": "Do not save config", + "1": "Save config", + "2": "Save only when needed" + } + }, + "GPS_SBAS_MODE": { + "Description": "This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.", + "DisplayName": "SBAS Mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "NoChange" + } + }, + "GPS_SBP_LOGMASK": { + "Description": "Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged", + "DisplayName": "Swift Binary Protocol Logging Mask", + "User": "Advanced", + "Values": { + "-1": "All (0xFFFF)", + "-256": "External only (0xFF00)", + "0": "None (0x0000)" + } + }, + "GPS_TYPE": { + "Description": "GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE", + "DisplayName": "1st GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + }, + "GPS_TYPE2": { + "Description": "GPS type of 2nd GPS", + "DisplayName": "2nd GPS type.Renamed in 4.6 to GPS2_TYPE", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_": { + "GPS1_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS1_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS1_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS1_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS1_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS1_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS1_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_MB_": { + "GPS1_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS2_": { + "GPS2_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS2_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS2_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS2_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS2_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS2_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS2_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS2_MB_": { + "GPS2_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB1_": { + "GPS_MB1_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB2_": { + "GPS_MB2_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GRIP_": { + "GRIP_AUTOCLOSE": { + "Description": "Time in seconds that gripper close the gripper after opening; 0 to disable", + "DisplayName": "Gripper Autoclose time", + "Range": { + "high": "255", + "low": "0.25" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_CAN_ID": { + "Description": "Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface", + "DisplayName": "EPM UAVCAN Hardpoint ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "GRIP_ENABLE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Enable/Disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "GRIP_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_NEUTRAL": { + "Description": "PWM value in microseconds sent to grabber when not grabbing or releasing", + "DisplayName": "Neutral PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_REGRAB": { + "Description": "Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable", + "DisplayName": "EPM Gripper Regrab interval", + "Range": { + "high": "255", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_TYPE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "EPM" + } + } + }, + "GUIDED_": { + "GUIDED_D": { + "Description": "D Gain which produces an output that is proportional to the rate of change of the error", + "DisplayName": "PID Derivative Gain" + }, + "GUIDED_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "PID Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "GUIDED_FF": { + "Description": "FF Gain which produces an output value that is proportional to the demanded input", + "DisplayName": "FF FeedForward Gain" + }, + "GUIDED_FLTD": { + "Description": "Derivative filter frequency in Hz", + "DisplayName": "PID Derivative term filter frequency in Hz", + "Units": "Hz" + }, + "GUIDED_FLTE": { + "Description": "Error filter frequency in Hz", + "DisplayName": "PID Error filter frequency in Hz", + "Units": "Hz" + }, + "GUIDED_FLTT": { + "Description": "Target filter frequency in Hz", + "DisplayName": "PID Target filter frequency in Hz", + "Units": "Hz" + }, + "GUIDED_I": { + "Description": "I Gain which produces an output that is proportional to both the magnitude and the duration of the error", + "DisplayName": "PID Integral Gain" + }, + "GUIDED_IMAX": { + "Description": "The maximum/minimum value that the I term can output", + "DisplayName": "PID Integral Maximum" + }, + "GUIDED_NEF": { + "Description": "PID Error notch filter index", + "DisplayName": "PID Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "GUIDED_NTF": { + "Description": "PID Target notch filter index", + "DisplayName": "PID Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "GUIDED_P": { + "Description": "P Gain which produces an output value that is proportional to the current error value", + "DisplayName": "PID Proportional Gain" + }, + "GUIDED_PDMX": { + "Description": "The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "PD sum maximum", + "User": "Advanced" + }, + "GUIDED_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + } + }, + "ICE_": { + "ICE_ENABLE": { + "Description": "This enables internal combustion engine control", + "DisplayName": "Enable ICEngine control", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ICE_IDLE_DB": { + "Description": "This configures the deadband that is tolerated before adjusting the idle setpoint", + "DisplayName": "Deadband for Idle Governor" + }, + "ICE_IDLE_PCT": { + "Description": "This is the minimum percentage throttle output while running, this includes being disarmed, but not safe", + "DisplayName": "Throttle percentage for engine idle", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "ICE_IDLE_RPM": { + "Description": "This configures the RPM that will be commanded by the idle governor. Set to -1 to disable", + "DisplayName": "RPM Setpoint for Idle Governor", + "User": "Advanced" + }, + "ICE_IDLE_SLEW": { + "Description": "This configures the slewrate used to adjust the idle setpoint in percentage points per second", + "DisplayName": "Slew Rate for idle control" + }, + "ICE_OPTIONS": { + "Bitmask": { + "0": "Disable ignition in RC failsafe", + "1": "Disable redline governor", + "2": "Throttle control in MANUAL while disarmed with safety off", + "3": "Disable while disarmed", + "4": "Crank direction Reverse" + }, + "Description": "Options for ICE control. The Disable ignition in RC failsafe option will cause the ignition to be set off on any R/C failsafe. If Throttle while disarmed is set then throttle control will be allowed while disarmed for planes when in MANUAL mode. If disable while disarmed is set the engine will not start while the vehicle is disarmed unless overriden by the MAVLink DO_ENGINE_CONTROL command.", + "DisplayName": "ICE options" + }, + "ICE_PWM_IGN_OFF": { + "Description": "This is the value sent to the ignition channel when off", + "DisplayName": "PWM value for ignition off", + "Range": { + "high": "2000", + "low": "1000" + }, + "User": "Standard" + }, + "ICE_PWM_IGN_ON": { + "Description": "This is the value sent to the ignition channel when on", + "DisplayName": "PWM value for ignition on", + "Range": { + "high": "2000", + "low": "1000" + }, + "User": "Standard" + }, + "ICE_PWM_STRT_OFF": { + "Description": "This is the value sent to the starter channel when off", + "DisplayName": "PWM value for starter off", + "Range": { + "high": "2000", + "low": "1000" + }, + "User": "Standard" + }, + "ICE_PWM_STRT_ON": { + "Description": "This is the value sent to the starter channel when on", + "DisplayName": "PWM value for starter on", + "Range": { + "high": "2000", + "low": "1000" + }, + "User": "Standard" + }, + "ICE_REDLINE_RPM": { + "Description": "Maximum RPM for the engine provided by the manufacturer. A value of 0 disables this feature. See ICE_OPTIONS to enable or disable the governor.", + "DisplayName": "RPM of the redline limit for the engine", + "Range": { + "high": "2000000", + "low": "0" + }, + "Units": "RPM", + "User": "Advanced" + }, + "ICE_RPM_CHAN": { + "Description": "This is which of the RPM instances to use for detecting the RPM of the engine", + "DisplayName": "RPM instance channel to use", + "User": "Standard", + "Values": { + "0": "None", + "1": "RPM1", + "2": "RPM2" + } + }, + "ICE_RPM_THRESH": { + "Description": "This is the measured RPM above which the engine is considered to be running", + "DisplayName": "RPM threshold", + "Range": { + "high": "100000", + "low": "100" + }, + "User": "Standard" + }, + "ICE_STARTCHN_MIN": { + "Description": "This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM above 800 and below 1300 triggers an engine stop. To stop the engine start channel must above the larger of this value and 800 and below 1300.", + "DisplayName": "Input channel for engine start minimum PWM", + "Range": { + "high": "1300", + "low": "0" + }, + "User": "Standard" + }, + "ICE_STARTER_TIME": { + "Description": "This is the number of seconds to run the starter when trying to start the engine", + "DisplayName": "Time to run starter", + "Range": { + "high": "5", + "low": "0.1" + }, + "Units": "s", + "User": "Standard" + }, + "ICE_START_CHAN": { + "Description": "This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.", + "DisplayName": "Input channel for engine start", + "User": "Standard", + "Values": { + "0": "None", + "1": "Chan1", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "2": "Chan2", + "3": "Chan3", + "4": "Chan4", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + }, + "ICE_START_DELAY": { + "Description": "Delay between start attempts", + "DisplayName": "Time to wait between starts", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "s", + "User": "Standard" + }, + "ICE_START_PCT": { + "Description": "This is the percentage throttle output for engine start", + "DisplayName": "Throttle percentage for engine start", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "ICE_STRT_MX_RTRY": { + "Description": "If set 0 then there is no limit to retrials. If set to a value greater than 0 then the engine will retry starting the engine this many times before giving up.", + "DisplayName": "Maximum number of retries", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + } + }, + "INS": { + "INS_ACC1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 1st accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 2nd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2_ID": { + "Description": "Accelerometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACC3OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 3rd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC3_ID": { + "Description": "Accelerometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACCEL_FILTER": { + "Description": "Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Accel filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC_BODYFIX": { + "Description": "The body-fixed accelerometer to be used for trim calculation", + "DisplayName": "Body-fixed accelerometer", + "User": "Advanced", + "Values": { + "1": "IMU 1", + "2": "IMU 2", + "3": "IMU 3" + } + }, + "INS_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ENABLE_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU", + "6": "SeventhIMU" + }, + "Description": "Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs", + "DisplayName": "IMU enable mask", + "User": "Advanced" + }, + "INS_FAST_SAMPLE": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU" + }, + "Description": "Mask of IMUs to enable fast sampling on, if available", + "DisplayName": "Fast sampling mask", + "User": "Advanced" + }, + "INS_GYR1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 1st gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2OFFS_X": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Y": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Z": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 2nd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2_ID": { + "Description": "Gyro2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYR3OFFS_X": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Y": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Z": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 3rd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR3_ID": { + "Description": "Gyro3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYRO_FILTER": { + "Description": "Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Gyro filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_GYRO_RATE": { + "Description": "Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.", + "DisplayName": "Gyro rate for IMUs with Fast Sampling enabled", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "1kHz", + "1": "2kHz", + "2": "4kHz", + "3": "8kHz" + } + }, + "INS_GYR_CAL": { + "Description": "Conrols when automatic gyro calibration is performed", + "DisplayName": "Gyro Calibration scheme", + "User": "Advanced", + "Values": { + "0": "Never", + "1": "Start-up only" + } + }, + "INS_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_POS1_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_X": { + "Description": "X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Y": { + "Description": "Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Z": { + "Description": "Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_X": { + "Description": "X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Range": { + "high": "10", + "low": "-10" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Y": { + "Description": "Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Z": { + "Description": "Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_RAW_LOG_OPT": { + "Bitmask": { + "0": "Log primary gyro only", + "1": "Log all gyros", + "2": "Post filter", + "3": "Pre and post filter" + }, + "Description": "Raw logging options bitmask", + "DisplayName": "Raw logging options", + "User": "Advanced" + }, + "INS_STILL_THRESH": { + "Description": "Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5", + "DisplayName": "Stillness threshold for detecting if we are moving", + "Range": { + "high": "50", + "low": "0.05" + }, + "User": "Advanced" + }, + "INS_TCAL_OPTIONS": { + "Bitmask": { + "0": "PersistTemps", + "1": "PersistAccels" + }, + "Description": "This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.", + "DisplayName": "Options for temperature calibration", + "User": "Advanced" + }, + "INS_TRIM_OPTION": { + "Description": "Specifies how the accel cal routine determines the trims", + "DisplayName": "Accel cal trim option", + "User": "Advanced", + "Values": { + "0": "Don't adjust the trims", + "1": "Assume first orientation was level", + "2": "Assume ACC_BODYFIX is perfectly aligned to the vehicle" + } + }, + "INS_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE2": { + "Description": "Use second IMU for attitude, velocity and position estimates", + "DisplayName": "Use second IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE3": { + "Description": "Use third IMU for attitude, velocity and position estimates", + "DisplayName": "Use third IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_": { + "INS4_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS4_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS4_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_TCAL_": { + "INS4_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS4_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS4_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS5_": { + "INS5_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS5_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS5_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS5_TCAL_": { + "INS5_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS5_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS5_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_HNTC2_": { + "INS_HNTC2_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTC2_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTC2_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTC2_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTC2_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_HNTCH_": { + "INS_HNTCH_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTCH_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTCH_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTCH_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTCH_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_LOG_": { + "INS_LOG_BAT_CNT": { + "Description": "Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.", + "DisplayName": "sample count per batch", + "Increment": "32", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_LGCT": { + "Description": "Number of samples to push to count every INS_LOG_BAT_LGIN", + "DisplayName": "logging count", + "Increment": "1" + }, + "INS_LOG_BAT_LGIN": { + "Description": "Interval between pushing samples to the AP_Logger log", + "DisplayName": "logging interval", + "Increment": "10", + "Units": "ms" + }, + "INS_LOG_BAT_MASK": { + "Bitmask": { + "0": "IMU1", + "1": "IMU2", + "2": "IMU3" + }, + "Description": "Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.", + "DisplayName": "Sensor Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_OPT": { + "Bitmask": { + "0": "Sensor-Rate Logging (sample at full sensor rate seen by AP)", + "1": "Sample post-filtering", + "2": "Sample pre- and post-filter" + }, + "Description": "Options for the BatchSampler.", + "DisplayName": "Batch Logging Options Mask", + "User": "Advanced" + } + }, + "INS_TCAL1_": { + "INS_TCAL1_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL1_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL1_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL2_": { + "INS_TCAL2_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL2_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL2_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL3_": { + "INS_TCAL3_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL3_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL3_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "KDE_": { + "KDE_NPOLE": { + "Description": "Sets the number of motor poles to calculate the correct RPM value", + "DisplayName": "Number of motor poles" + } + }, + "LAND_": { + "LAND_ABORT_DEG": { + "Description": "This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your actual altitude is higher than the intended slope path. Normally it would pitch down steeply but that can result in a crash with high airspeed so this allows remembering the baro offset and self-abort the landing and come around for another landing with the correct baro offset applied for a perfect slope. An auto-abort go-around will only happen once, next attempt will not auto-abort again. This operation happens entirely automatically in AUTO mode. This value is the delta degrees threshold to trigger the go-around compared to the original slope. Example: if set to 5 deg and the mission planned slope is 15 deg then if the new slope is 21 then it will go-around. Set to 0 to disable. Requires LAND_SLOPE_RCALC > 0.", + "DisplayName": "Landing auto-abort slope threshold", + "Increment": "0.1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "LAND_ABORT_THR": { + "Description": "Allow a landing abort to trigger with an input throttle >= 90%. This works with or without stick-mixing enabled.", + "DisplayName": "Landing abort using throttle", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LAND_DISARMDELAY": { + "Description": "After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.", + "DisplayName": "Landing disarm delay", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_FLAP_PERCNT": { + "Description": "The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing", + "DisplayName": "Landing flap percentage", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "LAND_FLARE_AIM": { + "Description": "This parameter controls how much the aim point is moved to allow for the time spent in the flare manoeuvre. When set to 100% the aim point is adjusted on the assumption that the flare sink rate controller instantly achieves the sink rate set by TECS_LAND_SINK. when set to 0%, no aim point adjustment is made. If the plane consistently touches down short of the aim point reduce the parameter and vice verse.", + "DisplayName": "Flare aim point adjustment percentage.", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "LAND_FLARE_ALT": { + "Description": "Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.", + "DisplayName": "Landing flare altitude", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "LAND_FLARE_SEC": { + "Description": "Vertical time before landing point at which to lock heading and flare with the motor stopped. This is vertical time, and is calculated based solely on the current height above the ground and the current descent rate. Set to 0 if you only wish to flare based on altitude (see LAND_FLARE_ALT).", + "DisplayName": "Landing flare time", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_OPTIONS": { + "Bitmask": { + "0": "honor min throttle during landing flare", + "1": "Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX" + }, + "Description": "Bitmask of options to use with landing.", + "DisplayName": "Landing options bitmask", + "User": "Advanced" + }, + "LAND_PF_ALT": { + "Description": "Altitude to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. The pre-flare flight stage trigger works just like LAND_FLARE_ALT but higher. Disabled when LAND_PF_ARSPD is 0.", + "DisplayName": "Landing pre-flare altitude", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "LAND_PF_ARSPD": { + "Description": "Desired airspeed during pre-flare flight stage. This is useful to reduce airspeed just before the flare. Use 0 to disable.", + "DisplayName": "Landing pre-flare airspeed", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "LAND_PF_SEC": { + "Description": "Vertical time to ground to trigger pre-flare flight stage where LAND_PF_ARSPD controls airspeed. This pre-flare flight stage trigger works just like LAND_FLARE_SEC but earlier. Disabled when LAND_PF_ARSPD is 0.", + "DisplayName": "Landing pre-flare time", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_PITCH_DEG": { + "Description": "Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.", + "DisplayName": "Landing Pitch", + "Increment": "10", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "deg", + "User": "Advanced" + }, + "LAND_SLOPE_RCALC": { + "Description": "This parameter is used when using a rangefinder during landing for altitude correction from baro drift (RNGFND_LANDING=1) and the altitude correction indicates your altitude is lower than the intended slope path. This value is the threshold of the correction to re-calculate the landing approach slope. Set to zero to keep the original slope all the way down and any detected baro drift will be corrected by pitching/throttling up to snap back to resume the original slope path. Otherwise, when a rangefinder altitude correction exceeds this threshold it will trigger a slope re-calculate to give a shallower slope. This also smoothes out the approach when flying over objects such as trees. Recommend a value of 2m.", + "DisplayName": "Landing slope re-calc threshold", + "Increment": "0.5", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "LAND_THEN_NEUTRL": { + "Description": "When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.", + "DisplayName": "Set servos to neutral after landing", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Servos to Neutral", + "2": "Servos to Zero PWM" + } + }, + "LAND_THR_SLEW": { + "Description": "This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.", + "DisplayName": "Landing throttle slew rate", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "LAND_TYPE": { + "Description": "Specifies the auto-landing type to use", + "DisplayName": "Auto-landing type", + "User": "Standard", + "Values": { + "0": "Standard Glide Slope", + "1": "Deepstall" + } + }, + "LAND_WIND_COMP": { + "Description": "This param controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command. Set to Zero to disable. Note: The target landing airspeed command is still limited to AIRSPEED_MAX.", + "DisplayName": "Headwind Compensation when Landing", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + } + }, + "LAND_DS_": { + "LAND_DS_ABORTALT": { + "Description": "The minimum altitude which the aircraft must be above to abort a deepstall landing", + "DisplayName": "Deepstall minimum abort altitude", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "LAND_DS_AIL_SCL": { + "Description": "A scalar to reduce or increase the aileron control", + "DisplayName": "Aileron landing gain scalaing", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Advanced" + }, + "LAND_DS_APP_EXT": { + "Description": "The horizontal distance from which the aircraft will approach before the stall", + "DisplayName": "Deepstall approach extension", + "Range": { + "high": "200", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "LAND_DS_ARSP_MAX": { + "Description": "The maximum aispeed where the deepstall steering controller is allowed to have control", + "DisplayName": "Deepstall enabled airspeed", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "LAND_DS_ARSP_MIN": { + "Description": "Deepstall lowest airspeed where the deepstall controller isn't allowed full control", + "DisplayName": "Deepstall minimum derating airspeed", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "LAND_DS_D": { + "Description": "D gain", + "DisplayName": "D gain", + "User": "Standard" + }, + "LAND_DS_ELEV_PWM": { + "Description": "The PWM value in microseconds for the elevator at full deflection in deepstall", + "DisplayName": "Deepstall elevator PWM", + "Range": { + "high": "2100", + "low": "900" + }, + "Units": "PWM", + "User": "Advanced" + }, + "LAND_DS_I": { + "Description": "I gain", + "DisplayName": "I gain", + "User": "Standard" + }, + "LAND_DS_IMAX": { + "Description": "Maximum integrator value", + "DisplayName": "IMax", + "User": "Standard" + }, + "LAND_DS_L1": { + "Description": "Deepstall L1 navigational controller period", + "DisplayName": "Deepstall L1 period", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_DS_L1_I": { + "Description": "Deepstall L1 integratior gain", + "DisplayName": "Deepstall L1 I gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "LAND_DS_L1_TCON": { + "Description": "Time constant for deepstall L1 control", + "DisplayName": "Deepstall L1 time constant", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_DS_P": { + "Description": "P gain", + "DisplayName": "P gain", + "User": "Standard" + }, + "LAND_DS_SLEW_SPD": { + "Description": "The speed at which the elevator slews to deepstall", + "DisplayName": "Deepstall slew speed", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "LAND_DS_SLOPE_A": { + "Description": "The a component of distance = a*wind + b", + "DisplayName": "Deepstall slope a", + "User": "Advanced" + }, + "LAND_DS_SLOPE_B": { + "Description": "The a component of distance = a*wind + b", + "DisplayName": "Deepstall slope b", + "User": "Advanced" + }, + "LAND_DS_V_DWN": { + "Description": "The downward velocity of the aircraft while stalled", + "DisplayName": "Deepstall velocity down", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "LAND_DS_V_FWD": { + "Description": "The forward velocity of the aircraft while stalled", + "DisplayName": "Deepstall forward velocity", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "LAND_DS_YAW_LIM": { + "Description": "The yaw rate limit while navigating in deepstall", + "DisplayName": "Deepstall yaw rate limit", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced" + } + }, + "LGR_": { + "LGR_DEPLOY_ALT": { + "Description": "Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.", + "DisplayName": "Landing gear deployment altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "LGR_DEPLOY_PIN": { + "Description": "Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Chassis deployment feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "LGR_DEPLOY_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.", + "DisplayName": "Chassis deployment feedback pin polarity", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "LGR_ENABLE": { + "Description": "Enable landing gear control", + "DisplayName": "Enable landing gear", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LGR_OPTIONS": { + "Bitmask": { + "0": "Retract after Takeoff", + "1": "Deploy during Land" + }, + "Description": "Options to retract or deploy landing gear in Auto or Guided mode", + "DisplayName": "Landing gear auto retract/deploy options", + "User": "Standard" + }, + "LGR_RETRACT_ALT": { + "Description": "Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.", + "DisplayName": "Landing gear retract altitude", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "LGR_STARTUP": { + "Description": "Landing Gear Startup behaviour control", + "DisplayName": "Landing Gear Startup position", + "User": "Standard", + "Values": { + "0": "WaitForPilotInput", + "1": "Retract", + "2": "Deploy" + } + }, + "LGR_WOW_PIN": { + "Description": "Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Weight on wheels feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "LGR_WOW_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.", + "DisplayName": "Weight on wheels feedback pin polarity", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + } + }, + "LOG": { + "LOG_BACKEND_TYPE": { + "Bitmask": { + "0": "File", + "1": "MAVLink", + "2": "Block" + }, + "Description": "Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.", + "DisplayName": "AP_Logger Backend Storage type", + "User": "Standard" + }, + "LOG_BLK_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for block backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DARM_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.", + "DisplayName": "Maximum logging rate when disarmed", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DISARMED": { + "Description": "If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.", + "DisplayName": "Enable logging while disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Disabled on USB connection", + "3": "Discard log on reboot if never armed" + } + }, + "LOG_FILE_BUFSIZE": { + "Description": "The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce \"gaps\" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.", + "DisplayName": "Maximum AP_Logger File and Block Backend buffer size (in kilobytes)", + "User": "Standard" + }, + "LOG_FILE_DSRMROT": { + "Description": "When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.", + "DisplayName": "Stop logging to current file on disarm", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LOG_FILE_MB_FREE": { + "Description": "Set this such that the free space is larger than your largest typical flight log", + "DisplayName": "Old logs on the SD card will be deleted to maintain this amount of free space", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "MB", + "User": "Standard" + }, + "LOG_FILE_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for file backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_FILE_TIMEOUT": { + "Description": "This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.", + "DisplayName": "Timeout before giving up on file writes", + "Units": "s", + "User": "Standard" + }, + "LOG_MAV_BUFSIZE": { + "Description": "Maximum amount of memory to allocate to AP_Logger-over-mavlink", + "DisplayName": "Maximum AP_Logger MAVLink Backend buffer size", + "Units": "kB", + "User": "Advanced" + }, + "LOG_MAV_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for mavlink backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_MAX_FILES": { + "Description": "This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.", + "DisplayName": "Maximum number of log files", + "Increment": "1", + "Range": { + "high": "500", + "low": "2" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "LOG_REPLAY": { + "Description": "If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.", + "DisplayName": "Enable logging of information needed for Replay", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "Lua Script": { + "AEROM_ALT_ABORT": { + "Description": "Maximum allowable loss in altitude during a trick or sequence from its starting altitude.", + "DisplayName": "Altitude Abort", + "Units": "m" + }, + "AEROM_ANG_ACCEL": { + "Description": "Maximum angular acceleration in maneuvers", + "DisplayName": "Angular acceleration limit", + "Units": "deg/s/s" + }, + "AEROM_ANG_TC": { + "Description": "This is the time over which we filter the desired roll to smooth it", + "DisplayName": "Roll control filtertime constant", + "Units": "s" + }, + "AEROM_BOX_WIDTH": { + "Description": "Length of aerobatic \"box\" ", + "DisplayName": "Box Width", + "Units": "m" + }, + "AEROM_DEBUG": { + "Description": "This controls the printing of extra debug information on paths", + "DisplayName": "Debug control" + }, + "AEROM_ENTRY_RATE": { + "Description": "This controls how rapidly we roll into a new orientation", + "DisplayName": "The roll rate to use when entering a roll maneuver", + "Units": "deg/s" + }, + "AEROM_ERR_COR_D": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "D gain for path error corrections" + }, + "AEROM_ERR_COR_P": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "P gain for path error corrections" + }, + "AEROM_KE_RUDD": { + "Description": "Percent of rudder normally uses to sustain knife-edge at trick speed", + "DisplayName": "KnifeEdge Rudder", + "Units": "%" + }, + "AEROM_KE_RUDD_LK": { + "Description": "Time to look ahead in the path to calculate rudder correction for bank angle", + "DisplayName": "KnifeEdge Rudder lookahead", + "Units": "s" + }, + "AEROM_LKAHD": { + "Description": "This is how much time to look ahead in the path for calculating path rates", + "DisplayName": "Lookahead", + "Units": "s" + }, + "AEROM_MIS_ANGLE": { + "Description": "When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used", + "DisplayName": "Mission angle", + "Units": "deg" + }, + "AEROM_OPTIONS": { + "Bitmask": { + "0": "UseRTLOnAbort", + "1": "AddAtToMessages", + "2": "DualAircraftSynchronised" + }, + "Description": "Options to control aerobatic behavior", + "DisplayName": "Aerobatic options", + "Units": "deg" + }, + "AEROM_PATH_SCALE": { + "Description": "Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.", + "DisplayName": "Path Scale", + "Range": { + "high": "100", + "low": "0.1" + } + }, + "AEROM_ROL_COR_TC": { + "Description": "This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections", + "DisplayName": "Roll control time constant", + "Units": "s" + }, + "AEROM_SPD_I": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "I gain for speed controller", + "Units": "%" + }, + "AEROM_SPD_P": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "P gain for speed controller", + "Units": "%" + }, + "AEROM_STALL_PIT": { + "Description": "Pitch threashold for moving to final stage of stall turn", + "DisplayName": "Stall turn pitch threshold", + "Units": "deg" + }, + "AEROM_STALL_THR": { + "Description": "Amount of throttle to reduce to for a stall turn", + "DisplayName": "Stall turn throttle", + "Units": "%" + }, + "AEROM_THR_BOOST": { + "Description": "This is the extra throttle added in schedule elements marked as needing a throttle boost", + "DisplayName": "Throttle boost", + "Units": "%" + }, + "AEROM_THR_LKAHD": { + "Description": "This controls how far ahead we look in time along the path for the target throttle", + "DisplayName": "The lookahead for throttle control", + "Units": "s" + }, + "AEROM_THR_MIN": { + "Description": "Lowest throttle used during maneuvers", + "DisplayName": "Minimum Throttle", + "Units": "%" + }, + "AEROM_THR_PIT_FF": { + "Description": "This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch", + "DisplayName": "Throttle feed forward from pitch", + "Units": "%" + }, + "AEROM_TIME_COR_P": { + "Description": "This is the time constant for correcting path position errors", + "DisplayName": "Time constant for correction of our distance along the path", + "Units": "s" + }, + "AEROM_TS_I": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync I gain" + }, + "AEROM_TS_P": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync P gain" + }, + "AEROM_TS_RATE": { + "Description": "This sets the rate we send data for time sync between aircraft", + "DisplayName": "Timesync rate of send of NAMED_VALUE_FLOAT data", + "Units": "Hz" + }, + "AEROM_TS_SPDMAX": { + "Description": "This sets the maximum speed adjustment for time sync between aircraft", + "DisplayName": "Timesync speed max", + "Units": "m/s" + }, + "AEROM_YAW_ACCEL": { + "Description": "This is maximum yaw acceleration to use", + "DisplayName": "Yaw acceleration", + "Units": "deg/s/s" + }, + "BATT_ANX_CANDRV": { + "Description": "Set ANX CAN driver", + "DisplayName": "Set ANX CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "BATT_ANX_ENABLE": { + "Description": "Enable ANX battery support", + "DisplayName": "Enable ANX battery support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BATT_ANX_INDEX": { + "Description": "ANX CAN battery index", + "DisplayName": "ANX CAN battery index", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "BATT_ANX_OPTIONS": { + "Bitmask": { + "0": "LogAllFrames" + }, + "Description": "ANX CAN battery options", + "DisplayName": "ANX CAN battery options", + "User": "Advanced" + }, + "BATT_SOC1_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC1_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC1_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC1_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC1_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC2_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC2_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC2_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC3_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC3_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC3_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC4_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC4_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC4_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC_COUNT": { + "Description": "Number of battery SOC estimators", + "DisplayName": "Count of SOC estimators", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "CAM1_THERM_GAIN": { + "Description": "thermal image temperature range", + "DisplayName": "Camera1 Thermal Gain", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "LowGain (50C to 550C)", + "1": "HighGain (-20C to 150C)" + } + }, + "CAM1_THERM_PAL": { + "Description": "thermal image colour palette", + "DisplayName": "Camera1 Thermal Palette", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "WhiteHot", + "10": "BlackHot", + "11": "GloryHot", + "2": "Sepia", + "3": "IronBow", + "4": "Rainbow", + "5": "Night", + "6": "Aurora", + "7": "RedHot", + "8": "Jungle", + "9": "Medical" + } + }, + "CAM1_THERM_RAW": { + "Description": "save images with raw temperatures", + "DisplayName": "Camera1 Thermal Raw Data", + "Units": "m", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "Disabled (30fps)", + "1": "Enabled (25 fps)" + } + }, + "CGA_RATIO": { + "Description": "The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).", + "DisplayName": "CoG adjustment ratio", + "Range": { + "high": "2", + "low": "0.5" + }, + "User": "Advanced" + }, + "DIST_CUTOFF": { + "Description": "The distance from target beyond which the target is ignored", + "DisplayName": "Precland distance cutoff", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DJIR_DEBUG": { + "Description": "Enable DJIRS2 debug", + "DisplayName": "DJIRS2 debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled with attitude reporting" + } + }, + "DJIR_UPSIDEDOWN": { + "Description": "DJIRS2 upside down", + "DisplayName": "DJIRS2 upside down", + "User": "Standard", + "Values": { + "0": "Right side up", + "1": "Upside down" + } + }, + "DR_ENABLE": { + "Description": "Deadreckoning Enable", + "DisplayName": "Deadreckoning Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DR_ENABLE_DIST": { + "Description": "Distance from home (in meters) beyond which the dead reckoning will be enabled", + "DisplayName": "Deadreckoning Enable Distance", + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ALT_MIN": { + "Description": "Copter will fly at at least this altitude (in meters) above home during deadreckoning", + "DisplayName": "Deadreckoning Altitude Min", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ANGLE": { + "Description": "lean angle (in degrees) during deadreckoning", + "DisplayName": "Deadreckoning Lean Angle", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "DR_FLY_TIMEOUT": { + "Description": "Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout", + "DisplayName": "Deadreckoning flight timeout", + "Units": "s", + "User": "Standard" + }, + "DR_GPS_SACC_MAX": { + "Description": "GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy", + "DisplayName": "Deadreckoning GPS speed accuracy maximum threshold", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_SAT_MIN": { + "Description": "GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count", + "DisplayName": "Deadreckoning GPS satellite count min threshold", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_TRIGG_SEC": { + "Description": "GPS checks must fail for this many seconds before dead reckoning will be triggered", + "DisplayName": "Deadreckoning GPS check trigger seconds", + "Units": "s", + "User": "Standard" + }, + "DR_NEXT_MODE": { + "Description": "Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered", + "DisplayName": "Deadreckoning Next Mode", + "User": "Standard", + "Values": { + "16": "PosHold", + "17": "Brake", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "27": "Auto RTL", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "EFI_2K_CANDRV": { + "Description": "NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "NMEA 2000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_2K_ENABLE": { + "Description": "Enable NMEA 2000 EFI driver", + "DisplayName": "Enable NMEA 2000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_2K_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "NMEA 2000 driver options", + "DisplayName": "NMEA 2000 options", + "User": "Standard" + }, + "EFI_DLA_ENABLE": { + "Description": "Enable EFI DLA driver", + "DisplayName": "EFI DLA enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_DLA_LPS": { + "Description": "EFI DLA litres of fuel per second of injection time", + "DisplayName": "EFI DLA fuel scale", + "Range": { + "high": "1", + "low": "0.00001" + }, + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_CANDRV": { + "Description": "Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "Halo6000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_H6K_ENABLE": { + "Description": "Enable Halo6000 EFI driver", + "DisplayName": "Enable Halo6000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_H6K_FUELTOT": { + "Description": "The capacity of the tank in litres", + "DisplayName": "Halo6000 total fuel capacity", + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_OPTIONS": { + "Bitmask": { + "0": "LogAllCanPackets" + }, + "Description": "Halo6000 options", + "DisplayName": "Halo6000 options", + "User": "Standard" + }, + "EFI_H6K_START_FN": { + "Description": "The RC auxilliary function number for start/stop of the generator. Zero to disable start function", + "DisplayName": "Halo6000 start auxilliary function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_H6K_TELEM_RT": { + "Description": "The rate that additional generator telemetry is sent", + "DisplayName": "Halo6000 telemetry rate", + "Units": "Hz", + "User": "Standard" + }, + "EFI_INF_ENABLE": { + "Description": "Enable EFI INF-Inject driver", + "DisplayName": "EFI INF-Inject enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_INF_IGN_AUX": { + "Description": "EFI INF throttle ignition aux function", + "DisplayName": "EFI INF-Inject ignition aux function", + "User": "Standard" + }, + "EFI_INF_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "EFI INF driver options", + "DisplayName": "EFI INF-Inject options", + "User": "Standard" + }, + "EFI_INF_THR_HZ": { + "Description": "EFI INF throttle output rate", + "DisplayName": "EFI INF-Inject throttle rate", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "EFI_SP_CANDRV": { + "Description": "Set SkyPower EFI CAN driver", + "DisplayName": "Set SkyPower EFI CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "EFI_SP_ENABLE": { + "Description": "Enable SkyPower EFI support", + "DisplayName": "Enable SkyPower EFI support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_CTRL": { + "Description": "SkyPower EFI enable generator control", + "DisplayName": "SkyPower EFI enable generator control", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_FN": { + "Description": "SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop", + "DisplayName": "SkyPower EFI generator control function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_LOG_RT": { + "Description": "SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed", + "DisplayName": "SkyPower EFI log rate", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_MIN_RPM": { + "Description": "SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped", + "DisplayName": "SkyPower EFI minimum RPM", + "Range": { + "high": "1000", + "low": "1" + }, + "User": "Advanced" + }, + "EFI_SP_MODEL": { + "Description": "SkyPower EFI ECU model", + "DisplayName": "SkyPower EFI ECU model", + "User": "Standard", + "Values": { + "0": "SRE_180", + "1": "SP_275" + } + }, + "EFI_SP_RST_TIME": { + "Description": "SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.", + "DisplayName": "SkyPower EFI restart time", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "EFI_SP_START_FN": { + "Description": "SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start", + "DisplayName": "SkyPower EFI start function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_ST_DISARM": { + "Description": "SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed", + "DisplayName": "SkyPower EFI allow start disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_THR_FN": { + "Description": "SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control", + "DisplayName": "SkyPower EFI throttle function", + "User": "Standard", + "Values": { + "0": "Disabled", + "31": "HeliRSC", + "70": "FixedWing" + } + }, + "EFI_SP_THR_RATE": { + "Description": "SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine", + "DisplayName": "SkyPower EFI throttle rate", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_TLM_RT": { + "Description": "SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS", + "DisplayName": "SkyPower EFI telemetry rate", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_UPDATE_HZ": { + "Description": "SkyPower EFI update rate", + "DisplayName": "SkyPower EFI update rate", + "Range": { + "high": "200", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SVF_ARMCHECK": { + "Description": "Check for Generator ARM state before arming", + "DisplayName": "Generator SVFFI arming check", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SVF_ENABLE": { + "Description": "Enable SVFFI generator support", + "DisplayName": "Generator SVFFI enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_ENABLE": { + "Description": "Enable Hobbywing ESC telemetry", + "DisplayName": "Hobbywing ESC Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_OFS": { + "Description": "Motor number offset of first ESC", + "DisplayName": "Hobbywing ESC motor offset", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + }, + "ESC_HW_POLES": { + "Description": "Number of motor poles for eRPM scaling", + "DisplayName": "Hobbywing ESC motor poles", + "Range": { + "high": "50", + "low": "1" + }, + "User": "Standard" + }, + "ESRC_EXTN_QUAL": { + "Description": "ExternalNav may be used if quality is above this threshold", + "DisplayName": "EKF Source ExternalNav Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_EXTN_THRESH": { + "Description": "ExternalNav may be used if innovations are below this threshold", + "DisplayName": "EKF Source ExternalNav Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_FLOW_QUAL": { + "Description": "OpticalFlow may be used if quality is above this threshold", + "DisplayName": "EKF Source OpticalFlow Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_FLOW_THRESH": { + "Description": "OpticalFlow may be used if innovations are below this threshold", + "DisplayName": "EKF Source OpticalFlow Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_RNGFND_MAX": { + "Description": "OpticalFlow may be used if rangefinder distance is below this threshold", + "DisplayName": "EKF Source Rangefinder Max", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "PLND_ALT_CUTOFF": { + "Description": "The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing", + "DisplayName": "Precland altitude cutoff", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "POI_DIST_MAX": { + "Description": "POI's max distance (in meters) from the vehicle", + "DisplayName": "Mount POI distance max", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Standard" + }, + "PREV_ENABLE": { + "Description": "Enable parameter reversion system", + "DisplayName": "parameter reversion enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PREV_RC_FUNC": { + "Description": "RCn_OPTION number to used to trigger parameter reversion", + "DisplayName": "param reversion RC function", + "User": "Standard" + }, + "QUIK_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "QUIK_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "axes to tune", + "DisplayName": "Quicktune axes", + "User": "Standard" + }, + "QUIK_DOUBLE_TIME": { + "Description": "Time to double a tuning parameter. Raise this for a slower tune.", + "DisplayName": "Quicktune doubling time", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "s", + "User": "Standard" + }, + "QUIK_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_GAIN_MARGIN": { + "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune", + "DisplayName": "Quicktune gain margin", + "Range": { + "high": "80", + "low": "20" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_MAX_REDUCE": { + "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.", + "DisplayName": "Quicktune maximum gain reduction", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_OPTIONS": { + "Bitmask": { + "0": "UseTwoPositionSwitch" + }, + "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.", + "DisplayName": "Quicktune options", + "User": "Standard" + }, + "QUIK_OSC_SMAX": { + "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.", + "DisplayName": "Quicktune oscillation rate threshold", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "QUIK_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Quicktune RC function", + "User": "Standard" + }, + "QUIK_RP_PI_RATIO": { + "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain", + "DisplayName": "Quicktune roll/pitch PI ratio", + "Range": { + "high": "1.0", + "low": "0.5" + }, + "User": "Standard" + }, + "QUIK_YAW_D_MAX": { + "Description": "Maximum value for yaw D gain", + "DisplayName": "Quicktune Yaw D max", + "Range": { + "high": "1", + "low": "0.001" + }, + "User": "Standard" + }, + "QUIK_YAW_P_MAX": { + "Description": "Maximum value for yaw P gain", + "DisplayName": "Quicktune Yaw P max", + "Range": { + "high": "3", + "low": "0.1" + }, + "User": "Standard" + }, + "QUIK_Y_PI_RATIO": { + "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain", + "DisplayName": "Quicktune Yaw PI ratio", + "Range": { + "high": "20", + "low": "0.5" + }, + "User": "Standard" + }, + "RCK_DEBUG": { + "Description": "Sends Rockblock debug text to GCS via statustexts", + "DisplayName": "Display Rockblock debugging text", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_ENABLE": { + "Description": "Enables the Rockblock sending and recieving", + "DisplayName": "Enable Message transmission", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_FORCEHL": { + "Description": "Automatically enables High Latency mode if not already enabled", + "DisplayName": "Force enable High Latency mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_PERIOD": { + "Description": "When in High Latency mode, send Rockblock updates every N seconds", + "DisplayName": "Update rate", + "Range": { + "high": "600", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "RTUN_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Rover Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Rover Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "RTUN_AXES": { + "Bitmask": { + "0": "Steering", + "1": "Speed" + }, + "Description": "axes to tune", + "DisplayName": "Rover Quicktune axes", + "User": "Standard" + }, + "RTUN_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Rover Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Rover Quicktune RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + }, + "RTUN_SPD_FFRATIO": { + "Description": "Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value", + "DisplayName": "Rover Quicktune Speed FeedForward (equivalent) ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_I_RATIO": { + "Description": "Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Speed FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_P_RATIO": { + "Description": "Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Speed FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_FFRATIO": { + "Description": "Ratio between measured response and FF gain. Raise this to get a higher FF gain", + "DisplayName": "Rover Quicktune Steering Rate FeedForward ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_I_RATIO": { + "Description": "Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Steering FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_P_RATIO": { + "Description": "Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Steering FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "SHIP_AUTO_OFS": { + "Description": "Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.", + "DisplayName": "Ship automatic offset trigger", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Trigger" + } + }, + "SHIP_ENABLE": { + "Description": "Enable ship landing system", + "DisplayName": "Ship landing enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SHIP_LAND_ANGLE": { + "Description": "Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.", + "DisplayName": "Ship landing angle", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "SLUP_DEBUG": { + "Description": "Slung payload debug output, set to 1 to enable debug", + "DisplayName": "Slung Payload debug output", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_DIST_MAX": { + "Description": "Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress", + "DisplayName": "Slung Payload horizontal distance max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_ENABLE": { + "Description": "Slung Payload enable", + "DisplayName": "Slung Payload enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_RESTOFS_TC": { + "Description": "payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response", + "DisplayName": "Slung Payload resting offset estimate filter time constant", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "SLUP_SYSID": { + "Description": "Slung Payload mavlink system id. 0 to use any/all system ids", + "DisplayName": "Slung Payload mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_VEL_P": { + "Description": "Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload", + "DisplayName": "Slung Payload Velocity P gain", + "Range": { + "high": "0.8", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_WP_POS_P": { + "Description": "WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint", + "DisplayName": "Slung Payload return to WP position P gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "TERR_BRK_ALT": { + "Description": "terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.", + "DisplayName": "terrain brake altitude", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_ENABLE": { + "Description": "terrain brake enable", + "DisplayName": "terrain brake enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "TERR_BRK_HDIST": { + "Description": "terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate", + "DisplayName": "terrain brake home distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_SPD": { + "Description": "terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.", + "DisplayName": "terrain brake speed threshold", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TOFSENSE_ID1": { + "Description": "First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M First ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID2": { + "Description": "Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Second ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID3": { + "Description": "Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Thir ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST1": { + "Description": "First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M First Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST2": { + "Description": "Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Second Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST3": { + "Description": "Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Third Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_MODE": { + "Description": "TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode", + "DisplayName": "TOFSENSE-M mode to be used", + "User": "Standard", + "Values": { + "0": "8x8 mode", + "1": "4x4 mode" + } + }, + "TOFSENSE_NO": { + "Description": "Number of TOFSENSE-M CAN sensors connected", + "DisplayName": "TOFSENSE-M Connected", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_BR": { + "Description": "Serial Port baud rate. Sensor baud rate can be changed from Nassistant software", + "DisplayName": "TOFSENSE-M serial port baudrate", + "User": "Standard" + }, + "TOFSENSE_S1_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_SP": { + "Description": "UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. ", + "DisplayName": "TOFSENSE-M serial port config", + "Range": { + "high": "4", + "low": "1" + }, + "User": "Standard" + }, + "TRIK_ACT_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)", + "DisplayName": "Trik Action Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "TRIK_COUNT": { + "Description": "Number of tricks which can be selected over the range of the trik selection RC channel", + "DisplayName": "Trik Count", + "Range": { + "high": "11", + "low": "1" + } + }, + "TRIK_ENABLE": { + "Description": "Enables Tricks on Switch. TRIK params hidden until enabled", + "DisplayName": "Tricks on Switch Enable" + }, + "TRIK_SEL_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick selection", + "DisplayName": "Trik Selection Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "VIEP_CAM_SWHIGH": { + "Description": "Camera selection when switch is in high position", + "DisplayName": "ViewPro Camera For Switch High", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWLOW": { + "Description": "Camera selection when switch is in low position", + "DisplayName": "ViewPro Camera For Switch Low", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWMID": { + "Description": "Camera selection when switch is in middle position", + "DisplayName": "ViewPro Camera For Switch Mid", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_DEBUG": { + "Description": "ViewPro debug", + "DisplayName": "ViewPro debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled including attitude reporting" + } + }, + "VIEP_ZOOM_MAX": { + "Description": "ViewPro Zoom Times Max", + "DisplayName": "ViewPro Zoom Times Max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "VIEP_ZOOM_SPEED": { + "Description": "ViewPro Zoom Speed. Higher numbers result in faster zooming", + "DisplayName": "ViewPro Zoom Speed", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "WEB_BIND_PORT": { + "Description": "web server TCP port", + "DisplayName": "web server TCP port", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Standard" + }, + "WEB_BLOCK_SIZE": { + "Description": "web server block size for download", + "DisplayName": "web server block size", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Advanced" + }, + "WEB_DEBUG": { + "Description": "web server debugging", + "DisplayName": "web server debugging", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_ENABLE": { + "Description": "enable web server", + "DisplayName": "enable web server", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_SENDFILE_MIN": { + "Description": "sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download", + "DisplayName": "web server minimum file size for sendfile", + "Range": { + "high": "10000000", + "low": "0" + }, + "User": "Advanced" + }, + "WEB_TIMEOUT": { + "Description": "timeout for inactive connections", + "DisplayName": "web server timeout", + "Range": { + "high": "60", + "low": "0.1" + }, + "Units": "s", + "User": "Advanced" + }, + "WINCH_RATE_DN": { + "Description": "Maximum rate when releasing line", + "DisplayName": "WinchControl Rate Down", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RATE_UP": { + "Description": "Maximum rate when retracting line", + "DisplayName": "WinchControl Rate Up", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RC_FUNC": { + "Description": "RCn_OPTION number to use to control winch rate", + "DisplayName": "Winch Rate Control RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + } + }, + "MIS_": { + "MIS_OPTIONS": { + "Bitmask": { + "0": "Clear Mission on reboot", + "1": "Use distance to land calc on battery failsafe", + "2": "ContinueAfterLand" + }, + "Description": "Bitmask of what options to use in missions.", + "DisplayName": "Mission options bitmask", + "User": "Advanced" + }, + "MIS_RESTART": { + "Description": "Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)", + "DisplayName": "Mission Restart when entering Auto mode", + "User": "Advanced", + "Values": { + "0": "Resume Mission", + "1": "Restart Mission" + } + }, + "MIS_TOTAL": { + "Description": "The number of mission mission items that has been loaded by the ground station. Do not change this manually.", + "DisplayName": "Total mission commands", + "Increment": "1", + "Range": { + "high": "32766", + "low": "0" + }, + "ReadOnly": "True", + "User": "Advanced" + } + }, + "MNT1": { + "MNT1_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT1_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT1_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT1_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT1_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT1_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT1_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MNT2": { + "MNT2_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT2_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT2_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT2_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT2_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT2_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT2_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MSP": { + "MSP_OPTIONS": { + "Bitmask": { + "0": "EnableTelemetryMode", + "1": "unused", + "2": "EnableBTFLFonts" + }, + "Description": "A bitmask to set some MSP specific options: EnableTelemetryMode-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.", + "DisplayName": "MSP OSD Options", + "User": "Standard" + }, + "MSP_OSD_NCELLS": { + "Description": "Used for average cell voltage calculation", + "DisplayName": "Cell count override", + "User": "Standard", + "Values": { + "0": "Auto", + "1": "1", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "2": "2", + "3": "3", + "4": "4", + "5": "5", + "6": "6", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "NAVL1_": { + "NAVL1_DAMPING": { + "Description": "Damping ratio for L1 control. Increase this in increments of 0.05 if you are getting overshoot in path tracking. You should not need a value below 0.7 or above 0.85.", + "DisplayName": "L1 control damping ratio", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.6" + }, + "User": "Advanced" + }, + "NAVL1_LIM_BANK": { + "Description": "The sealevel bank angle limit for a continous loiter. (Used to calculate airframe loading limits at higher altitudes). Setting to 0, will instead just scale the loiter radius directly", + "DisplayName": "Loiter Radius Bank Angle Limit", + "Range": { + "high": "89", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "NAVL1_PERIOD": { + "Description": "Period in seconds of L1 tracking loop. This parameter is the primary control for agressiveness of turns in auto mode. This needs to be larger for less responsive airframes. The default of 20 is quite conservative, but for most RC aircraft will lead to reasonable flight. For smaller more agile aircraft a value closer to 15 is appropriate, or even as low as 10 for some very agile aircraft. When tuning, change this value in small increments, as a value that is much too small (say 5 or 10 below the right value) can lead to very radical turns, and a risk of stalling.", + "DisplayName": "L1 control period", + "Increment": "1", + "Range": { + "high": "60", + "low": "1" + }, + "Units": "s", + "User": "Standard" + }, + "NAVL1_XTRACK_I": { + "Description": "Crosstrack error integrator gain. This gain is applied to the crosstrack error to ensure it converges to zero. Set to zero to disable. Smaller values converge slower, higher values will cause crosstrack error oscillation.", + "DisplayName": "L1 control crosstrack integrator gain", + "Increment": "0.01", + "Range": { + "high": "0.1", + "low": "0" + }, + "User": "Advanced" + } + }, + "NET_": { + "NET_DHCP": { + "Description": "Enable/Disable DHCP client", + "DisplayName": "DHCP client", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_ENABLE": { + "Description": "Networking Enable", + "DisplayName": "Networking Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_NETMASK": { + "Description": "Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0", + "DisplayName": "IP Subnet mask", + "Range": { + "high": "32", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_OPTIONS": { + "Bitmask": { + "0": "EnablePPP Ethernet gateway", + "1": "Enable CAN1 multicast gateway", + "2": "Enable CAN2 multicast gateway" + }, + "Description": "Networking options", + "DisplayName": "Networking options", + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_TESTS": { + "Bitmask": { + "0": "UDP echo test", + "1": "TCP echo test", + "2": "TCP discard test", + "3": "TCP reflect test" + }, + "Description": "Enable/Disable networking tests", + "DisplayName": "Test enable flags", + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_GWADDR": { + "NET_GWADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_IPADDR": { + "NET_IPADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_MACADDR": { + "NET_MACADDR0": { + "Description": "MAC address 1st byte", + "DisplayName": "MAC Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR1": { + "Description": "MAC address 2nd byte", + "DisplayName": "MAC Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR2": { + "Description": "MAC address 3rd byte", + "DisplayName": "MAC Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR3": { + "Description": "MAC address 4th byte", + "DisplayName": "MAC Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR4": { + "Description": "MAC address 5th byte", + "DisplayName": "MAC Address 5th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR5": { + "Description": "MAC address 6th byte", + "DisplayName": "MAC Address 6th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_P1_": { + "NET_P1_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P1_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P1_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P1_IP": { + "NET_P1_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P2_": { + "NET_P2_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P2_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P2_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P2_IP": { + "NET_P2_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P3_": { + "NET_P3_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P3_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P3_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P3_IP": { + "NET_P3_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P4_": { + "NET_P4_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P4_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P4_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P4_IP": { + "NET_P4_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_REMPPP_IP": { + "NET_REMPPP_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_TEST_IP": { + "NET_TEST_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NMEA_": { + "NMEA_MSG_EN": { + "Bitmask": { + "0": "GPGGA", + "1": "GPRMC", + "2": "PASHR" + }, + "Description": "This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval", + "DisplayName": "Messages Enable bitmask", + "User": "Standard" + }, + "NMEA_RATE_MS": { + "Description": "NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.", + "DisplayName": "NMEA Output rate", + "Increment": "1", + "Range": { + "high": "2000", + "low": "20" + }, + "Units": "ms", + "User": "Standard" + } + }, + "NTF_": { + "NTF_BUZZ_ON_LVL": { + "Description": "Specifies pin level that indicates buzzer should play", + "DisplayName": "Buzzer-on pin logic level", + "User": "Advanced", + "Values": { + "0": "LowIsOn", + "1": "HighIsOn" + } + }, + "NTF_BUZZ_PIN": { + "Description": "Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Buzzer pin", + "User": "Advanced", + "Values": { + "-1": "Disabled" + } + }, + "NTF_BUZZ_TYPES": { + "Bitmask": { + "0": "Built-in buzzer", + "1": "DShot", + "2": "DroneCAN" + }, + "Description": "Controls what types of Buzzer will be enabled", + "DisplayName": "Buzzer Driver Types", + "User": "Advanced" + }, + "NTF_BUZZ_VOLUME": { + "Description": "Control the volume of the buzzer", + "DisplayName": "Buzzer volume", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "NTF_DISPLAY_TYPE": { + "Description": "This sets up the type of on-board I2C display. Disabled by default.", + "DisplayName": "Type of on-board I2C display", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "ssd1306", + "10": "SITL", + "2": "sh1106" + } + }, + "NTF_LED_BRIGHT": { + "Description": "Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.", + "DisplayName": "LED Brightness", + "User": "Advanced", + "Values": { + "0": "Off", + "1": "Low", + "2": "Medium", + "3": "High" + } + }, + "NTF_LED_LEN": { + "Description": "The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)", + "DisplayName": "Serial LED String Length", + "Range": { + "high": "32", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NTF_LED_OVERRIDE": { + "Description": "Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially \"Green\" is disarmed (safe-to-approach), \"Red\" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.", + "DisplayName": "Specifies colour source for the RGBLed", + "User": "Advanced", + "Values": { + "0": "Standard", + "1": "MAVLink/Scripting/AP_Periph", + "2": "OutbackChallenge", + "3": "TrafficLight" + } + }, + "NTF_LED_TYPES": { + "Bitmask": { + "0": "Built-in LED", + "1": "Internal ToshibaLED", + "10": "Scripting", + "11": "DShot", + "12": "ProfiLED_SPI", + "13": "LP5562 External", + "14": "LP5562 Internal", + "15": "IS31FL3195 External", + "16": "IS31FL3195 Internal", + "17": "DiscreteRGB", + "18": "NeoPixelRGB", + "2": "External ToshibaLED", + "3": "External PCA9685", + "4": "Oreo LED", + "5": "DroneCAN", + "6": "NCP5623 External", + "7": "NCP5623 Internal", + "8": "NeoPixel", + "9": "ProfiLED" + }, + "Description": "Controls what types of LEDs will be enabled", + "DisplayName": "LED Driver Types", + "User": "Advanced" + }, + "NTF_OREO_THEME": { + "Description": "Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme", + "DisplayName": "OreoLED Theme", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Aircraft", + "2": "Rover" + } + } + }, + "OSD": { + "OSD_ARM_SCR": { + "Description": "Screen to be shown on Arm event. Zero to disable the feature.", + "DisplayName": "Arm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_BTN_DELAY": { + "Description": "Debounce time in ms for stick commanded parameter navigation.", + "DisplayName": "Button delay", + "Range": { + "high": "3000", + "low": "0" + }, + "User": "Advanced" + }, + "OSD_CELL_COUNT": { + "Description": "Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.", + "DisplayName": "Battery cell count", + "Increment": "1", + "User": "Advanced" + }, + "OSD_CHAN": { + "Description": "This sets the channel used to switch different OSD screens.", + "DisplayName": "Screen switch transmitter channel", + "User": "Standard", + "Values": { + "0": "Disable", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + }, + "OSD_DSARM_SCR": { + "Description": "Screen to be shown on disarm event. Zero to disable the feature.", + "DisplayName": "Disarm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_FONT": { + "Description": "This sets which OSD font to use. It is an integer from 0 to the number of fonts available", + "DisplayName": "OSD Font", + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_FS_SCR": { + "Description": "Screen to be shown on failsafe event. Zero to disable the feature.", + "DisplayName": "Failsafe screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_H_OFFSET": { + "Description": "Sets horizontal offset of the osd inside image", + "DisplayName": "OSD horizontal offset", + "Range": { + "high": "63", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_MSG_TIME": { + "Description": "Sets message duration seconds", + "DisplayName": "Message display duration in seconds", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "OSD_OPTIONS": { + "Bitmask": { + "0": "UseDecimalPack", + "1": "InvertedWindArrow", + "2": "InvertedAHRoll", + "3": "Convert feet to miles at 5280ft instead of 10000ft", + "4": "DisableCrosshair", + "5": "TranslateArrows", + "6": "AviationStyleAH", + "7": "Prefix LQ with RF Mode" + }, + "Description": "This sets options that change the display", + "DisplayName": "OSD Options", + "User": "Standard" + }, + "OSD_SB_H_OFS": { + "Description": "Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.", + "DisplayName": "Sidebar horizontal offset", + "Range": { + "high": "20", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SB_V_EXT": { + "Description": "Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.", + "DisplayName": "Sidebar vertical extension", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SW_METHOD": { + "Description": "This sets the method used to switch different OSD screens.", + "DisplayName": "Screen switch method", + "User": "Standard", + "Values": { + "0": "switch to next screen if channel value was changed", + "1": "select screen based on pwm ranges specified for each screen", + "2": "switch to next screen after low to high transition and every 1s while channel value is high" + } + }, + "OSD_TYPE": { + "Description": "OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_TYPE2": { + "Description": "OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type 2", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_UNITS": { + "Description": "Sets the units to use in displaying items", + "DisplayName": "Display Units", + "User": "Standard", + "Values": { + "0": "Metric", + "1": "Imperial", + "2": "SI", + "3": "Aviation" + } + }, + "OSD_V_OFFSET": { + "Description": "Sets vertical offset of the osd inside image", + "DisplayName": "OSD vertical offset", + "Range": { + "high": "31", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_W_ACRVOLT": { + "Description": "Set level at which ACRVOLT item will flash", + "DisplayName": "Avg Cell Resting Volt warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_AVGCELLV": { + "Description": "Set level at which AVGCELLV item will flash", + "DisplayName": "AVGCELLV warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_BATVOLT": { + "Description": "Set level at which BAT_VOLT item will flash", + "DisplayName": "BAT_VOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_LQ": { + "Description": "Set level at which RC_LQ item will flash (%)", + "DisplayName": "RC link quality warn level (in %)", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_NSAT": { + "Description": "Set level at which NSAT item will flash", + "DisplayName": "NSAT warn level", + "Range": { + "high": "30", + "low": "1" + }, + "User": "Standard" + }, + "OSD_W_RESTVOLT": { + "Description": "Set level at which RESTVOLT item will flash", + "DisplayName": "RESTVOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_RSSI": { + "Description": "Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.", + "DisplayName": "RSSI warn level (in %)", + "Range": { + "high": "100", + "low": "-128" + }, + "User": "Standard" + }, + "OSD_W_SNR": { + "Description": "Set level at which RC_SNR item will flash (in db)", + "DisplayName": "RC link SNR warn level (in %)", + "Range": { + "high": "10", + "low": "-20" + }, + "User": "Standard" + }, + "OSD_W_TERR": { + "Description": "Set level below which TER_HGT item will flash. -1 disables.", + "DisplayName": "Terrain warn level", + "Range": { + "high": "3000", + "low": "-1" + }, + "Units": "m", + "User": "Standard" + } + }, + "OSD1_": { + "OSD1_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD1_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD1_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD1_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD1_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD1_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD2_": { + "OSD2_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD2_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD2_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD2_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD2_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD2_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD3_": { + "OSD3_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD3_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD3_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD3_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD3_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD3_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD4_": { + "OSD4_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD4_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD4_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD4_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD4_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD4_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD5_": { + "OSD5_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD5_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD5_PARAM1": { + "OSD5_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM2": { + "OSD5_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM3": { + "OSD5_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM4": { + "OSD5_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM5": { + "OSD5_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM6": { + "OSD5_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM7": { + "OSD5_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM8": { + "OSD5_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM9": { + "OSD5_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_": { + "OSD6_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD6_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD6_PARAM1": { + "OSD6_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM2": { + "OSD6_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM3": { + "OSD6_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM4": { + "OSD6_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM5": { + "OSD6_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM6": { + "OSD6_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM7": { + "OSD6_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM8": { + "OSD6_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM9": { + "OSD6_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "PLND_": { + "PLND_ACC_P_NSE": { + "Description": "Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less", + "DisplayName": "Kalman Filter Accelerometer Noise", + "Range": { + "high": "5", + "low": "0.5" + }, + "User": "Advanced" + }, + "PLND_ALT_MAX": { + "Description": "Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand maximum alt for retry", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m" + }, + "PLND_ALT_MIN": { + "Description": "Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand minimum alt for retry", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m" + }, + "PLND_BUS": { + "Description": "Precland sensor bus for I2C sensors.", + "DisplayName": "Sensor Bus", + "User": "Advanced", + "Values": { + "-1": "DefaultBus", + "0": "InternalI2C", + "1": "ExternalI2C" + } + }, + "PLND_CAM_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_ENABLED": { + "Description": "Precision Land enabled/disabled", + "DisplayName": "Precision Land enabled/disabled", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PLND_EST_TYPE": { + "Description": "Specifies the estimation method to be used", + "DisplayName": "Precision Land Estimator Type", + "User": "Advanced", + "Values": { + "0": "RawSensor", + "1": "KalmanFilter" + } + }, + "PLND_LAG": { + "Description": "Precision Landing sensor lag, to cope with variable landing_target latency", + "DisplayName": "Precision Landing sensor lag", + "Increment": "1", + "Range": { + "high": "0.250", + "low": "0.02" + }, + "RebootRequired": "True", + "Units": "s", + "User": "Advanced" + }, + "PLND_LAND_OFS_X": { + "Description": "Desired landing position of the camera forward of the target in vehicle body frame", + "DisplayName": "Land offset forward", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_LAND_OFS_Y": { + "Description": "desired landing position of the camera right of the target in vehicle body frame", + "DisplayName": "Land offset right", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_OPTIONS": { + "Bitmask": { + "0": "Moving Landing Target", + "1": "Allow Precision Landing after manual reposition", + "2": "Maintain high speed in final descent" + }, + "Description": "Precision Landing Extra Options", + "DisplayName": "Precision Landing Extra Options", + "User": "Advanced" + }, + "PLND_ORIENT": { + "Description": "Orientation of camera/sensor on body", + "DisplayName": "Camera Orientation", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Forward", + "25": "Down", + "4": "Back" + } + }, + "PLND_RET_BEHAVE": { + "Description": "Prec Land will do the action selected by this parameter if a retry to a landing is needed", + "DisplayName": "PrecLand retry behaviour", + "Values": { + "0": "Go to the last location where landing target was detected", + "1": "Go towards the approximate location of the detected landing target" + } + }, + "PLND_RET_MAX": { + "Description": "PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.", + "DisplayName": "PrecLand Maximum number of retires for a failed landing", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + } + }, + "PLND_STRICT": { + "Description": "How strictly should the vehicle land on the target if target is lost", + "DisplayName": "PrecLand strictness", + "Values": { + "0": "Land Vertically (Not strict)", + "1": "Retry Landing(Normal Strictness)", + "2": "Do not land (just Hover) (Very Strict)" + } + }, + "PLND_TIMEOUT": { + "Description": "Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.", + "DisplayName": "PrecLand retry timeout", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "s" + }, + "PLND_TYPE": { + "Description": "Precision Land Type", + "DisplayName": "Precision Land Type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IRLock", + "3": "SITL_Gazebo", + "4": "SITL" + } + }, + "PLND_XY_DIST_MAX": { + "Description": "The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.", + "DisplayName": "Precision Landing maximum distance to target before descending", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_YAW_ALIGN": { + "Description": "Yaw angle from body x-axis to sensor x-axis.", + "DisplayName": "Sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "36000", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + } + }, + "PTCH": { + "PTCH2SRV_RLL": { + "Description": "Gain added to pitch to keep aircraft from descending or ascending in turns. Increase in increments of 0.05 to reduce altitude loss. Decrease for altitude gain.", + "DisplayName": "Roll compensation", + "Increment": "0.05", + "Range": { + "high": "1.5", + "low": "0.7" + }, + "User": "Standard" + }, + "PTCH2SRV_RMAX_DN": { + "Description": "This sets the maximum nose down pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.", + "DisplayName": "Pitch down max rate", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced" + }, + "PTCH2SRV_RMAX_UP": { + "Description": "This sets the maximum nose up pitch rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables the limit.", + "DisplayName": "Pitch up max rate", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced" + }, + "PTCH2SRV_TCONST": { + "Description": "Time constant in seconds from demanded to achieved pitch angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.", + "DisplayName": "Pitch Time Constant", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.4" + }, + "Units": "s", + "User": "Advanced" + }, + "PTCH_RATE_D": { + "Description": "Pitch axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate", + "DisplayName": "Pitch axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0.001" + }, + "User": "Standard" + }, + "PTCH_RATE_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Pitch Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "PTCH_RATE_FF": { + "Description": "Pitch axis rate controller feed forward", + "DisplayName": "Pitch axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "3.0", + "low": "0" + }, + "User": "Standard" + }, + "PTCH_RATE_FLTD": { + "Description": "Pitch axis rate controller derivative frequency in Hz", + "DisplayName": "Pitch axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "PTCH_RATE_FLTE": { + "Description": "Pitch axis rate controller error frequency in Hz", + "DisplayName": "Pitch axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "PTCH_RATE_FLTT": { + "Description": "Pitch axis rate controller target frequency in Hz", + "DisplayName": "Pitch axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "PTCH_RATE_I": { + "Description": "Pitch axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate", + "DisplayName": "Pitch axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.6", + "low": "0.01" + }, + "User": "Standard" + }, + "PTCH_RATE_IMAX": { + "Description": "Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Pitch axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "PTCH_RATE_NEF": { + "Description": "Pitch Error notch filter index", + "DisplayName": "Pitch Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "PTCH_RATE_NTF": { + "Description": "Pitch Target notch filter index", + "DisplayName": "Pitch Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "PTCH_RATE_P": { + "Description": "Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.35", + "low": "0.08" + }, + "User": "Standard" + }, + "PTCH_RATE_PDMX": { + "Description": "Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Pitch axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "PTCH_RATE_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Pitch slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + } + }, + "PUP_": { + "PUP_ARSPD_START": { + "Description": "Target airspeed for initial airspeed wait", + "DisplayName": "Pullup target airspeed", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "PUP_ELEV_OFS": { + "Description": "Elevator deflection offset from -1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup.", + "DisplayName": "Elevator deflection used before starting pullup", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "PUP_ENABLE": { + "Description": "Enable pullup after altitude wait", + "DisplayName": "Enable pullup after altitude wait", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PUP_NG_JERK_LIM": { + "Description": "The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP_NG_LIM at the rate of change set by this parameter. The parameter value specified will be scaled internally by 1/EAS2TAS.", + "DisplayName": "Maximum normal load factor rate of change during pullup", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "1/s", + "User": "Advanced" + }, + "PUP_NG_LIM": { + "Description": "This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup.", + "DisplayName": "Maximum normal load factor during pullup", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "PUP_PITCH": { + "Description": "The vehicle will attempt achieve this pitch angle during the pull-up maneouvre.", + "DisplayName": "Target pitch angle during pullup", + "Range": { + "high": "15", + "low": "-5" + }, + "Units": "deg", + "User": "Advanced" + }, + "PUP_PITCH_START": { + "Description": "Target pitch for initial pullup", + "DisplayName": "Pullup target pitch", + "Range": { + "high": "0", + "low": "-80" + }, + "Units": "deg", + "User": "Advanced" + } + }, + "Plane": { + "ACRO_LOCKING": { + "Description": "Enable attitude locking when sticks are released. If set to 2 then quaternion based locking is used if the yaw rate controller is enabled. Quaternion based locking will hold any attitude", + "DisplayName": "ACRO mode attitude locking", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Quaternion" + } + }, + "ACRO_PITCH_RATE": { + "Description": "The maximum pitch rate at full stick deflection in ACRO mode", + "DisplayName": "ACRO mode pitch rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "ACRO_ROLL_RATE": { + "Description": "The maximum roll rate at full stick deflection in ACRO mode", + "DisplayName": "ACRO mode roll rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "ACRO_YAW_RATE": { + "Description": "The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.", + "DisplayName": "ACRO mode yaw rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "AIRSPEED_CRUISE": { + "Description": "Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.", + "DisplayName": "Target cruise airspeed", + "Units": "m/s", + "User": "Standard" + }, + "AIRSPEED_MAX": { + "Description": "Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.", + "DisplayName": "Maximum Airspeed", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "m/s", + "User": "Standard" + }, + "AIRSPEED_MIN": { + "Description": "Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.", + "DisplayName": "Minimum Airspeed", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "m/s", + "User": "Standard" + }, + "AIRSPEED_STALL": { + "Description": "If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed. Value is as an indicated (calibrated/apparent) airspeed.", + "DisplayName": "Stall airspeed", + "Range": { + "high": "75", + "low": "5" + }, + "Units": "m/s", + "User": "Standard" + }, + "ALT_OFFSET": { + "Description": "This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission", + "DisplayName": "Altitude offset", + "Increment": "1", + "Range": { + "high": "32767", + "low": "-32767" + }, + "Units": "m", + "User": "Advanced" + }, + "AUTOTUNE_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "1-byte bitmap of axes to autotune", + "DisplayName": "Autotune axis bitmask", + "User": "Standard" + }, + "AUTOTUNE_LEVEL": { + "Description": "Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values", + "DisplayName": "Autotune level", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "AUTOTUNE_OPTIONS": { + "Bitmask": { + "0": "Disable FLTD update by Autotune", + "1": "Disable FLTT update by Autotune" + }, + "Description": "Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune.", + "DisplayName": "Autotune options bitmask", + "User": "Advanced" + }, + "CRASH_ACC_THRESH": { + "Description": "X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.", + "DisplayName": "Crash Deceleration Threshold", + "Increment": "1", + "Range": { + "high": "127", + "low": "10" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "CRASH_DETECT": { + "Bitmask": { + "0": "Disarm" + }, + "Description": "Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.", + "DisplayName": "Crash Detection", + "User": "Advanced" + }, + "CRUISE_ALT_FLOOR": { + "Description": "This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.", + "DisplayName": "Minimum altitude for FBWB and CRUISE mode", + "Units": "m", + "User": "Standard" + }, + "DSPOILER_AILMTCH": { + "Description": "This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected", + "DisplayName": "Differential spoiler aileron matching", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "DSPOILER_CROW_W1": { + "Description": "This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.", + "DisplayName": "Differential spoiler crow flaps outer weight", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "DSPOILER_CROW_W2": { + "Description": "This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.", + "DisplayName": "Differential spoiler crow flaps inner weight", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "DSPOILER_OPTS": { + "Bitmask": { + "0": "Pitch input", + "1": "use both control surfaces on each wing for roll", + "2": "Progressive crow flaps" + }, + "Description": "Differential spoiler and crow flaps options. Progressive crow flaps only first (0-50% flap in) then crow flaps (50 - 100% flap in).", + "DisplayName": "Differential spoiler and crow flaps options", + "User": "Advanced" + }, + "DSPOILR_RUD_RATE": { + "Description": "Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).", + "DisplayName": "Differential spoilers rudder rate", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "%", + "User": "Standard" + }, + "FBWB_CLIMB_RATE": { + "Description": "This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.", + "DisplayName": "Fly By Wire B altitude change rate", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m/s", + "User": "Standard" + }, + "FBWB_ELEV_REV": { + "Description": "Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.", + "DisplayName": "Fly By Wire elevator reverse", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FLAP_1_PERCNT": { + "Description": "The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps", + "DisplayName": "Flap 1 percentage", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "FLAP_1_SPEED": { + "Description": "The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED", + "DisplayName": "Flap 1 speed", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "FLAP_2_PERCNT": { + "Description": "The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps", + "DisplayName": "Flap 2 percentage", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "FLAP_2_SPEED": { + "Description": "The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED", + "DisplayName": "Flap 2 speed", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "FLAP_SLEWRATE": { + "Description": "maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.", + "DisplayName": "Flap slew rate", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%/s", + "User": "Advanced" + }, + "FLIGHT_OPTIONS": { + "Bitmask": { + "0": "Rudder mixing in direct flight modes only (Manual/Stabilize/Acro)", + "1": "Use centered throttle in Cruise or FBWB to indicate trim airspeed", + "10": "Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL", + "11": "Disable suppression of fixed wing rate gains in ground mode", + "12": "Enable FBWB style loiter altitude control", + "13": "Indicate takeoff waiting for neutral rudder with flight control surfaces", + "14": "In AUTO - climb to next waypoint altitude immediately instead of linear climb", + "2": "Disable attitude check for takeoff arming", + "3": "Force target airspeed to trim airspeed in Cruise or FBWB", + "4": "Climb to RTL_ALTITUDE before turning for RTL", + "5": "Enable yaw damper in acro mode", + "6": "Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.", + "7": "EnableDefaultAirspeed for takeoff", + "8": "Remove the PTCH_TRIM_DEG on the GCS horizon", + "9": "Remove the PTCH_TRIM_DEG on the OSD horizon" + }, + "Description": "Flight mode specific options", + "DisplayName": "Flight mode options", + "User": "Advanced" + }, + "FLTMODE1": { + "Description": "Flight mode for switch position 1 (910 to 1230 and above 2049)", + "DisplayName": "FlightMode1", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE2": { + "Description": "Flight mode for switch position 2 (1231 to 1360)", + "DisplayName": "FlightMode2", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE3": { + "Description": "Flight mode for switch position 3 (1361 to 1490)", + "DisplayName": "FlightMode3", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE4": { + "Description": "Flight mode for switch position 4 (1491 to 1620)", + "DisplayName": "FlightMode4", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE5": { + "Description": "Flight mode for switch position 5 (1621 to 1749)", + "DisplayName": "FlightMode5", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE6": { + "Description": "Flight mode for switch position 6 (1750 to 2049)", + "DisplayName": "FlightMode6", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "FLTMODE_CH": { + "Description": "RC Channel to use for flight mode control", + "DisplayName": "Flightmode channel", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Channel 1", + "10": "Channel 10", + "11": "Channel 11", + "12": "Channel 12", + "13": "Channel 13", + "14": "Channel 14", + "15": "Channel 15", + "16": "Channel 16", + "2": "Channel 2", + "3": "Channel 3", + "4": "Channel 4", + "5": "Channel 5", + "6": "Channel 6", + "7": "Channel 7", + "8": "Channel 8", + "9": "Channel 9" + } + }, + "FORMAT_VERSION": { + "Description": "This value is incremented when changes are made to the eeprom format", + "DisplayName": "Eeprom format version number", + "User": "Advanced" + }, + "FS_EKF_THRESH": { + "Description": "Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes", + "DisplayName": "EKF failsafe variance threshold", + "User": "Advanced", + "Values": { + "0.6": "Strict", + "0.8": "Default", + "1.0": "Relaxed" + } + }, + "FS_GCS_ENABL": { + "Description": "Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.", + "DisplayName": "GCS failsafe enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Heartbeat", + "2": "HeartbeatAndREMRSSI", + "3": "HeartbeatAndAUTO" + } + }, + "FS_LONG_ACTN": { + "Description": "The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.", + "DisplayName": "Long failsafe action", + "User": "Standard", + "Values": { + "0": "Continue", + "1": "ReturnToLaunch", + "2": "Glide", + "3": "Deploy Parachute", + "4": "Auto" + } + }, + "FS_LONG_TIMEOUT": { + "Description": "The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.", + "DisplayName": "Long failsafe timeout", + "Increment": "0.5", + "Range": { + "high": "300", + "low": "1" + }, + "Units": "s", + "User": "Standard" + }, + "FS_SHORT_ACTN": { + "Description": "The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.", + "DisplayName": "Short failsafe action", + "User": "Standard", + "Values": { + "0": "CIRCLE/no change(if already in AUTO|GUIDED|LOITER)", + "1": "CIRCLE", + "2": "FBWA at zero throttle", + "3": "Disable", + "4": "FBWB" + } + }, + "FS_SHORT_TIMEOUT": { + "Description": "The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds", + "DisplayName": "Short failsafe timeout", + "Increment": "0.5", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "s", + "User": "Standard" + }, + "FWD_BAT_IDX": { + "Description": "Which battery monitor should be used for doing compensation for the forward throttle", + "DisplayName": "Forward throttle battery compensation index", + "User": "Advanced", + "Values": { + "0": "First battery", + "1": "Second battery" + } + }, + "FWD_BAT_VOLT_MAX": { + "Description": "Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.", + "DisplayName": "Forward throttle battery voltage compensation maximum voltage", + "Increment": "0.1", + "Range": { + "high": "35", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "FWD_BAT_VOLT_MIN": { + "Description": "Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.", + "DisplayName": "Forward throttle battery voltage compensation minimum voltage", + "Increment": "0.1", + "Range": { + "high": "35", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "GCS_PID_MASK": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw", + "3": "Steering", + "4": "Landing" + }, + "Description": "bitmask of PIDs to send MAVLink PID_TUNING messages for", + "DisplayName": "GCS PID tuning mask", + "User": "Advanced" + }, + "GLIDE_SLOPE_MIN": { + "Description": "This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.", + "DisplayName": "Glide slope minimum", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "GLIDE_SLOPE_THR": { + "Description": "This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff", + "DisplayName": "Glide slope threshold", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "GROUND_STEER_ALT": { + "Description": "Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.", + "DisplayName": "Ground steer altitude", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "GROUND_STEER_DPS": { + "Description": "Ground steering rate in degrees per second for full rudder stick deflection", + "DisplayName": "Ground steer rate", + "Increment": "1", + "Range": { + "high": "360", + "low": "10" + }, + "Units": "deg/s", + "User": "Advanced" + }, + "HOME_RESET_ALT": { + "Description": "When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.", + "DisplayName": "Home reset altitude threshold", + "Range": { + "high": "127", + "low": "-1" + }, + "Units": "m", + "User": "Advanced", + "Values": { + "-1": "Never reset", + "0": "Always reset" + } + }, + "INITIAL_MODE": { + "Description": "This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.", + "DisplayName": "Initial flight mode", + "User": "Advanced", + "Values": { + "0": "Manual", + "1": "CIRCLE", + "10": "Auto", + "11": "RTL", + "12": "Loiter", + "13": "TAKEOFF", + "14": "AVOID_ADSB", + "15": "Guided", + "17": "QSTABILIZE", + "18": "QHOVER", + "19": "QLOITER", + "2": "STABILIZE", + "20": "QLAND", + "21": "QRTL", + "22": "QAUTOTUNE", + "23": "QACRO", + "24": "THERMAL", + "25": "Loiter to QLand", + "3": "TRAINING", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE" + } + }, + "KFF_RDDRMIX": { + "Description": "Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.", + "DisplayName": "Rudder Mix", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "KFF_THR2PTCH": { + "Description": "Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.", + "DisplayName": "Throttle to Pitch Mix", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "User": "Advanced" + }, + "LEVEL_ROLL_LIMIT": { + "Description": "This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff while below 5 meters and during the flare portion of a final landing approach.", + "DisplayName": "Level flight roll limit", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "LOG_BITMASK": { + "Bitmask": { + "0": "Fast Attitude", + "1": "Medium Attitude", + "10": "Compass", + "11": "TECS", + "12": "Camera", + "13": "RC Input-Output", + "14": "Rangefinder", + "19": "Raw IMU", + "2": "GPS", + "20": "Fullrate Attitude", + "21": "Video Stabilization", + "22": "Fullrate Notch", + "3": "Performance", + "4": "Control Tuning", + "5": "Navigation Tuning", + "7": "IMU", + "8": "Mission Commands", + "9": "Battery Monitor" + }, + "Description": "Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basic log types by setting this to 65535.", + "DisplayName": "Log bitmask", + "User": "Advanced" + }, + "MANUAL_RCMASK": { + "Bitmask": { + "0": "Chan1", + "1": "Chan2", + "10": "Chan11", + "11": "Chan12", + "12": "Chan13", + "13": "Chan14", + "14": "Chan15", + "15": "Chan16", + "2": "Chan3", + "3": "Chan4", + "4": "Chan5", + "5": "Chan6", + "6": "Chan7", + "7": "Chan8", + "8": "Chan9", + "9": "Chan10" + }, + "Description": "Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.", + "DisplayName": "Manual R/C pass-through mask", + "User": "Advanced" + }, + "MAN_EXPO_PITCH": { + "Description": "Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes", + "DisplayName": "Manual input expo for pitch", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "MAN_EXPO_ROLL": { + "Description": "Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes", + "DisplayName": "Manual control expo for roll", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "MAN_EXPO_RUDDER": { + "Description": "Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes", + "DisplayName": "Manual input expo for rudder", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "MIN_GROUNDSPEED": { + "Description": "Minimum ground speed when under airspeed control", + "DisplayName": "Minimum ground speed", + "Units": "m/s", + "User": "Advanced" + }, + "MIXING_GAIN": { + "Description": "The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.", + "DisplayName": "Mixing Gain", + "Range": { + "high": "1.2", + "low": "0.5" + }, + "User": "Standard" + }, + "MIXING_OFFSET": { + "Description": "The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.", + "DisplayName": "Mixing Offset", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "d%", + "User": "Standard" + }, + "ONESHOT_MASK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Mask of output channels to use oneshot on", + "DisplayName": "Oneshot output mask", + "User": "Advanced" + }, + "OVERRIDE_CHAN": { + "Description": "If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.", + "DisplayName": "IO override channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "PTCH_LIM_MAX_DEG": { + "Description": "Maximum pitch up angle commanded in modes with stabilized limits.", + "DisplayName": "Maximum Pitch Angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PTCH_LIM_MIN_DEG": { + "Description": "Maximum pitch down angle commanded in modes with stabilized limits", + "DisplayName": "Minimum Pitch Angle", + "Increment": "1", + "Range": { + "high": "0", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "PTCH_TRIM_DEG": { + "Description": "Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.", + "DisplayName": "Pitch angle offset", + "Range": { + "high": "45", + "low": "-45" + }, + "Units": "deg", + "User": "Standard" + }, + "RNGFND_LANDING": { + "Description": "This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare", + "DisplayName": "Enable rangefinder for landing", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RNGFND_LND_ORNT": { + "Description": "The orientation of rangefinder to use for landing detection. Should be set to Down for normal downward facing rangefinder and Back for rearward facing rangefinder for quadplane tailsitters. Custom orientation can be used with Custom1 or Custom2. The orientation must match at least one of the available rangefinders.", + "DisplayName": "rangefinder landing orientation", + "User": "Standard", + "Values": { + "101": "Custom1", + "102": "Custom2", + "25": "Down", + "4": "Back" + } + }, + "ROLL_LIMIT_DEG": { + "Description": "Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.", + "DisplayName": "Maximum Bank Angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "RTL_ALTITUDE": { + "Description": "Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.", + "DisplayName": "RTL altitude", + "Units": "m", + "User": "Standard" + }, + "RTL_AUTOLAND": { + "Description": "Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).", + "DisplayName": "RTL auto land", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Fly HOME then land", + "2": "Go directly to landing sequence", + "3": "OnlyForGoAround" + } + }, + "RTL_CLIMB_MIN": { + "Description": "The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.", + "DisplayName": "RTL minimum climb", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RTL_RADIUS": { + "Description": "Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.", + "DisplayName": "RTL loiter radius", + "Increment": "1", + "Range": { + "high": "32767", + "low": "-32767" + }, + "Units": "m", + "User": "Standard" + }, + "RUDDER_ONLY": { + "Description": "Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.", + "DisplayName": "Rudder only aircraft", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RUDD_DT_GAIN": { + "Description": "gain control from rudder to differential thrust", + "DisplayName": "rudder differential thrust gain", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "SCALING_SPEED": { + "Description": "Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values", + "DisplayName": "speed used for speed scaling calculations", + "Increment": "0.1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "STAB_PITCH_DOWN": { + "Description": "Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.", + "DisplayName": "Low throttle pitch down trim", + "Increment": "0.1", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "STALL_PREVENTION": { + "Description": "Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.", + "DisplayName": "Enable stall prevention", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "STICK_MIXING": { + "Description": "When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use \"fly by wire\" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.", + "DisplayName": "Stick Mixing", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "FBWMixing", + "3": "VTOL Yaw only" + } + }, + "SYSID_ENFORCE": { + "Description": "This controls whether packets from other than the expected GCS system ID will be accepted", + "DisplayName": "GCS sysid enforcement", + "User": "Advanced", + "Values": { + "0": "NotEnforced", + "1": "Enforced" + } + }, + "SYSID_MYGCS": { + "Description": "The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.", + "DisplayName": "Ground station MAVLink system ID", + "Increment": "1", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "SYSID_THISMAV": { + "Description": "Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network", + "DisplayName": "MAVLink system ID of this vehicle", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "TELEM_DELAY": { + "Description": "The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up", + "DisplayName": "Telemetry startup delay", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "TERRAIN_FOLLOW": { + "Bitmask": { + "0": "Enable all modes", + "1": "FBWB", + "10": "QLand", + "11": "Qloiter", + "2": "Cruise", + "3": "Auto", + "4": "RTL", + "5": "Avoid_ADSB", + "6": "Guided", + "7": "Loiter", + "8": "Circle", + "9": "QRTL" + }, + "Description": "This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.", + "DisplayName": "Use terrain following", + "User": "Standard" + }, + "TERRAIN_LOOKAHD": { + "Description": "This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.", + "DisplayName": "Terrain lookahead", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "THROTTLE_NUDGE": { + "Description": "When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.", + "DisplayName": "Throttle nudge enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "THR_FAILSAFE": { + "Description": "0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.", + "DisplayName": "Throttle and RC Failsafe Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "EnabledNoFailsafe" + } + }, + "THR_FS_VALUE": { + "Description": "The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.", + "DisplayName": "Throttle Failsafe Value", + "Increment": "1", + "Range": { + "high": "2200", + "low": "925" + }, + "User": "Standard" + }, + "THR_MAX": { + "Description": "Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.", + "DisplayName": "Maximum Throttle", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "THR_MIN": { + "Description": "Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.", + "DisplayName": "Minimum Throttle", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "%", + "User": "Standard" + }, + "THR_PASS_STAB": { + "Description": "If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.", + "DisplayName": "Throttle passthru in stabilize", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "THR_SLEWRATE": { + "Description": "Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.", + "DisplayName": "Throttle slew rate", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "%/s", + "User": "Standard" + }, + "THR_SUPP_MAN": { + "Description": "When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff", + "DisplayName": "Throttle suppress manual passthru", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "TKOFF_ACCEL_CNT": { + "Description": "This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.", + "DisplayName": "Takeoff throttle acceleration count", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "TKOFF_FLAP_PCNT": { + "Description": "The amount of flaps (as a percentage) to apply in automatic takeoff", + "DisplayName": "Takeoff flap percentage", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "TKOFF_OPTIONS": { + "Bitmask": { + "0": "When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor." + }, + "Description": "This selects the mode of the takeoff in AUTO and TAKEOFF flight modes.", + "DisplayName": "Takeoff options", + "User": "Advanced" + }, + "TKOFF_PLIM_SEC": { + "Description": "This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.", + "DisplayName": "Takeoff pitch limit reduction", + "Increment": "0.5", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "TKOFF_ROTATE_SPD": { + "Description": "This parameter sets the airspeed at which the aircraft will \"rotate\", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent. During the run, use TKOFF_GND_PITCH to keep the aircraft on the runway while below this airspeed.", + "DisplayName": "Takeoff rotate speed", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TKOFF_TDRAG_ELEV": { + "Description": "This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial \"tail hold\" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.", + "DisplayName": "Takeoff tail dragger elevator", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "%", + "User": "Standard" + }, + "TKOFF_TDRAG_SPD1": { + "Description": "This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to \"rotate\" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to gently hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.", + "DisplayName": "Takeoff tail dragger speed1", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TKOFF_THR_DELAY": { + "Description": "This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.", + "DisplayName": "Takeoff throttle delay", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "ds", + "User": "Standard" + }, + "TKOFF_THR_MAX": { + "Description": "The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.", + "DisplayName": "Maximum Throttle for takeoff", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "TKOFF_THR_MAX_T": { + "Description": "This sets the time that maximum throttle will be forced during a fixed wing takeoff.", + "DisplayName": "Takeoff throttle maximum time", + "Increment": "0.5", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "TKOFF_THR_MIN": { + "Description": "The minimum throttle to use in takeoffs in AUTO and TAKEOFF flight modes, when TKOFF_OPTIONS bit 0 is set. Also, the minimum throttle to use in a quadpane forward transition. This can be useful to ensure faster takeoffs or transitions on aircraft where the normal throttle control leads to a slow takeoff or transition. It is used when it is larger than THR_MIN, otherwise THR_MIN is used instead.", + "DisplayName": "Takeoff minimum throttle", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "TKOFF_THR_MINACC": { + "Description": "Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full \"shake to arm\".", + "DisplayName": "Takeoff throttle min acceleration", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "TKOFF_THR_MINSPD": { + "Description": "Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.", + "DisplayName": "Takeoff throttle min speed", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TKOFF_THR_SLEW": { + "Description": "This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.", + "DisplayName": "Takeoff throttle slew rate", + "Increment": "1", + "Range": { + "high": "127", + "low": "-1" + }, + "Units": "%/s", + "User": "Standard" + }, + "TKOFF_TIMEOUT": { + "Description": "This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.", + "DisplayName": "Takeoff timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "TRIM_THROTTLE": { + "Description": "Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.", + "DisplayName": "Throttle cruise percentage", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "USE_REV_THRUST": { + "Bitmask": { + "0": "AUTO_ALWAYS", + "1": "AUTO_LAND", + "10": "GUIDED", + "11": "AUTO_LANDING_PATTERN", + "12": "FBWA", + "13": "ACRO", + "14": "STABILIZE", + "15": "THERMAL", + "2": "AUTO_LOITER_TO_ALT", + "3": "AUTO_LOITER_ALL", + "4": "AUTO_WAYPOINTS", + "5": "LOITER", + "6": "RTL", + "7": "CIRCLE", + "8": "CRUISE", + "9": "FBWB" + }, + "Description": "This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.", + "DisplayName": "Bitmask for when to allow negative reverse thrust", + "User": "Advanced" + }, + "WP_LOITER_RAD": { + "Description": "Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.", + "DisplayName": "Waypoint Loiter Radius", + "Increment": "1", + "Range": { + "high": "32767", + "low": "-32767" + }, + "Units": "m", + "User": "Standard" + }, + "WP_MAX_RADIUS": { + "Description": "Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the \"cross the finish line\" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.", + "DisplayName": "Waypoint Maximum Radius", + "Increment": "1", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "WP_RADIUS": { + "Description": "Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a \"finish line\" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.", + "DisplayName": "Waypoint Radius", + "Increment": "1", + "Range": { + "high": "32767", + "low": "1" + }, + "Units": "m", + "User": "Standard" + } + }, + "Q_": { + "Q_ACRO_PIT_RATE": { + "Description": "The maximum pitch rate at full stick deflection in QACRO mode", + "DisplayName": "QACRO mode pitch rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_ACRO_RLL_RATE": { + "Description": "The maximum roll rate at full stick deflection in QACRO mode", + "DisplayName": "QACRO mode roll rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_ACRO_YAW_RATE": { + "Description": "The maximum yaw rate at full stick deflection in QACRO mode", + "DisplayName": "QACRO mode yaw rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_ANGLE_MAX": { + "Description": "Maximum lean angle in all VTOL flight modes", + "DisplayName": "Angle Max", + "Increment": "10", + "Range": { + "high": "8000", + "low": "1000" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "Q_APPROACH_DIST": { + "Description": "The minimum distance from the destination to use the fixed wing airbrake and approach code for landing approach. This is useful if you don't want the fixed wing approach logic to be used when you are close to the destination. Set to zero to always use fixed wing approach.", + "DisplayName": "Q mode approach distance", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0.0" + }, + "Units": "m", + "User": "Standard" + }, + "Q_ASSIST_ALT": { + "Description": "This is the altitude below which quadplane assistance will be triggered. This acts the same way as Q_ASSIST_ANGLE and Q_ASSIST_SPEED, but triggers if the aircraft drops below the given altitude while the VTOL motors are not running. A value of zero disables this feature. The altitude is calculated as being above ground level. The height above ground is given from a Lidar used if available and RNGFND_LANDING=1. Otherwise it comes from terrain data if TERRAIN_FOLLOW=1 and comes from height above home otherwise.", + "DisplayName": "Quadplane assistance altitude", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "Q_ASSIST_ANGLE": { + "Description": "This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also positive and non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least Q_ASSIST_DELAY seconds. Set to zero to disable angle assistance.", + "DisplayName": "Quadplane assistance angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_ASSIST_DELAY": { + "Description": "This is delay between the assistance thresholds being met and the assistance starting.", + "DisplayName": "Quadplane assistance delay", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "Q_ASSIST_SPEED": { + "Description": "This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. The default value of 0 disables assistance but will generate a pre-arm failure to encourage users to set this parameter to -1, or a positive, non-zero value. If this is set to -1 then all Q_ASSIST features are disabled except during transitions. A high non-zero,positive value will lead to more false positives which can waste battery. A lower value will result in less false positive, but will result in assistance taking longer to trigger. If unsure then set to 3 m/s below the minimum airspeed you will fly at. If you don't have an airspeed sensor then use 5 m/s below the minimum airspeed you fly at.", + "DisplayName": "Quadplane assistance speed", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "Q_BACKTRANS_MS": { + "Description": "Pitch angle will increase from 0 to angle max over this duration when switching into VTOL flight in a postion control mode. 0 Disables.", + "DisplayName": "SLT and Tiltrotor back transition pitch limit duration", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "ms" + }, + "Q_BCK_PIT_LIM": { + "Description": "This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.", + "DisplayName": "Q mode rearward pitch limit", + "Increment": "0.1", + "Range": { + "high": "15.0", + "low": "0.0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_ENABLE": { + "Description": "This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.", + "DisplayName": "Enable QuadPlane", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable", + "2": "Enable VTOL AUTO" + } + }, + "Q_ESC_CAL": { + "Description": "This is used to calibrate the throttle range of the VTOL motors. Please read https://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.", + "DisplayName": "ESC Calibration", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "ThrottleInput", + "2": "FullInput" + } + }, + "Q_FRAME_CLASS": { + "Description": "Controls major frame class for multicopter component", + "DisplayName": "Frame Class", + "User": "Standard", + "Values": { + "0": "Undefined", + "1": "Quad", + "10": "Single/Dual", + "12": "DodecaHexa", + "14": "Deca", + "15": "Scripting Matrix", + "17": "Dynamic Scripting Matrix", + "2": "Hexa", + "3": "Octa", + "4": "OctaQuad", + "5": "Y6", + "7": "Tri" + } + }, + "Q_FRAME_TYPE": { + "Description": "Controls motor mixing for multicopter component", + "DisplayName": "Frame Type (+, X or V)", + "User": "Standard", + "Values": { + "0": "Plus", + "1": "X", + "10": "Y6B", + "11": "Y6F", + "12": "BetaFlightX", + "13": "DJIX", + "14": "ClockwiseX", + "15": "I", + "16": "MOTOR_FRAME_TYPE_NYT_PLUS", + "17": "MOTOR_FRAME_TYPE_NYT_X", + "18": "BetaFlightXReversed", + "19": "Y4", + "2": "V", + "3": "H", + "4": "V-Tail", + "5": "A-Tail" + } + }, + "Q_FWD_MANTHR_MAX": { + "Description": "Maximum value for manual forward throttle; used with RC option FWD_THR (209)", + "DisplayName": "VTOL manual forward throttle max percent", + "Range": { + "high": "100", + "low": "0" + } + }, + "Q_FWD_PIT_LIM": { + "Description": "When forward throttle is being controlled by the Q_FWD_THR_GAIN parameter in Q modes, the vehicle forward (nose down) pitch rotation will be limited to the value specified by this parameter and the any additional forward acceleration required will be produced by use of the forward thrust motor(s) or tilting of moveable rotors. Larger values allow the vehicle to pitch more nose down. Set initially to the amount of nose down pitch required to remove wing lift.", + "DisplayName": "Q mode forward pitch limit", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_FWD_THR_GAIN": { + "Description": "This parameter sets the gain from forward accel/tilt to forward throttle in certain Q modes. The Q modes this feature operates in is controlled by the Q_FWD_THR_USE parameter. Vehicles using separate forward thrust motors, eg quadplanes, should set this parameter to (all up weight) / (maximum combined thrust of forward motors) with a value of 2 being typical. Vehicles that tilt lifting rotors to provide forward thrust should set this parameter to (all up weight) / (weight lifted by tilting rotors) which for most aircraft can be approximated as (total number of lifting rotors) / (number of lifting rotors that tilt). When using this method of forward throttle control, the forward tilt angle limit is controlled by the Q_FWD_PIT_LIM parameter.", + "DisplayName": "Q mode fwd throttle gain", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.0" + }, + "User": "Standard" + }, + "Q_FWD_THR_USE": { + "Description": "This parameter determines when the feature that uses forward throttle instead of forward tilt is used. The amount of forward throttle is controlled by the Q_FWD_THR_GAIN parameter. The maximum amount of forward pitch allowed is controlled by the Q_FWD_PIT_LIM parameter. Q_FWD_THR_USE = 0 disables the feature. Q_FWD_THR_USE = 1 enables the feature in all position controlled modes such as QLOITER, QLAND, QRTL and VTOL TAKEOFF. Q_FWD_THR_USE = 2 enables the feature in all Q modes except QAUTOTUNE and QACRO. When enabling the feature, the legacy method of controlling forward throttle use via velocity controller error should be disabled by setting Q_VFWD_GAIN to 0. Do not use this feature with tailsitters.", + "DisplayName": "Q mode forward throttle use", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On in all position controlled Q modes", + "2": "On in all Q modes except QAUTOTUNE and QACRO" + } + }, + "Q_FW_LND_APR_RAD": { + "Description": "This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected.", + "DisplayName": "Quadplane fixed wing landing approach radius", + "Increment": "5", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "Q_GUIDED_MODE": { + "Description": "This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.", + "DisplayName": "Enable VTOL in GUIDED mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "Q_LAND_ALTCHG": { + "Description": "The maximum altitude change allowed during land detection. You can raise this value if you find that landing detection takes a long time to complete. It is the maximum change in altitude over a period of 4 seconds for landing to be detected", + "DisplayName": "Land detection altitude change threshold", + "Increment": "0.05", + "Range": { + "high": "0.6", + "low": "0.1" + }, + "Units": "m", + "User": "Standard" + }, + "Q_LAND_FINAL_ALT": { + "Description": "The altitude at which we should switch to Q_LAND_SPEED descent rate", + "DisplayName": "Land final altitude", + "Increment": "0.1", + "Range": { + "high": "50", + "low": "0.5" + }, + "Units": "m", + "User": "Standard" + }, + "Q_LAND_FINAL_SPD": { + "Description": "The descent speed for the final stage of landing in m/s", + "DisplayName": "Land final speed", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0.3" + }, + "Units": "m/s", + "User": "Standard" + }, + "Q_LAND_ICE_CUT": { + "Description": "This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.", + "DisplayName": "Cut IC engine on landing", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "Q_MAV_TYPE": { + "Description": "This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.", + "DisplayName": "MAVLink type identifier", + "Values": { + "0": "AUTO", + "1": "FIXED_WING", + "10": "GROUND_ROVER", + "11": "SURFACE_BOAT", + "12": "SUBMARINE", + "16": "FLAPPING_WING", + "17": "KITE", + "19": "VTOL_DUOROTOR", + "2": "QUADROTOR", + "20": "VTOL_QUADROTOR", + "21": "VTOL_TILTROTOR", + "3": "COAXIAL", + "4": "HELICOPTER", + "7": "AIRSHIP", + "8": "FREE_BALLOON", + "9": "ROCKET" + } + }, + "Q_NAVALT_MIN": { + "Description": "This is the altitude in meters above which navigation begins in auto takeoff. Below this altitude the target roll and pitch will be zero. A value of zero disables the feature", + "DisplayName": "Minimum navigation altitude", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + }, + "Q_OPTIONS": { + "Bitmask": { + "0": "Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition", + "1": "Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff", + "10": "Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed", + "11": "Delay Spoolup-delay VTOL spoolup for 2 seconds after arming", + "12": "Disable speed based Qassist when using synthethic airspeed estimates", + "13": "Disable Ground Effect Compensation-on baro altitude reports", + "14": "Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively", + "15": "ThrLandControl-enable throttle stick control of landing rate", + "16": "DisableApproach-disable use of approach and airbrake stages in VTOL landing", + "17": "EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning", + "18": "ARMVTOL-arm only in VTOL or AUTO modes", + "19": "CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND", + "2": "Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND", + "20": "Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL)", + "21": "Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes.", + "22": "Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed.", + "3": "Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location", + "4": "Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings", + "5": "USE QRTL-instead of QLAND for rc failsafe when in VTOL modes", + "6": "Use Governor-use ICE Idle Governor in MANUAL for forward motor", + "7": "Force Qassist-on always", + "8": "Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST" + }, + "Description": "See description for each bitmask bit description", + "DisplayName": "quadplane options" + }, + "Q_PILOT_ACCEL_Z": { + "Description": "The vertical acceleration used when pilot is controlling the altitude", + "DisplayName": "Pilot vertical acceleration", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.5" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "Q_PILOT_SPD_DN": { + "Description": "The maximum vertical velocity the pilot may request in m/s going down. If 0, uses Q_PILOT_SPD_UP value.", + "DisplayName": "Pilot maximum vertical speed down", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.5" + }, + "Units": "m/s", + "User": "Standard" + }, + "Q_PILOT_SPD_UP": { + "Description": "The maximum ascending vertical velocity the pilot may request in m/s", + "DisplayName": "Pilot maximum vertical speed up", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.5" + }, + "Units": "m/s", + "User": "Standard" + }, + "Q_PLT_Y_EXPO": { + "Description": "Pilot controlled yaw expo to allow faster rotation when stick at edges", + "DisplayName": "Pilot controlled yaw expo", + "Range": { + "high": "1.0", + "low": "-0.5" + }, + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "Q_PLT_Y_RATE": { + "Description": "Pilot controlled yaw rate max. Used in all pilot controlled modes except QAcro", + "DisplayName": "Pilot controlled yaw rate", + "Range": { + "high": "360", + "low": "1" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_PLT_Y_RATE_TC": { + "Description": "Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response.", + "DisplayName": "Pilot yaw rate control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "Q_RC_SPEED": { + "Description": "This is the PWM refresh rate in Hz for QuadPlane quad motors", + "DisplayName": "RC output speed in Hz", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_RTL_ALT": { + "Description": "The altitude which QRTL mode heads to initially", + "DisplayName": "QRTL return altitude", + "Increment": "1", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "Q_RTL_ALT_MIN": { + "Description": "If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home. If outside 150% the larger of WP_LOITER_RAD and RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT and Q_RTL_ALT", + "DisplayName": "QRTL minimum altitude", + "Increment": "1", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "Q_RTL_MODE": { + "Description": "If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination, VTOL approach: vehicle will RTL at RTL alt and circle with a radius of Q_FW_LND_APR_RAD down to Q_RTL_ALT and then transition into the wind and QRTL, see 'AUTO VTOL Landing', QRTL Always: do a QRTL instead of RTL", + "DisplayName": "VTOL RTL mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "VTOL approach", + "3": "QRTL Always" + } + }, + "Q_THROTTLE_EXPO": { + "Description": "Amount of curvature in throttle curve: 0 is linear, 1 is cubic", + "DisplayName": "Throttle expo strength", + "Increment": ".1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "Q_TKOFF_ARSP_LIM": { + "Description": "Airspeed limit during takeoff. If the airspeed exceeds this level the vehicle will switch to QLAND. This is useful for ensuring that you don't takeoff into excessively strong wind. If set to 0 there is no limit on airspeed during takeoff.", + "DisplayName": "Takeoff airspeed limit", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "Q_TKOFF_FAIL_SCL": { + "Description": "Scalar for how long past the expected takeoff time a takeoff should be considered as failed and the vehicle will switch to QLAND. If set to 0 there is no limit on takeoff time.", + "DisplayName": "Takeoff time failure scalar", + "Increment": "5.1", + "Range": { + "high": "5.0", + "low": "1.1" + }, + "User": "Advanced" + }, + "Q_TRANSITION_MS": { + "Description": "Transition time in milliseconds after minimum airspeed is reached", + "DisplayName": "Transition time", + "Range": { + "high": "30000", + "low": "500" + }, + "Units": "ms", + "User": "Advanced" + }, + "Q_TRANS_DECEL": { + "Description": "This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight.", + "DisplayName": "Transition deceleration", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.2" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "Q_TRANS_FAIL": { + "Description": "Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit.", + "DisplayName": "Quadplane transition failure time", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_TRANS_FAIL_ACT": { + "Description": "This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set. See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL", + "DisplayName": "Quadplane transition failure action", + "Values": { + "-1": "Warn only", + "0": "QLand", + "1": "QRTL" + } + }, + "Q_TRAN_PIT_MAX": { + "Description": "Maximum pitch during transition to auto fixed wing flight", + "DisplayName": "Transition max pitch", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_TRIM_PITCH": { + "Description": "This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes PTCH_TRIM_DEG. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.", + "DisplayName": "Quadplane AHRS trim pitch", + "Increment": "0.1", + "Range": { + "high": "+10", + "low": "-10" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "Q_VFWD_ALT": { + "Description": "Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.", + "DisplayName": "Forward velocity alt cutoff", + "Increment": "0.25", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "Q_VFWD_GAIN": { + "Description": "The use of this parameter is no longer recommended and has been superseded by a method that works in all VTOL modes with the exception of QAUTOTUNE which is controlled by the Q_FWD_THR_USE parameter. This Q_VFD_GAIN parameter controls use of the forward motor in VTOL modes that use the velocity controller. Set to 0 to disable this function. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use with QLOITER for position hold with the forward motor. ", + "DisplayName": "Forward velocity hold gain", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "Q_YAW_RATE_MAX": { + "Description": "This is the maximum yaw rate for pilot input on rudder stick in degrees/second", + "DisplayName": "Maximum yaw rate", + "Increment": "1", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "deg/s", + "User": "Standard" + } + }, + "Q_AUTOTUNE_": { + "Q_AUTOTUNE_AGGR": { + "Description": "Autotune aggressiveness. Defines the bounce back used to detect size of the D term.", + "DisplayName": "Autotune aggressiveness", + "Range": { + "high": "0.10", + "low": "0.05" + }, + "User": "Standard" + }, + "Q_AUTOTUNE_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw", + "3": "YawD" + }, + "Description": "1-byte bitmap of axes to autotune", + "DisplayName": "Autotune axis bitmask", + "User": "Standard" + }, + "Q_AUTOTUNE_MIN_D": { + "Description": "Defines the minimum D gain", + "DisplayName": "AutoTune minimum D", + "Range": { + "high": "0.005", + "low": "0.0001" + }, + "User": "Standard" + } + }, + "Q_A_": { + "Q_A_ACCEL_P_MAX": { + "Description": "Maximum acceleration in pitch axis", + "DisplayName": "Acceleration Max for Pitch", + "Increment": "1000", + "Range": { + "high": "180000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "108000": "Medium", + "162000": "Fast", + "30000": "VerySlow", + "72000": "Slow" + } + }, + "Q_A_ACCEL_R_MAX": { + "Description": "Maximum acceleration in roll axis", + "DisplayName": "Acceleration Max for Roll", + "Increment": "1000", + "Range": { + "high": "180000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "108000": "Medium", + "162000": "Fast", + "30000": "VerySlow", + "72000": "Slow" + } + }, + "Q_A_ACCEL_Y_MAX": { + "Description": "Maximum acceleration in yaw axis", + "DisplayName": "Acceleration Max for Yaw", + "Increment": "1000", + "Range": { + "high": "72000", + "low": "0" + }, + "Units": "cdeg/s/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "18000": "Slow", + "36000": "Medium", + "54000": "Fast", + "9000": "VerySlow" + } + }, + "Q_A_ANGLE_BOOST": { + "Description": "Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude", + "DisplayName": "Angle Boost", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "Q_A_ANG_LIM_TC": { + "Description": "Angle Limit (to maintain altitude) Time Constant", + "DisplayName": "Angle Limit (to maintain altitude) Time Constant", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "User": "Advanced" + }, + "Q_A_ANG_PIT_P": { + "Description": "Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate", + "DisplayName": "Pitch axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "Q_A_ANG_RLL_P": { + "Description": "Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate", + "DisplayName": "Roll axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "Q_A_ANG_YAW_P": { + "Description": "Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate", + "DisplayName": "Yaw axis angle controller P gain", + "Range": { + "high": "12.000", + "low": "3.000" + }, + "User": "Standard" + }, + "Q_A_INPUT_TC": { + "Description": "Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response", + "DisplayName": "Attitude control input time constant", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "Units": "s", + "User": "Standard", + "Values": { + "0.05": "Very Crisp", + "0.1": "Crisp", + "0.15": "Medium", + "0.2": "Soft", + "0.5": "Very Soft" + } + }, + "Q_A_LAND_P_MULT": { + "Description": "Pitch gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the pitch axis. ", + "DisplayName": "Landed pitch gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "Q_A_LAND_R_MULT": { + "Description": "Roll gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the roll axis. ", + "DisplayName": "Landed roll gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "Q_A_LAND_Y_MULT": { + "Description": "Yaw gain multiplier active when landed. A factor of 1.0 means no reduction in gain while landed. Reduce this factor to reduce ground oscitation in the yaw axis. ", + "DisplayName": "Landed yaw gain multiplier", + "Range": { + "high": "1.0", + "low": "0.25" + }, + "User": "Advanced" + }, + "Q_A_RATE_FF_ENAB": { + "Description": "Controls whether body-frame rate feedforward is enabled or disabled", + "DisplayName": "Rate Feedforward Enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "Q_A_RATE_P_MAX": { + "Description": "Maximum angular velocity in pitch axis", + "DisplayName": "Angular Velocity Max for Pitch", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "Q_A_RATE_R_MAX": { + "Description": "Maximum angular velocity in roll axis", + "DisplayName": "Angular Velocity Max for Roll", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "Q_A_RATE_Y_MAX": { + "Description": "Maximum angular velocity in yaw axis", + "DisplayName": "Angular Velocity Max for Yaw", + "Increment": "1", + "Range": { + "high": "1080", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced", + "Values": { + "0": "Disabled", + "180": "Medium", + "360": "Fast", + "60": "Slow" + } + }, + "Q_A_RAT_PIT_D": { + "Description": "Pitch axis rate controller D gain. Compensates for short-term change in desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.05", + "low": "0.0" + }, + "User": "Standard" + }, + "Q_A_RAT_PIT_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Pitch Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_RAT_PIT_FF": { + "Description": "Pitch axis rate controller feed forward", + "DisplayName": "Pitch axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_PIT_FLTD": { + "Description": "Pitch axis rate controller derivative frequency in Hz", + "DisplayName": "Pitch axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_PIT_FLTE": { + "Description": "Pitch axis rate controller error frequency in Hz", + "DisplayName": "Pitch axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_PIT_FLTT": { + "Description": "Pitch axis rate controller target frequency in Hz", + "DisplayName": "Pitch axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_PIT_I": { + "Description": "Pitch axis rate controller I gain. Corrects long-term difference in desired pitch rate vs actual pitch rate", + "DisplayName": "Pitch axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "2.0", + "low": "0.01" + }, + "User": "Standard" + }, + "Q_A_RAT_PIT_IMAX": { + "Description": "Pitch axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Pitch axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_PIT_NEF": { + "Description": "Pitch Error notch filter index", + "DisplayName": "Pitch Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_A_RAT_PIT_NTF": { + "Description": "Pitch Target notch filter index", + "DisplayName": "Pitch Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_A_RAT_PIT_P": { + "Description": "Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output", + "DisplayName": "Pitch axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.50", + "low": "0.01" + }, + "User": "Standard" + }, + "Q_A_RAT_PIT_PDMX": { + "Description": "Pitch axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Pitch axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "Q_A_RAT_PIT_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Pitch slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_RAT_RLL_D": { + "Description": "Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.05", + "low": "0.0" + }, + "User": "Standard" + }, + "Q_A_RAT_RLL_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Roll Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_RAT_RLL_FF": { + "Description": "Roll axis rate controller feed forward", + "DisplayName": "Roll axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_RLL_FLTD": { + "Description": "Roll axis rate controller derivative frequency in Hz", + "DisplayName": "Roll axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_RLL_FLTE": { + "Description": "Roll axis rate controller error frequency in Hz", + "DisplayName": "Roll axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_RLL_FLTT": { + "Description": "Roll axis rate controller target frequency in Hz", + "DisplayName": "Roll axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_RLL_I": { + "Description": "Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "2.0", + "low": "0.01" + }, + "User": "Standard" + }, + "Q_A_RAT_RLL_IMAX": { + "Description": "Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Roll axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_RLL_NEF": { + "Description": "Roll Error notch filter index", + "DisplayName": "Roll Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_A_RAT_RLL_NTF": { + "Description": "Roll Target notch filter index", + "DisplayName": "Roll Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_A_RAT_RLL_P": { + "Description": "Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "Q_A_RAT_RLL_PDMX": { + "Description": "Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Roll axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "Q_A_RAT_RLL_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Roll slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_RAT_YAW_D": { + "Description": "Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.02", + "low": "0.000" + }, + "User": "Standard" + }, + "Q_A_RAT_YAW_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Yaw Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_RAT_YAW_FF": { + "Description": "Yaw axis rate controller feed forward", + "DisplayName": "Yaw axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_YAW_FLTD": { + "Description": "Yaw axis rate controller derivative frequency in Hz", + "DisplayName": "Yaw axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_YAW_FLTE": { + "Description": "Yaw axis rate controller error frequency in Hz", + "DisplayName": "Yaw axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_YAW_FLTT": { + "Description": "Yaw axis rate controller target frequency in Hz", + "DisplayName": "Yaw axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_A_RAT_YAW_I": { + "Description": "Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.010" + }, + "User": "Standard" + }, + "Q_A_RAT_YAW_IMAX": { + "Description": "Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Yaw axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "Q_A_RAT_YAW_NEF": { + "Description": "Yaw Error notch filter index", + "DisplayName": "Yaw Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_A_RAT_YAW_NTF": { + "Description": "Yaw Target notch filter index", + "DisplayName": "Yaw Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_A_RAT_YAW_P": { + "Description": "Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "2.50", + "low": "0.10" + }, + "User": "Standard" + }, + "Q_A_RAT_YAW_PDMX": { + "Description": "Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Yaw axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "Q_A_RAT_YAW_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Yaw slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_SLEW_YAW": { + "Description": "Maximum rate the yaw target can be updated in RTL and Auto flight modes", + "DisplayName": "Yaw target slew rate", + "Increment": "100", + "Range": { + "high": "18000", + "low": "500" + }, + "Units": "cdeg/s", + "User": "Advanced" + }, + "Q_A_THR_G_BOOST": { + "Description": "Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.", + "DisplayName": "Throttle-gain boost", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "Q_A_THR_MIX_MAN": { + "Description": "Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Manual", + "Range": { + "high": "0.9", + "low": "0.1" + }, + "User": "Advanced" + }, + "Q_A_THR_MIX_MAX": { + "Description": "Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Maximum", + "Range": { + "high": "0.9", + "low": "0.5" + }, + "User": "Advanced" + }, + "Q_A_THR_MIX_MIN": { + "Description": "Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)", + "DisplayName": "Throttle Mix Minimum", + "Range": { + "high": "0.25", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "Q_LOIT_": { + "Q_LOIT_ACC_MAX": { + "Description": "Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.", + "DisplayName": "Loiter maximum correction acceleration", + "Increment": "1", + "Range": { + "high": "981", + "low": "100" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "Q_LOIT_ANG_MAX": { + "Description": "Loiter maximum pilot requested lean angle. Set to zero for 2/3 of Q_P_ANGLE_MAX/Q_ANGLE_MAX. The maximum vehicle lean angle is still limited by Q_P_ANGLE_MAX/Q_ANGLE_MAX", + "DisplayName": "Loiter pilot angle max", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "Q_LOIT_BRK_ACCEL": { + "Description": "Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.", + "DisplayName": "Loiter braking acceleration", + "Increment": "1", + "Range": { + "high": "250", + "low": "25" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "Q_LOIT_BRK_DELAY": { + "Description": "Loiter brake start delay (in seconds)", + "DisplayName": "Loiter brake start delay (in seconds)", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_LOIT_BRK_JERK": { + "Description": "Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.", + "DisplayName": "Loiter braking jerk", + "Increment": "1", + "Range": { + "high": "5000", + "low": "500" + }, + "Units": "cm/s/s/s", + "User": "Advanced" + }, + "Q_LOIT_SPEED": { + "Description": "Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode", + "DisplayName": "Loiter Horizontal Maximum Speed", + "Increment": "50", + "Range": { + "high": "3500", + "low": "20" + }, + "Units": "cm/s", + "User": "Standard" + } + }, + "Q_M_": { + "Q_M_BAT_CURR_MAX": { + "Description": "Maximum current over which maximum throttle is limited (0 = Disabled)", + "DisplayName": "Motor Current Max", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "A", + "User": "Advanced" + }, + "Q_M_BAT_CURR_TC": { + "Description": "Time constant used to limit the maximum current", + "DisplayName": "Motor Current Max Time Constant", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_BAT_IDX": { + "Description": "Which battery monitor should be used for doing compensation", + "DisplayName": "Battery compensation index", + "User": "Advanced", + "Values": { + "0": "First battery", + "1": "Second battery" + } + }, + "Q_M_BAT_VOLT_MAX": { + "Description": "Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation maximum voltage", + "Range": { + "high": "53", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "Q_M_BAT_VOLT_MIN": { + "Description": "Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled", + "DisplayName": "Battery voltage compensation minimum voltage", + "Range": { + "high": "42", + "low": "6" + }, + "Units": "V", + "User": "Advanced" + }, + "Q_M_BOOST_SCALE": { + "Description": "Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.", + "DisplayName": "Motor boost scale", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + }, + "Q_M_HOVER_LEARN": { + "Description": "Enable/Disable automatic learning of hover throttle", + "DisplayName": "Hover Value Learning", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Learn", + "2": "Learn and Save" + } + }, + "Q_M_OPTIONS": { + "Bitmask": { + "0": "Voltage compensation uses raw voltage" + }, + "Description": "Motor options", + "DisplayName": "Motor options", + "User": "Advanced" + }, + "Q_M_PWM_MAX": { + "Description": "This sets the max PWM value in microseconds that will ever be output to the motors", + "DisplayName": "PWM output maximum", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "Q_M_PWM_MIN": { + "Description": "This sets the min PWM output value in microseconds that will ever be output to the motors", + "DisplayName": "PWM output minimum", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "Q_M_PWM_TYPE": { + "Description": "This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output.PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.", + "DisplayName": "Output PWM type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "OneShot", + "2": "OneShot125", + "3": "Brushed", + "4": "DShot150", + "5": "DShot300", + "6": "DShot600", + "7": "DShot1200", + "8": "PWMRange", + "9": "PWMAngle" + } + }, + "Q_M_SAFE_DISARM": { + "Description": "Disables motor PWM output when disarmed", + "DisplayName": "Motor PWM output disabled when disarmed", + "User": "Advanced", + "Values": { + "0": "PWM enabled while disarmed", + "1": "PWM disabled while disarmed" + } + }, + "Q_M_SAFE_TIME": { + "Description": "Time taken to disable and enable the motor PWM output when disarmed and armed.", + "DisplayName": "Time taken to disable and enable the motor PWM output when disarmed and armed.", + "Increment": "0.001", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_SLEW_DN_TIME": { + "Description": "Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.", + "DisplayName": "Output slew time for decreasing throttle", + "Increment": "0.001", + "Range": { + "high": ".5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_SLEW_UP_TIME": { + "Description": "Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.", + "DisplayName": "Output slew time for increasing throttle", + "Increment": "0.001", + "Range": { + "high": ".5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_SPIN_ARM": { + "Description": "Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.", + "DisplayName": "Motor Spin armed", + "User": "Advanced", + "Values": { + "0.0": "Low", + "0.1": "Default", + "0.2": "High" + } + }, + "Q_M_SPIN_MAX": { + "Description": "Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range", + "DisplayName": "Motor Spin maximum", + "User": "Advanced", + "Values": { + "0.9": "Low", + "0.95": "Default", + "1.0": "High" + } + }, + "Q_M_SPIN_MIN": { + "Description": "Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.", + "DisplayName": "Motor Spin minimum", + "User": "Advanced", + "Values": { + "0.0": "Low", + "0.15": "Default", + "0.25": "High" + } + }, + "Q_M_SPOOL_TIME": { + "Description": "Time in seconds to spool up the motors from zero to min throttle. ", + "DisplayName": "Spool up time", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "0.05" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_SPOOL_TIM_DN": { + "Description": "Time taken to spool down the motors from min to zero throttle. If set to 0 then SPOOL_TIME is used instead.", + "DisplayName": "Spool down time", + "Increment": "0.001", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "Q_M_THST_EXPO": { + "Description": "Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)", + "DisplayName": "Thrust Curve Expo", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "Q_M_THST_HOVER": { + "Description": "Motor thrust needed to hover expressed as a number from 0 to 1", + "DisplayName": "Thrust Hover Value", + "Range": { + "high": "0.8", + "low": "0.2" + }, + "User": "Advanced" + }, + "Q_M_YAW_HEADROOM": { + "Description": "Yaw control is given at least this pwm in microseconds range", + "DisplayName": "Matrix Yaw Min", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "Q_M_YAW_SV_ANGLE": { + "Description": "Yaw servo's maximum lean angle (Tricopter only)", + "DisplayName": "Yaw Servo Max Lean Angle", + "Increment": "1", + "Range": { + "high": "80", + "low": "5" + }, + "Units": "deg", + "User": "Standard" + } + }, + "Q_P": { + "Q_P_ACCZ_D": { + "Description": "Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration", + "DisplayName": "Acceleration (vertical) controller D gain", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "Q_P_ACCZ_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Accel (vertical) Derivative FeedForward Gain", + "Increment": "0.0001", + "Range": { + "high": "0.02", + "low": "0" + }, + "User": "Advanced" + }, + "Q_P_ACCZ_FF": { + "Description": "Acceleration (vertical) controller feed forward", + "DisplayName": "Acceleration (vertical) controller feed forward", + "Increment": "0.001", + "Range": { + "high": "0.5", + "low": "0" + }, + "User": "Standard" + }, + "Q_P_ACCZ_FLTD": { + "Description": "Acceleration (vertical) controller derivative frequency in Hz", + "DisplayName": "Acceleration (vertical) controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_P_ACCZ_FLTE": { + "Description": "Acceleration (vertical) controller error frequency in Hz", + "DisplayName": "Acceleration (vertical) controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_P_ACCZ_FLTT": { + "Description": "Acceleration (vertical) controller target frequency in Hz", + "DisplayName": "Acceleration (vertical) controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "Q_P_ACCZ_I": { + "Description": "Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration", + "DisplayName": "Acceleration (vertical) controller I gain", + "Range": { + "high": "3.000", + "low": "0.000" + }, + "User": "Standard" + }, + "Q_P_ACCZ_IMAX": { + "Description": "Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate", + "DisplayName": "Acceleration (vertical) controller I gain maximum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "d%", + "User": "Standard" + }, + "Q_P_ACCZ_NEF": { + "Description": "Accel (vertical) Error notch filter index", + "DisplayName": "Accel (vertical) Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_P_ACCZ_NTF": { + "Description": "Accel (vertical) Target notch filter index", + "DisplayName": "Accel (vertical) Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "Q_P_ACCZ_P": { + "Description": "Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output", + "DisplayName": "Acceleration (vertical) controller P gain", + "Increment": "0.05", + "Range": { + "high": "1.500", + "low": "0.200" + }, + "User": "Standard" + }, + "Q_P_ACCZ_PDMX": { + "Description": "Acceleration (vertical) controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Acceleration (vertical) controller PD sum maximum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "d%" + }, + "Q_P_ACCZ_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Accel (vertical) slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "Q_P_ACC_XY_FILT": { + "Description": "Lower values will slow the response of the navigation controller and reduce twitchiness", + "DisplayName": "XY Acceleration filter cutoff frequency", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0.5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_P_ANGLE_MAX": { + "Description": "Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value", + "DisplayName": "Position Control Angle Max", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "Q_P_JERK_XY": { + "Description": "Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target", + "DisplayName": "Jerk limit for the horizontal kinematic input shaping", + "Increment": "1", + "Range": { + "high": "20", + "low": "1" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "Q_P_JERK_Z": { + "Description": "Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target", + "DisplayName": "Jerk limit for the vertical kinematic input shaping", + "Increment": "1", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "Q_P_POSXY_P": { + "Description": "Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller", + "DisplayName": "Position (horizontal) controller P gain", + "Range": { + "high": "2.000", + "low": "0.500" + }, + "User": "Standard" + }, + "Q_P_POSZ_P": { + "Description": "Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller", + "DisplayName": "Position (vertical) controller P gain", + "Range": { + "high": "3.000", + "low": "1.000" + }, + "User": "Standard" + }, + "Q_P_VELXY_D": { + "Description": "Velocity (horizontal) D gain. Corrects short-term changes in velocity", + "DisplayName": "Velocity (horizontal) D gain", + "Increment": "0.001", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "Q_P_VELXY_FF": { + "Description": "Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) feed forward gain", + "Increment": "0.01", + "Range": { + "high": "6", + "low": "0" + }, + "User": "Advanced" + }, + "Q_P_VELXY_FLTD": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_P_VELXY_FLTE": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_P_VELXY_I": { + "Description": "Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.02" + }, + "User": "Advanced" + }, + "Q_P_VELXY_IMAX": { + "Description": "Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output", + "DisplayName": "Velocity (horizontal) integrator maximum", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "Q_P_VELXY_P": { + "Description": "Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) P gain", + "Increment": "0.1", + "Range": { + "high": "6.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "Q_P_VELZ_D": { + "Description": "Velocity (vertical) controller D gain. Corrects short-term changes in velocity", + "DisplayName": "Velocity (vertical) controller D gain", + "Increment": "0.001", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "Q_P_VELZ_FF": { + "Description": "Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target", + "DisplayName": "Velocity (vertical) controller Feed Forward gain", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "Q_P_VELZ_FLTD": { + "Description": "Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms", + "DisplayName": "Velocity (vertical) input filter for D term", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_P_VELZ_FLTE": { + "Description": "Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms", + "DisplayName": "Velocity (vertical) error filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "Q_P_VELZ_I": { + "Description": "Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration", + "DisplayName": "Velocity (vertical) controller I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.02" + }, + "User": "Advanced" + }, + "Q_P_VELZ_IMAX": { + "Description": "Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output", + "DisplayName": "Velocity (vertical) controller I gain maximum", + "Range": { + "high": "8.000", + "low": "1.000" + }, + "User": "Standard" + }, + "Q_P_VELZ_P": { + "Description": "Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller", + "DisplayName": "Velocity (vertical) controller P gain", + "Range": { + "high": "8.000", + "low": "1.000" + }, + "User": "Standard" + } + }, + "Q_TAILSIT_": { + "Q_TAILSIT_ANGLE": { + "Description": "This is the pitch angle at which tailsitter aircraft will change from VTOL control to fixed wing control.", + "DisplayName": "Tailsitter fixed wing transition angle", + "Range": { + "high": "80", + "low": "5" + }, + "Units": "deg" + }, + "Q_TAILSIT_ANG_VT": { + "Description": "This is the pitch angle at which tailsitter aircraft will change from fixed wing control to VTOL control, if zero Q_TAILSIT_ANGLE will be used", + "DisplayName": "Tailsitter VTOL transition angle", + "Range": { + "high": "80", + "low": "5" + }, + "Units": "deg" + }, + "Q_TAILSIT_DSKLD": { + "Description": "This is the vehicle weight in kg divided by the total disk area of all propellers in m^2. Only used with Q_TAILSIT_GSCMSK = 4", + "DisplayName": "Tailsitter disk loading", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "kg/m/m", + "User": "Standard" + }, + "Q_TAILSIT_ENABLE": { + "Description": "This enables Tailsitter functionality. A value of 2 forces Qassist active and always stabilize in forward flight with airmode for stabilisation at 0 throttle, for use on vehicles with no control surfaces, vehicle will not arm in forward flight modes, see also Q_OPTIONS \"Mtrs_Only_Qassist\"", + "DisplayName": "Enable Tailsitter", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable", + "2": "Enable Always" + } + }, + "Q_TAILSIT_GSCMAX": { + "Description": "Maximum gain scaling for tailsitter Q_TAILSIT_GSCMSK options", + "DisplayName": "Maximum tailsitter gain scaling", + "Range": { + "high": "5", + "low": "1" + }, + "User": "Standard" + }, + "Q_TAILSIT_GSCMIN": { + "Description": "Minimum gain scaling for tailsitter Q_TAILSIT_GSCMSK options", + "DisplayName": "Minimum tailsitter gain scaling", + "Range": { + "high": "1", + "low": "0.1" + }, + "User": "Standard" + }, + "Q_TAILSIT_GSCMSK": { + "Bitmask": { + "0": "Throttle", + "1": "ATT_THR", + "2": "Disk Theory", + "3": "Altitude correction" + }, + "Description": "Bitmask of gain scaling methods to be applied: Throttle: scale gains with throttle, ATT_THR: reduce gain at high throttle/tilt, 2:Disk theory velocity calculation, requires Q_TAILSIT_DSKLD to be set, ATT_THR must not be set, 3:Altitude correction, scale with air density", + "DisplayName": "Tailsitter gain scaling mask", + "User": "Standard" + }, + "Q_TAILSIT_INPUT": { + "Bitmask": { + "0": "PlaneMode", + "1": "BodyFrameRoll" + }, + "Description": "This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When PlaneMode is not enabled (bit0 = 0) the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When PlaneMode input is enabled, the roll and yaw sticks are swapped so that the roll stick controls earth-frame yaw and rudder controls earth-frame roll. When body-frame roll is enabled (bit1 = 1), the yaw stick controls earth-frame yaw rate and the roll stick controls roll in the tailsitter's body frame when flying level.", + "DisplayName": "Tailsitter input type bitmask" + }, + "Q_TAILSIT_MIN_VO": { + "Description": "Use in conjunction with disk theory gain scaling and Q_TAILSIT_DSKLD to specify minumum airspeed over control surfaces, this will be used to boost throttle, when descending for example, 0 disables", + "DisplayName": "Tailsitter Disk loading minimum outflow speed", + "Range": { + "high": "15", + "low": "0" + } + }, + "Q_TAILSIT_MOTMX": { + "Bitmask": { + "0": "Motor 1", + "1": "Motor 2", + "10": "Motor 11", + "11": "Motor 12", + "2": "Motor 3", + "3": "Motor 4", + "4": "Motor 5", + "5": "Motor 6", + "6": "Motor 7", + "7": "Motor 8", + "8": "Motor 9", + "9": "Motor 10" + }, + "Description": "Bitmask of motors to remain active in forward flight for a 'Copter' tailsitter. Non-zero indicates airframe is a Copter tailsitter and uses copter style motor layouts determined by Q_FRAME_CLASS and Q_FRAME_TYPE. This should be zero for non-Copter tailsitters.", + "DisplayName": "Tailsitter motor mask", + "User": "Standard" + }, + "Q_TAILSIT_RAT_FW": { + "Description": "The pitch rate at which tailsitter aircraft will pitch down in the transition from VTOL to forward flight", + "DisplayName": "Tailsitter VTOL to forward flight transition rate", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s" + }, + "Q_TAILSIT_RAT_VT": { + "Description": "The pitch rate at which tailsitter aircraft will pitch up in the transition from forward flight to VTOL", + "DisplayName": "Tailsitter forward flight to VTOL transition rate", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "deg/s" + }, + "Q_TAILSIT_RLL_MX": { + "Description": "Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used.", + "DisplayName": "Maximum Roll angle", + "Range": { + "high": "80", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_TAILSIT_THR_VT": { + "Description": "Throttle used during FW->VTOL transition, -1 uses hover throttle", + "DisplayName": "Tailsitter forward flight to VTOL transition throttle", + "Range": { + "high": "100", + "low": "-1" + }, + "Units": "%" + }, + "Q_TAILSIT_VFGAIN": { + "Description": "This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter", + "DisplayName": "Tailsitter vector thrust gain in forward flight", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "Q_TAILSIT_VHGAIN": { + "Description": "This controls the amount of vectored thrust control used in hover for a vectored tailsitter", + "DisplayName": "Tailsitter vector thrust gain in hover", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "Q_TAILSIT_VHPOW": { + "Description": "This controls the amount of extra pitch given to the vectored control when at high pitch errors", + "DisplayName": "Tailsitter vector thrust gain power", + "Increment": "0.1", + "Range": { + "high": "4", + "low": "0" + } + }, + "Q_TAILSIT_VT_P_P": { + "Description": "Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains", + "DisplayName": "Tailsitter VTOL control surface pitch gain", + "Range": { + "high": "2", + "low": "0" + } + }, + "Q_TAILSIT_VT_R_P": { + "Description": "Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains", + "DisplayName": "Tailsitter VTOL control surface roll gain", + "Range": { + "high": "2", + "low": "0" + } + }, + "Q_TAILSIT_VT_Y_P": { + "Description": "Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains", + "DisplayName": "Tailsitter VTOL control surface yaw gain", + "Range": { + "high": "2", + "low": "0" + } + } + }, + "Q_TILT_": { + "Q_TILT_ENABLE": { + "Description": "This enables Tiltrotor functionality", + "DisplayName": "Enable Tiltrotor functionality", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "Q_TILT_FIX_ANGLE": { + "Description": "This is the angle the motors tilt down when at maximum output for forward flight. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on tilt-vectored aircraft", + "DisplayName": "Fixed wing tiltrotor angle", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_TILT_FIX_GAIN": { + "Description": "This is the gain for use of tilting motors in fixed wing flight for tilt vectored quadplanes", + "DisplayName": "Fixed wing tiltrotor gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "Q_TILT_MASK": { + "Bitmask": { + "0": "Motor 1", + "1": "Motor 2", + "10": "Motor 11", + "11": "Motor 12", + "2": "Motor 3", + "3": "Motor 4", + "4": "Motor 5", + "5": "Motor 6", + "6": "Motor 7", + "7": "Motor 8", + "8": "Motor 9", + "9": "Motor 10" + }, + "Description": "This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.", + "DisplayName": "Tiltrotor mask", + "User": "Standard" + }, + "Q_TILT_MAX": { + "Description": "This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE", + "DisplayName": "Tiltrotor maximum VTOL angle", + "Increment": "1", + "Range": { + "high": "80", + "low": "20" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_TILT_RATE_DN": { + "Description": "This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.", + "DisplayName": "Tiltrotor downwards tilt rate", + "Increment": "1", + "Range": { + "high": "300", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_TILT_RATE_UP": { + "Description": "This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover", + "DisplayName": "Tiltrotor upwards tilt rate", + "Increment": "1", + "Range": { + "high": "300", + "low": "10" + }, + "Units": "deg/s", + "User": "Standard" + }, + "Q_TILT_TYPE": { + "Description": "This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover, Bicopter tiltrotor must use the tailsitter frame class (10)", + "DisplayName": "Tiltrotor type", + "Values": { + "0": "Continuous", + "1": "Binary", + "2": "VectoredYaw", + "3": "Bicopter" + } + }, + "Q_TILT_WING_FLAP": { + "Description": "For use on tilt wings, the wing will tilt up to this angle for flap, transition will be complete when the wing reaches this angle from the forward fight position, 0 disables", + "DisplayName": "Tiltrotor tilt angle that will be used as flap", + "Increment": "1", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_TILT_YAW_ANGLE": { + "Description": "This is the angle of the tilt servos when in VTOL mode and at minimum output (fully back). This needs to be set in addition to Q_TILT_TYPE=2, to enable vectored control for yaw in tilt quadplanes. This is also used to limit the forward travel of bicopter tilts(Q_TILT_TYPE=3) when in VTOL modes.", + "DisplayName": "Tilt minimum angle for vectored yaw", + "Range": { + "high": "30", + "low": "0" + } + } + }, + "Q_WP_": { + "Q_WP_ACCEL": { + "Description": "Defines the horizontal acceleration in cm/s/s used during missions", + "DisplayName": "Waypoint Acceleration ", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "Q_WP_ACCEL_C": { + "Description": "Defines the maximum cornering acceleration in cm/s/s used during missions. If zero uses 2x accel value.", + "DisplayName": "Waypoint Cornering Acceleration", + "Increment": "10", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "Q_WP_ACCEL_Z": { + "Description": "Defines the vertical acceleration in cm/s/s used during missions", + "DisplayName": "Waypoint Vertical Acceleration", + "Increment": "10", + "Range": { + "high": "500", + "low": "50" + }, + "Units": "cm/s/s", + "User": "Standard" + }, + "Q_WP_JERK": { + "Description": "Defines the horizontal jerk in m/s/s used during missions", + "DisplayName": "Waypoint Jerk", + "Range": { + "high": "20", + "low": "1" + }, + "Units": "m/s/s/s", + "User": "Standard" + }, + "Q_WP_RADIUS": { + "Description": "Defines the distance from a waypoint, that when crossed indicates the wp has been hit.", + "DisplayName": "Waypoint Radius", + "Increment": "1", + "Range": { + "high": "1000", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "Q_WP_RFND_USE": { + "Description": "This controls if waypoint missions use rangefinder for terrain following", + "DisplayName": "Waypoint missions use rangefinder for terrain following", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "Q_WP_SPEED": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission", + "DisplayName": "Waypoint Horizontal Speed Target", + "Increment": "50", + "Range": { + "high": "2000", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "Q_WP_SPEED_DN": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission", + "DisplayName": "Waypoint Descent Speed Target", + "Increment": "10", + "Range": { + "high": "500", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "Q_WP_SPEED_UP": { + "Description": "Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission", + "DisplayName": "Waypoint Climb Speed Target", + "Increment": "50", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "cm/s", + "User": "Standard" + }, + "Q_WP_TER_MARGIN": { + "Description": "Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)", + "DisplayName": "Waypoint Terrain following altitude margin", + "Range": { + "high": "100", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + } + }, + "Q_WVANE_": { + "Q_WVANE_ANG_MIN": { + "Description": "The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.", + "DisplayName": "Weathervaning min angle", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "Q_WVANE_ENABLE": { + "Description": "Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands override the weathervaning action.", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "-1": "Only use during takeoffs or landing see weathervane takeoff and land override parameters", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "Q_WVANE_GAIN": { + "Description": "This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.", + "DisplayName": "Weathervaning gain", + "Increment": "0.1", + "Range": { + "high": "4", + "low": "0.5" + }, + "User": "Standard" + }, + "Q_WVANE_HGT_MIN": { + "Description": "Above this height weathervaning is permitted. If RNGFND_LANDING is enabled or terrain is enabled then this parameter sets height AGL. Otherwise this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning", + "DisplayName": "Weathervaning min height", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "Q_WVANE_LAND": { + "Description": "Override the weather vaning behaviour when in landing", + "DisplayName": "Landing override", + "User": "Standard", + "Values": { + "-1": "No override", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "Q_WVANE_OPTIONS": { + "Bitmask": { + "0": "Use pitch when nose or tail-in for faster weathervaning" + }, + "Description": "Options impacting weathervaning behaviour", + "DisplayName": "Weathervaning options", + "User": "Standard" + }, + "Q_WVANE_SPD_MAX": { + "Description": "Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.", + "DisplayName": "Weathervaning max ground speed", + "Increment": "0.1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "Q_WVANE_TAKEOFF": { + "Description": "Override the weather vaning behaviour when in takeoffs", + "DisplayName": "Takeoff override", + "User": "Standard", + "Values": { + "-1": "No override", + "0": "Disabled", + "1": "Nose into wind", + "2": "Nose or tail into wind", + "3": "Side into wind", + "4": "tail into wind" + } + }, + "Q_WVANE_VELZ_MAX": { + "Description": "The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.", + "DisplayName": "Weathervaning max vertical speed", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + } + }, + "RALLY_": { + "RALLY_INCL_HOME": { + "Description": "Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL", + "DisplayName": "Rally Include Home", + "User": "Standard", + "Values": { + "0": "DoNotIncludeHome", + "1": "IncludeHome" + } + }, + "RALLY_LIMIT_KM": { + "Description": "Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.", + "DisplayName": "Rally Limit", + "Increment": "0.1", + "Units": "km", + "User": "Advanced" + }, + "RALLY_TOTAL": { + "Description": "Number of rally points currently loaded", + "DisplayName": "Rally Total", + "User": "Advanced" + } + }, + "RC": { + "RC_FS_TIMEOUT": { + "Description": "RC failsafe will trigger this many seconds after loss of RC", + "DisplayName": "RC Failsafe timeout", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "Units": "s", + "User": "Standard" + }, + "RC_OPTIONS": { + "Bitmask": { + "0": "Ignore RC Receiver", + "1": "Ignore MAVLink Overrides", + "10": "Enable multiple receiver support", + "11": "Use Link Quality for RSSI with CRSF", + "12": "Annotate CRSF flight mode with * on disarm", + "13": "Use 420kbaud for ELRS protocol", + "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup", + "3": "FPort Pad", + "4": "Log RC input bytes", + "5": "Arming check throttle for 0 input", + "6": "Skip the arming check for neutral Roll/Pitch/Yaw sticks", + "7": "Allow Switch reverse", + "8": "Use passthrough for CRSF telemetry", + "9": "Suppress CRSF mode/rate message for ELRS systems" + }, + "Description": "RC input options", + "DisplayName": "RC options", + "User": "Advanced" + }, + "RC_OVERRIDE_TIME": { + "Description": "Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled", + "DisplayName": "RC override timeout", + "Range": { + "high": "120.0", + "low": "0.0" + }, + "Units": "s", + "User": "Advanced" + }, + "RC_PROTOCOLS": { + "Bitmask": { + "0": "All", + "1": "PPM", + "10": "ST24", + "11": "FPORT", + "12": "FPORT2", + "13": "FastSBUS", + "14": "DroneCAN", + "15": "Ghost", + "16": "MAVRadio", + "2": "IBUS", + "3": "SBUS", + "4": "SBUS_NI", + "5": "DSM", + "6": "SUMD", + "7": "SRXL", + "8": "SRXL2", + "9": "CRSF" + }, + "Description": "Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.", + "DisplayName": "RC protocols enabled", + "User": "Advanced" + } + }, + "RC10_": { + "RC10_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC10_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC10_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC11_": { + "RC11_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC11_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC11_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC12_": { + "RC12_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC12_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC12_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC13_": { + "RC13_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC13_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC13_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC14_": { + "RC14_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC14_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC14_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC15_": { + "RC15_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC15_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC15_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC16_": { + "RC16_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC16_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC16_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC1_": { + "RC1_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC1_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC1_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC2_": { + "RC2_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC2_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC2_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC3_": { + "RC3_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC3_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC3_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC4_": { + "RC4_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC4_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC4_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC5_": { + "RC5_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC5_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC5_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC6_": { + "RC6_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC6_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC6_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC7_": { + "RC7_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC7_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC7_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC8_": { + "RC8_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC8_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC8_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC9_": { + "RC9_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "107": "Enable FW Autotune", + "108": "QRTL Mode", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "150": "CRUISE Mode", + "153": "ArmDisarm (4.2 and higher)", + "154": "ArmDisarm with Quadplane AirMode (4.2 and higher)", + "155": "Set roll pitch and yaw trim to current servo and RC", + "157": "Force FS Action to FBWA", + "158": "Optflow Calibration", + "16": "AUTO Mode", + "160": "Weathervane Enable", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "170": "QSTABILIZE Mode", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "173": "Plane AUTO Mode Landing Abort", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "176": "Quadplane Fwd Throttle Override enable", + "177": "Mount LRF enable", + "179": "ICEngine start / stop", + "180": "Test autotuned gains after tune is complete", + "208": "Flap", + "209": "VTOL Forward Throttle", + "210": "Airbrakes", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "22": "Parachute Release", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "29": "Landing Gear", + "30": "Lost Plane Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "38": "ADSB Avoidance Enable", + "4": "RTL", + "41": "ArmDisarm (4.1 and lower)", + "43": "InvertedFlight Enable", + "46": "RC Override Enable", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "58": "Clear Waypoints", + "62": "Compass Learn", + "64": "Reverse Throttle", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "72": "CIRCLE Mode", + "77": "TAKEOFF Mode", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "81": "Disarm", + "82": "QAssist 3pos", + "84": "AirMode", + "85": "Generator", + "86": "Non Auto Terrain Follow Disable", + "87": "Crow Select", + "88": "Soaring Enable", + "89": "Landing Flare", + "9": "Camera Trigger", + "90": "EKF Source Set", + "91": "Airspeed Ratio Calibration", + "92": "FBWA Mode", + "94": "VTX Power", + "95": "FBWA taildragger takeoff mode", + "96": "Trigger re-reading of mode switch", + "98": "TRAINING Mode" + } + }, + "RC9_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC9_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RCMAP_": { + "RCMAP_PITCH": { + "Description": "Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Pitch channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_ROLL": { + "Description": "Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Roll channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_THROTTLE": { + "Description": "Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Throttle channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_YAW": { + "Description": "Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Yaw channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "RELAY10_": { + "RELAY10_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY10_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY10_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY10_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY11_": { + "RELAY11_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY11_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY11_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY11_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY12_": { + "RELAY12_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY12_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY12_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY12_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY13_": { + "RELAY13_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY13_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY13_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY13_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY14_": { + "RELAY14_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY14_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY14_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY14_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY15_": { + "RELAY15_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY15_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY15_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY15_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY16_": { + "RELAY16_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY16_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY16_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY16_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY1_": { + "RELAY1_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY1_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY1_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY1_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY2_": { + "RELAY2_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY2_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY2_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY2_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY3_": { + "RELAY3_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY3_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY3_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY3_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY4_": { + "RELAY4_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY4_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY4_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY4_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY5_": { + "RELAY5_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY5_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY5_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY5_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY6_": { + "RELAY6_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY6_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY6_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY6_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY7_": { + "RELAY7_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY7_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY7_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY7_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY8_": { + "RELAY8_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY8_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY8_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY8_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY9_": { + "RELAY9_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY9_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "2": "Ignition", + "3": "Parachute", + "4": "Camera", + "9": "ICE Starter" + } + }, + "RELAY9_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY9_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RLL": { + "RLL2SRV_RMAX": { + "Description": "This sets the maximum roll rate that the attitude controller will demand (degrees/sec) in angle stabilized modes. Setting it to zero disables this limit.", + "DisplayName": "Maximum Roll Rate", + "Increment": "1", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg/s", + "User": "Advanced" + }, + "RLL2SRV_TCONST": { + "Description": "Time constant in seconds from demanded to achieved roll angle. Most models respond well to 0.5. May be reduced for faster responses, but setting lower than a model can achieve will not help.", + "DisplayName": "Roll Time Constant", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.4" + }, + "Units": "s", + "User": "Advanced" + }, + "RLL_RATE_D": { + "Description": "Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0.001" + }, + "User": "Standard" + }, + "RLL_RATE_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Roll Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "RLL_RATE_FF": { + "Description": "Roll axis rate controller feed forward", + "DisplayName": "Roll axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "3.0", + "low": "0" + }, + "User": "Standard" + }, + "RLL_RATE_FLTD": { + "Description": "Roll axis rate controller derivative frequency in Hz", + "DisplayName": "Roll axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "RLL_RATE_FLTE": { + "Description": "Roll axis rate controller error frequency in Hz", + "DisplayName": "Roll axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "RLL_RATE_FLTT": { + "Description": "Roll axis rate controller target frequency in Hz", + "DisplayName": "Roll axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "RLL_RATE_I": { + "Description": "Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.6", + "low": "0.01" + }, + "User": "Standard" + }, + "RLL_RATE_IMAX": { + "Description": "Roll axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Roll axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "RLL_RATE_NEF": { + "Description": "Roll Error notch filter index", + "DisplayName": "Roll Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "RLL_RATE_NTF": { + "Description": "Roll Target notch filter index", + "DisplayName": "Roll Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "RLL_RATE_P": { + "Description": "Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate", + "DisplayName": "Roll axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.35", + "low": "0.08" + }, + "User": "Standard" + }, + "RLL_RATE_PDMX": { + "Description": "Roll axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Roll axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "RLL_RATE_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Roll slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + } + }, + "RNGFND1_": { + "RNGFND1_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND1_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND1_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND1_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND1_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND1_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND1_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND1_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND1_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND1_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND2_": { + "RNGFND2_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND2_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND2_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND2_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND2_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND2_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND2_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND2_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND2_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND2_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND3_": { + "RNGFND3_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND3_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND3_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND3_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND3_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND3_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND3_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND3_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND3_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND3_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND4_": { + "RNGFND4_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND4_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND4_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND4_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND4_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND4_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND4_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND4_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND4_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND4_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND5_": { + "RNGFND5_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND5_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND5_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND5_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND5_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND5_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND5_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND5_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND5_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND5_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND6_": { + "RNGFND6_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND6_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND6_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND6_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND6_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND6_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND6_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND6_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND6_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND6_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND7_": { + "RNGFND7_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND7_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND7_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND7_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND7_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND7_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND7_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND7_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND7_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND7_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND8_": { + "RNGFND8_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND8_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND8_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND8_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND8_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND8_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND8_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND8_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND8_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND8_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND9_": { + "RNGFND9_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND9_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND9_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND9_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND9_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND9_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND9_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND9_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND9_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND9_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFNDA_": { + "RNGFNDA_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFNDA_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFNDA_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFNDA_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFNDA_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFNDA_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFNDA_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFNDA_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFNDA_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFNDA_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RPM1_": { + "RPM1_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM1_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM1_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM1_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM1_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM1_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM1_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM2_": { + "RPM2_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM2_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM2_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM2_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM2_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM2_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM3_": { + "RPM3_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM3_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM3_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM3_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM3_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM3_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM4_": { + "RPM4_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM4_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM4_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM4_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM4_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM4_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RSSI_": { + "RSSI_ANA_PIN": { + "Description": "Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Receiver RSSI sensing pin", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6", + "8": "V5 Nano" + } + }, + "RSSI_CHANNEL": { + "Description": "The channel number where RSSI will be output by the radio receiver (5 and above).", + "DisplayName": "Receiver RSSI channel number", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Standard" + }, + "RSSI_CHAN_HIGH": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW", + "DisplayName": "Receiver RSSI PWM high value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_CHAN_LOW": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH", + "DisplayName": "RSSI PWM low value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_PIN_HIGH": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's highest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_PIN_LOW": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's lowest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_TYPE": { + "Description": "Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.", + "DisplayName": "RSSI Type", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "AnalogPin", + "2": "RCChannelPwmValue", + "3": "ReceiverProtocol", + "4": "PWMInputPin", + "5": "TelemetryRadioRSSI" + } + } + }, + "SCHED_": { + "SCHED_DEBUG": { + "Description": "Set to non-zero to enable scheduler debug messages. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.", + "DisplayName": "Scheduler debug level", + "User": "Advanced", + "Values": { + "0": "Disabled", + "2": "ShowSlips", + "3": "ShowOverruns" + } + }, + "SCHED_LOOP_RATE": { + "Description": "This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.", + "DisplayName": "Scheduling main loop rate", + "Range": { + "high": "400", + "low": "50" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SCHED_OPTIONS": { + "Bitmask": { + "0": "Enable per-task perf info" + }, + "Description": "This controls optional aspects of the scheduler.", + "DisplayName": "Scheduling options", + "User": "Advanced" + } + }, + "SCR_": { + "SCR_DEBUG_OPTS": { + "Bitmask": { + "0": "No Scripts to run message if all scripts have stopped", + "1": "Runtime messages for memory usage and execution time", + "2": "Suppress logging scripts to dataflash", + "3": "log runtime memory usage and execution time", + "4": "Disable pre-arm check", + "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm" + }, + "Description": "Debugging options", + "DisplayName": "Scripting Debug Level", + "User": "Advanced" + }, + "SCR_DIR_DISABLE": { + "Bitmask": { + "0": "ROMFS", + "1": "APM/scripts" + }, + "Description": "This will stop scripts being loaded from the given locations", + "DisplayName": "Directory disable", + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_ENABLE": { + "Description": "Controls if scripting is enabled", + "DisplayName": "Enable Scripting", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Lua Scripts" + } + }, + "SCR_HEAP_SIZE": { + "Description": "Amount of memory available for scripting", + "DisplayName": "Scripting Heap Size", + "Increment": "1024", + "Range": { + "high": "1048576", + "low": "1024" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_LD_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables", + "DisplayName": "Loaded script checksum", + "User": "Advanced" + }, + "SCR_RUN_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables", + "DisplayName": "Running script checksum", + "User": "Advanced" + }, + "SCR_SDEV1_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV2_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV3_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV_EN": { + "Description": "Enable scripting serial devices", + "DisplayName": "Scripting serial device enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SCR_THD_PRIORITY": { + "Description": "This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.", + "DisplayName": "Scripting thread priority", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "IO Priority", + "2": "Storage Priority", + "3": "UART Priority", + "4": "I2C Priority", + "5": "SPI Priority", + "6": "Timer Priority", + "7": "Main Priority", + "8": "Boost Priority" + } + }, + "SCR_USER1": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter1", + "User": "Standard" + }, + "SCR_USER2": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter2", + "User": "Standard" + }, + "SCR_USER3": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter3", + "User": "Standard" + }, + "SCR_USER4": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter4", + "User": "Standard" + }, + "SCR_USER5": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter5", + "User": "Standard" + }, + "SCR_USER6": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter6", + "User": "Standard" + }, + "SCR_VM_I_COUNT": { + "Description": "The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time", + "DisplayName": "Scripting Virtual Machine Instruction Count", + "Increment": "10000", + "Range": { + "high": "1000000", + "low": "1000" + }, + "User": "Advanced" + } + }, + "SERIAL": { + "SERIAL0_BAUD": { + "Description": "The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial0 baud rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL0_PROTOCOL": { + "Description": "Control what protocol to use on the console. ", + "DisplayName": "Console protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "1": "MAVLink1", + "2": "MAVLink2" + } + }, + "SERIAL1_BAUD": { + "Description": "The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telem1 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL1_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem1 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL1_PROTOCOL": { + "Description": "Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telem1 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL2_BAUD": { + "Description": "The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telemetry 2 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL2_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem2 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL2_PROTOCOL": { + "Description": "Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telemetry 2 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL3_BAUD": { + "Description": "The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 3 (GPS) Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL3_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial3 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL3_PROTOCOL": { + "Description": "Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial 3 (GPS) protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL4_BAUD": { + "Description": "The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 4 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL4_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial4 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL4_PROTOCOL": { + "Description": "Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial4 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL5_BAUD": { + "Description": "The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 5 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL5_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial5 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL5_PROTOCOL": { + "Description": "Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial5 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL6_BAUD": { + "Description": "The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 6 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL6_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial6 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL6_PROTOCOL": { + "Description": "Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial6 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL7_BAUD": { + "Description": "The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 7 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL7_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial7 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL7_PROTOCOL": { + "Description": "Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial7 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL8_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 8 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL8_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial8 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL8_PROTOCOL": { + "Description": "Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial8 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL9_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 9 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL9_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial9 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL9_PROTOCOL": { + "Description": "Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial9 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL_PASS1": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru first port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASS2": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru second port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASSTIMO": { + "Description": "This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.", + "DisplayName": "Serial passthru timeout", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + } + }, + "SERVO": { + "SERVO_32_ENABLE": { + "Description": "This allows for up to 32 outputs, enabling parameters for outputs above 16", + "DisplayName": "Enable outputs 17 to 31", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_AUTO_TRIM": { + "Description": "This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights. The automatic trim won't go more than 20% away from a centered trim.", + "DisplayName": "Automatic servo trim", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SERVO_DSHOT_ESC": { + "Description": "DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.", + "DisplayName": "Servo DShot ESC type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "BLHeli32/Kiss/AM32", + "2": "BLHeli_S/BlueJay", + "3": "BLHeli32/AM32/Kiss+EDT", + "4": "BLHeli_S/BlueJay+EDT" + } + }, + "SERVO_DSHOT_RATE": { + "Description": "DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.", + "DisplayName": "Servo DShot output rate", + "User": "Advanced", + "Values": { + "0": "1Khz", + "1": "loop-rate", + "2": "double loop-rate", + "3": "triple loop-rate", + "4": "quadruple loop rate" + } + }, + "SERVO_GPIO_MASK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin", + "DisplayName": "Servo GPIO mask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_RATE": { + "Description": "Default output rate in Hz for all PWM outputs.", + "DisplayName": "Servo default output rate", + "Range": { + "high": "400", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SERVO_RC_FS_MSK": { + "Bitmask": { + "0": "RCIN1Scaled", + "1": "RCIN2Scaled", + "10": "RCIN11Scaled", + "11": "SRCIN12Scaled", + "12": "RCIN13Scaled", + "13": "RCIN14Scaled", + "14": "RCIN15Scaled", + "15": "RCIN16Scaled", + "2": "RCIN3Scaled", + "3": "RCIN4Scaled", + "4": "RCIN5Scaled", + "5": "RCIN6Scaled", + "6": "RCIN7Scaled", + "7": "RCIN8Scaled", + "8": "RCIN9Scaled", + "9": "RCIN10Scaled" + }, + "Description": "Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.", + "DisplayName": "Servo RC Failsafe Mask", + "User": "Advanced" + } + }, + "SERVO10_": { + "SERVO10_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO10_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO10_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO11_": { + "SERVO11_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO11_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO11_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO12_": { + "SERVO12_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO12_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO12_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO13_": { + "SERVO13_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO13_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO13_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO14_": { + "SERVO14_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO14_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO14_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO15_": { + "SERVO15_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO15_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO15_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO16_": { + "SERVO16_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO16_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO16_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO17_": { + "SERVO17_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO17_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO17_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO18_": { + "SERVO18_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO18_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO18_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO19_": { + "SERVO19_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO19_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO19_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO1_": { + "SERVO1_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO1_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO1_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO20_": { + "SERVO20_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO20_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO20_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO21_": { + "SERVO21_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO21_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO21_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO22_": { + "SERVO22_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO22_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO22_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO23_": { + "SERVO23_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO23_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO23_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO24_": { + "SERVO24_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO24_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO24_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO25_": { + "SERVO25_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO25_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO25_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO26_": { + "SERVO26_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO26_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO26_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO27_": { + "SERVO27_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO27_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO27_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO28_": { + "SERVO28_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO28_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO28_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO29_": { + "SERVO29_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO29_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO29_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO2_": { + "SERVO2_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO2_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO2_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO30_": { + "SERVO30_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO30_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO30_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO31_": { + "SERVO31_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO31_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO31_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO32_": { + "SERVO32_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO32_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO32_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO3_": { + "SERVO3_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO3_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO3_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO4_": { + "SERVO4_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO4_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO4_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO5_": { + "SERVO5_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO5_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO5_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO6_": { + "SERVO6_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO6_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO6_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO7_": { + "SERVO7_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO7_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO7_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO8_": { + "SERVO8_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO8_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO8_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO9_": { + "SERVO9_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "110": "Airbrakes", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "124": "RateRoll", + "125": "RatePitch", + "126": "RateThrust", + "127": "RateYaw", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "16": "DifferentialSpoilerLeft1", + "17": "DifferentialSpoilerRight1", + "19": "Elevator", + "2": "Flap", + "21": "Rudder", + "22": "SprayerPump", + "23": "SprayerSpinner", + "24": "FlaperonLeft", + "25": "FlaperonRight", + "26": "GroundSteering", + "27": "Parachute", + "28": "Gripper", + "29": "LandingGear", + "3": "FlapAuto", + "30": "EngineRunEnable", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "37": "Motor5", + "38": "Motor6", + "39": "Motor7/TailTiltServo", + "4": "Aileron", + "40": "Motor8", + "41": "TiltMotorsFront", + "45": "TiltMotorsRear", + "46": "TiltMotorRearLeft", + "47": "TiltMotorRearRight", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "67": "Ignition", + "69": "Starter", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "75": "TiltMotorFrontLeft", + "76": "TiltMotorFrontRight", + "77": "ElevonLeft", + "78": "ElevonRight", + "79": "VTailLeft", + "8": "Mount1Roll", + "80": "VTailRight", + "82": "Motor9", + "83": "Motor10", + "84": "Motor11", + "85": "Motor12", + "86": "DifferentialSpoilerLeft2", + "87": "DifferentialSpoilerRight2", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO9_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO9_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO_BLH_": { + "SERVO_BLH_3DMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.", + "DisplayName": "BLHeli bitmask of 3D channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_AUTO": { + "Description": "If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors", + "DisplayName": "BLHeli pass-thru auto-enable for multicopter motors", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_BDMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.", + "DisplayName": "BLHeli bitmask of bi-directional dshot channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_DEBUG": { + "Description": "When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.", + "DisplayName": "BLHeli debug level", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)", + "DisplayName": "BLHeli Channel Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_OTYPE": { + "Description": "When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.", + "DisplayName": "BLHeli output type override", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "OneShot", + "2": "OneShot125", + "3": "Brushed", + "4": "DShot150", + "5": "DShot300", + "6": "DShot600", + "7": "DShot1200" + } + }, + "SERVO_BLH_POLES": { + "Description": "This allows calculation of true RPM from ESC's eRPM. The default is 14.", + "DisplayName": "BLHeli Motor Poles", + "Range": { + "high": "127", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_PORT": { + "Description": "This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.", + "DisplayName": "Control port", + "User": "Advanced", + "Values": { + "0": "Console", + "1": "Mavlink Serial Channel1", + "2": "Mavlink Serial Channel2", + "3": "Mavlink Serial Channel3", + "4": "Mavlink Serial Channel4", + "5": "Mavlink Serial Channel5" + } + }, + "SERVO_BLH_RVMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.", + "DisplayName": "BLHeli bitmask of reversed channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_TEST": { + "Description": "Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.", + "DisplayName": "BLHeli internal interface test", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestMotor1", + "2": "TestMotor2", + "3": "TestMotor3", + "4": "TestMotor4", + "5": "TestMotor5", + "6": "TestMotor6", + "7": "TestMotor7", + "8": "TestMotor8" + } + }, + "SERVO_BLH_TMOUT": { + "Description": "This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout", + "DisplayName": "BLHeli protocol timeout", + "Range": { + "high": "300", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "SERVO_BLH_TRATE": { + "Description": "This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests", + "DisplayName": "BLHeli telemetry rate", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + } + }, + "SERVO_FTW_": { + "SERVO_FTW_MASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask specifying FETtec ESC output.", + "DisplayName": "Servo channel output bitmask", + "RebootRequired": "True", + "User": "Standard" + }, + "SERVO_FTW_POLES": { + "Description": "Number of motor electrical poles", + "DisplayName": "Nr. electrical poles", + "Range": { + "high": "50", + "low": "2" + }, + "User": "Standard" + }, + "SERVO_FTW_RVMASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask to reverse rotation of FETtec ESC outputs.", + "DisplayName": "Servo channel reverse rotation bitmask", + "User": "Standard" + } + }, + "SERVO_ROB_": { + "SERVO_ROB_POSMAX": { + "Description": "Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position max", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + }, + "SERVO_ROB_POSMIN": { + "Description": "Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position min", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + } + }, + "SERVO_SBUS_": { + "SERVO_SBUS_RATE": { + "Description": "This sets the SBUS output frame rate in Hz.", + "DisplayName": "SBUS default output rate", + "Range": { + "high": "250", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "SERVO_VOLZ_": { + "SERVO_VOLZ_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel17", + "17": "Channel18", + "18": "Channel19", + "19": "Channel20", + "2": "Channel3", + "20": "Channel21", + "21": "Channel22", + "22": "Channel23", + "23": "Channel24", + "24": "Channel25", + "25": "Channel26", + "26": "Channel27", + "28": "Channel29", + "29": "Channel30", + "3": "Channel4", + "30": "Channel31", + "31": "Channel32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of volz servo protocol to specific channels", + "DisplayName": "Channel Bitmask", + "User": "Standard" + }, + "SERVO_VOLZ_RANGE": { + "Description": "Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.", + "DisplayName": "Range of travel", + "Units": "deg" + } + }, + "SIM_": { + "SIM_ACC1_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 1 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 2 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 3 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 4 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 5 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACCEL1_FAIL": { + "Description": "Simulated failure of ACCEL1", + "DisplayName": "ACCEL1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL1 Failure" + } + }, + "SIM_ACCEL2_FAIL": { + "Description": "Simulated failure of ACCEL2", + "DisplayName": "ACCEL2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL2 Failure" + } + }, + "SIM_ACCEL3_FAIL": { + "Description": "Simulated failure of ACCEL3", + "DisplayName": "ACCEL3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL3 Failure" + } + }, + "SIM_ACCEL4_FAIL": { + "Description": "Simulated failure of ACCEL4", + "DisplayName": "ACCEL4 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL4 Failure" + } + }, + "SIM_ACCEL5_FAIL": { + "Description": "Simulated failure of ACCEL5", + "DisplayName": "ACCEL5 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL5 Failure" + } + }, + "SIM_ACC_FAIL_MSK": { + "Description": "Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Accelerometer Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_ACC_FILE_RW": { + "Description": "Read and write accelerometer data to/from files", + "DisplayName": "Accelerometer data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_ADSB_ALT": { + "Description": "Simulated ADSB altitude of another aircraft", + "DisplayName": "ADSB altitude of another aircraft", + "Units": "m" + }, + "SIM_ADSB_COUNT": { + "Description": "Total number of ADSB simulated aircraft", + "DisplayName": "Number of ADSB aircrafts" + }, + "SIM_ADSB_RADIUS": { + "Description": "Simulated standard deviation of radius in ADSB of another aircraft", + "DisplayName": "ADSB radius stddev of another aircraft", + "Units": "m" + }, + "SIM_ADSB_TX": { + "Description": "ADSB transceiever enable and disable", + "DisplayName": "ADSB transmit enable", + "Values": { + "0": "Transceiever disable", + "1": "Transceiever enable" + } + }, + "SIM_ADSB_TYPES": { + "Bitmask": { + "0": "MAVLink", + "3": "SageTechMXS" + }, + "Description": "specifies which simulated ADSB types are active", + "DisplayName": "Simulated ADSB Type mask", + "User": "Advanced" + }, + "SIM_BARO_COUNT": { + "Description": "Number of simulated baros to create in SITL", + "DisplayName": "Baro count", + "Range": { + "high": "3", + "low": "0" + } + }, + "SIM_BATT_CAP_AH": { + "Description": "Simulated battery capacity", + "DisplayName": "Simulated battery capacity", + "Units": "Ah", + "User": "Advanced" + }, + "SIM_BATT_VOLTAGE": { + "Description": "Simulated battery (constant) voltage", + "DisplayName": "Simulated battery voltage", + "Units": "V", + "User": "Advanced" + }, + "SIM_BAUDLIMIT_EN": { + "Description": "SITL enable bandwidth limitting on telemetry ports with non-zero values", + "DisplayName": "Telemetry bandwidth limitting" + }, + "SIM_CAN_SRV_MSK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "The set of actuators controlled externally by CAN SITL AP_Periph", + "DisplayName": "Mask of CAN servos/ESCs", + "User": "Advanced" + }, + "SIM_CAN_TYPE1": { + "Description": "transport type for first CAN interface", + "DisplayName": "transport type for first CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CAN_TYPE2": { + "Description": "transport type for second CAN interface", + "DisplayName": "transport type for second CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CLAMP_CH": { + "Description": "If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM", + "DisplayName": "Simulated Clamp Channel" + }, + "SIM_DRIFT_SPEED": { + "Description": "Gyro drift rate of change in degrees/second/minute", + "DisplayName": "Gyro drift speed" + }, + "SIM_DRIFT_TIME": { + "Description": "Gyro drift duration of one full drift cycle (period in minutes)", + "DisplayName": "Gyro drift time" + }, + "SIM_EFI_TYPE": { + "Description": "Different types of Electronic Fuel Injection (EFI) systems", + "DisplayName": "Type of Electronic Fuel Injection", + "Values": { + "0": "None", + "1": "MegaSquirt EFI system", + "2": "L\u00f6weheiser EFI system", + "8": "Hirth engines" + } + }, + "SIM_ENGINE_FAIL": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8" + }, + "Description": "mask of motors which SIM_ENGINE_MUL will be applied to", + "DisplayName": "Engine Fail Mask" + }, + "SIM_ENGINE_MUL": { + "Description": "Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor", + "DisplayName": "Engine failure thrust scaler", + "Units": "ms" + }, + "SIM_ESC_ARM_RPM": { + "Description": "Simulated RPM when motors are armed", + "DisplayName": "ESC RPM when armed", + "User": "Advanced" + }, + "SIM_ESC_TELEM": { + "Description": "enable perfect simulated ESC telemetry", + "DisplayName": "Simulated ESC Telemetry", + "User": "Advanced" + }, + "SIM_FLOAT_EXCEPT": { + "Description": "If set, if a numerical error occurs SITL will die with a floating point exception.", + "DisplayName": "Generate floating point exceptions", + "User": "Advanced" + }, + "SIM_FLOW_DELAY": { + "Description": "Opflow data delay", + "DisplayName": "Opflow Delay", + "Units": "ms" + }, + "SIM_FLOW_ENABLE": { + "Description": "Enable simulated Optical Flow sensor", + "DisplayName": "Opflow Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_FLOW_POS_X": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Y": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Z": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_RATE": { + "Description": "Opflow Data Rate", + "DisplayName": "Opflow Rate", + "Units": "Hz" + }, + "SIM_FLOW_RND": { + "Description": "Optical Flow sensor measurement noise", + "DisplayName": "Opflow noise", + "Units": "rad/s" + }, + "SIM_GND_BEHAV": { + "Description": "Ground behavior of aircraft (tailsitter, no movement, forward only)", + "DisplayName": "Ground behavior" + }, + "SIM_GPS2_ACC": { + "Description": "GPS 2 Accuracy", + "DisplayName": "GPS 2 Accuracy", + "User": "Advanced" + }, + "SIM_GPS2_ALT_OFS": { + "Description": "GPS 2 Altitude Error", + "DisplayName": "GPS 2 Altitude Offset", + "Units": "m" + }, + "SIM_GPS2_BYTELOS": { + "Description": "Percent of bytes lost from GPS 2", + "DisplayName": "GPS 2 Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS2_DISABLE": { + "Description": "Disables GPS 2", + "DisplayName": "GPS 2 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS2_DRFTALT": { + "Description": "GPS 2 altitude drift error", + "DisplayName": "GPS 2 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_X": { + "Description": "Glitch offsets of simulated GPS 2 sensor (X-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Y": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Y-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Z": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Z-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_HDG": { + "Description": "Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 2 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_HZ": { + "Description": "GPS 2 Update rate", + "DisplayName": "GPS 2 Hz", + "Units": "Hz" + }, + "SIM_GPS2_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_LAG_MS": { + "Description": "GPS 2 lag in ms", + "DisplayName": "GPS 2 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS2_LCKTIME": { + "Description": "Delay in seconds before GPS2 acquires lock", + "DisplayName": "GPS 2 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS2_NOISE": { + "Description": "Amplitude of the GPS2 altitude error", + "DisplayName": "GPS 2 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_NUMSATS": { + "Description": "Number of satellites GPS 2 has in view", + "DisplayName": "GPS 2 Num Satellites" + }, + "SIM_GPS2_POS_X": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Y": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Z": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_TYPE": { + "Description": "Sets the type of simulation used for GPS 2", + "DisplayName": "GPS 2 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS2_VERR_X": { + "Description": "GPS 2 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Y": { + "Description": "GPS 2 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Z": { + "Description": "GPS 2 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_ACC": { + "Description": "GPS 1 Accuracy", + "DisplayName": "GPS 1 Accuracy", + "User": "Advanced" + }, + "SIM_GPS_ALT_OFS": { + "Description": "GPS 1 Altitude Error", + "DisplayName": "GPS 1 Altitude Offset", + "Units": "m" + }, + "SIM_GPS_BYTELOSS": { + "Description": "Percent of bytes lost from GPS 1", + "DisplayName": "GPS Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS_DISABLE": { + "Description": "Disables GPS 1", + "DisplayName": "GPS 1 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS_DRIFTALT": { + "Description": "GPS 1 altitude drift error", + "DisplayName": "GPS 1 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_X": { + "Description": "Glitch offsets of simulated GPS 1 sensor (X-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Y": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Y-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Z": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Z-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_HDG": { + "Description": "Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 1 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_HZ": { + "Description": "GPS 1 Update rate", + "DisplayName": "GPS 1 Hz", + "Units": "Hz" + }, + "SIM_GPS_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_LAG_MS": { + "Description": "GPS 1 lag", + "DisplayName": "GPS 1 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS_LOCKTIME": { + "Description": "Delay in seconds before GPS1 acquires lock", + "DisplayName": "GPS 1 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS_LOG_NUM": { + "Description": "Log number for GPS:update_file()", + "DisplayName": "GPS Log Number" + }, + "SIM_GPS_NOISE": { + "Description": "Amplitude of the GPS1 altitude error", + "DisplayName": "GPS 1 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_NUMSATS": { + "Description": "Number of satellites GPS 1 has in view", + "DisplayName": "GPS 1 Num Satellites" + }, + "SIM_GPS_POS_X": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Y": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Z": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_TYPE": { + "Description": "Sets the type of simulation used for GPS 1", + "DisplayName": "GPS 1 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS_VERR_X": { + "Description": "GPS 1 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Y": { + "Description": "GPS 1 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Z": { + "Description": "GPS 1 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_X": { + "Description": "First Gyro bias on X axis", + "DisplayName": "First Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Y": { + "Description": "First Gyro bias on Y axis", + "DisplayName": "First Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Z": { + "Description": "First Gyro bias on Z axis", + "DisplayName": "First Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 1 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_X": { + "Description": "Second Gyro bias on X axis", + "DisplayName": "Second Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Y": { + "Description": "Second Gyro bias on Y axis", + "DisplayName": "Second Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Z": { + "Description": "Second Gyro bias on Z axis", + "DisplayName": "Second Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 2 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_X": { + "Description": "Third Gyro bias on X axis", + "DisplayName": "Third Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Y": { + "Description": "Third Gyro bias on Y axis", + "DisplayName": "Third Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Z": { + "Description": "Third Gyro bias on Z axis", + "DisplayName": "Third Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 3 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_X": { + "Description": "Fourth Gyro bias on X axis", + "DisplayName": "Fourth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Y": { + "Description": "Fourth Gyro bias on Y axis", + "DisplayName": "Fourth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Z": { + "Description": "Fourth Gyro bias on Z axis", + "DisplayName": "Fourth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 4 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_X": { + "Description": "Fifth Gyro bias on X axis", + "DisplayName": "Fifth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Y": { + "Description": "Fifth Gyro bias on Y axis", + "DisplayName": "Fifth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Z": { + "Description": "Fifth Gyro bias on Z axis", + "DisplayName": "Fifth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 5 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR_FAIL_MSK": { + "Description": "Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Gyro Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_GYR_FILE_RW": { + "Description": "Read and write gyro data to/from files", + "DisplayName": "Gyro data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_IMUT_END": { + "Description": "Ending IMU temperature of a curve", + "DisplayName": "IMU temperature end" + }, + "SIM_IMUT_FIXED": { + "Description": "IMU fixed temperature by user", + "DisplayName": "IMU fixed temperature" + }, + "SIM_IMUT_START": { + "Description": "Starting IMU temperature of a curve", + "DisplayName": "IMU temperature start" + }, + "SIM_IMUT_TCONST": { + "Description": "IMU temperature time constant of the curve", + "DisplayName": "IMU temperature time constant" + }, + "SIM_IMU_COUNT": { + "Description": "Number of simulated IMUs to create", + "DisplayName": "IMU count" + }, + "SIM_IMU_POS_X": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Y": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Z": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_INIT_ALT_OFS": { + "Description": "GPS initial alt offset from origin", + "DisplayName": "Initial Altitude Offset" + }, + "SIM_INIT_LAT_OFS": { + "Description": "GPS initial lat offset from origin", + "DisplayName": "Initial Latitude Offset" + }, + "SIM_INIT_LON_OFS": { + "Description": "GPS initial lon offset from origin", + "DisplayName": "Initial Longitude Offset" + }, + "SIM_INS_THR_MIN": { + "Description": "Minimum throttle for simulated ins noise", + "DisplayName": "Minimum throttle INS noise" + }, + "SIM_JSON_MASTER": { + "Description": "the instance number to take servos from", + "DisplayName": "JSON master instance" + }, + "SIM_LED_LAYOUT": { + "Description": "LED layout config value", + "DisplayName": "LED layout" + }, + "SIM_LOOP_DELAY": { + "Description": "Extra time delay per main loop", + "DisplayName": "Extra delay per main loop", + "Units": "us" + }, + "SIM_MAG1_DEVID": { + "Description": "Device ID of simulated compass 1", + "DisplayName": "MAG1 Device ID", + "User": "Advanced" + }, + "SIM_MAG1_FAIL": { + "Description": "Simulated failure of MAG1", + "DisplayName": "MAG1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG1 Failure" + } + }, + "SIM_MAG1_ORIENT": { + "Description": "MAG1 external compass orientation", + "DisplayName": "MAG1 Orientation", + "User": "Advanced" + }, + "SIM_MAG1_SCALING": { + "Description": "Scale the compass 1 to simulate sensor scale factor errors", + "DisplayName": "MAG1 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG2_DEVID": { + "Description": "Device ID of simulated compass 2", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG2_FAIL": { + "Description": "Simulated failure of MAG2", + "DisplayName": "MAG2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG2 Failure" + } + }, + "SIM_MAG2_ORIENT": { + "Description": "MAG2 external compass orientation", + "DisplayName": "MAG2 Orientation", + "User": "Advanced" + }, + "SIM_MAG2_SCALING": { + "Description": "Scale the compass 2 to simulate sensor scale factor errors", + "DisplayName": "MAG2 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG3_DEVID": { + "Description": "Device ID of simulated compass 3", + "DisplayName": "MAG3 Device ID", + "User": "Advanced" + }, + "SIM_MAG3_FAIL": { + "Description": "Simulated failure of MAG3", + "DisplayName": "MAG3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG3 Failure" + } + }, + "SIM_MAG3_ORIENT": { + "Description": "MAG3 external compass orientation", + "DisplayName": "MAG3 Orientation", + "User": "Advanced" + }, + "SIM_MAG3_SCALING": { + "Description": "Scale the compass 3 to simulate sensor scale factor errors", + "DisplayName": "MAG3 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG4_DEVID": { + "Description": "Device ID of simulated compass 4", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG5_DEVID": { + "Description": "Device ID of simulated compass 5", + "DisplayName": "MAG5 Device ID", + "User": "Advanced" + }, + "SIM_MAG6_DEVID": { + "Description": "Device ID of simulated compass 6", + "DisplayName": "MAG6 Device ID", + "User": "Advanced" + }, + "SIM_MAG7_DEVID": { + "Description": "Device ID of simulated compass 7", + "DisplayName": "MAG7 Device ID", + "User": "Advanced" + }, + "SIM_MAG8_DEVID": { + "Description": "Device ID of simulated compass 8", + "DisplayName": "MAG8 Device ID", + "User": "Advanced" + }, + "SIM_MAG_ALY_HGT": { + "Description": "Height above ground where anomally strength has decayed to 1/8 of the ground level value", + "DisplayName": "Magnetic anomaly height", + "Units": "m", + "User": "Advanced" + }, + "SIM_MAG_DELAY": { + "Description": "Magnetometer measurement delay", + "DisplayName": "Mag measurement delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_MAG_RND": { + "Description": "Scaling factor for simulated vibration from motors", + "DisplayName": "Mag motor noise factor", + "User": "Advanced" + }, + "SIM_MAG_SAVE_IDS": { + "Description": "This forces saving of compass devids on startup so that simulated compasses start as calibrated", + "DisplayName": "Save MAG devids on startup", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ODOM_ENABLE": { + "Description": "SITL odometry enabl", + "DisplayName": "Odometry enable", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_OH_MASK": { + "Description": "channels which are passed through to actual hardware when running sim on actual hardware", + "DisplayName": "SIM-on_hardware Output Enable Mask" + }, + "SIM_OH_RELAY_MSK": { + "Description": "Allow relay output operation when running SIM-on-hardware", + "DisplayName": "SIM-on_hardware Relay Enable Mask" + }, + "SIM_OPOS_ALT": { + "Description": "Specifies vehicle's startup altitude (AMSL)", + "DisplayName": "Original Position (Altitude)", + "User": "Advanced" + }, + "SIM_OPOS_HDG": { + "Description": "Specifies vehicle's startup heading (0-360)", + "DisplayName": "Original Position (Heading)", + "User": "Advanced" + }, + "SIM_OPOS_LAT": { + "Description": "Specifies vehicle's startup latitude", + "DisplayName": "Original Position (Latitude)", + "User": "Advanced" + }, + "SIM_OPOS_LNG": { + "Description": "Specifies vehicle's startup longitude", + "DisplayName": "Original Position (Longitude)", + "User": "Advanced" + }, + "SIM_OSD_COLUMNS": { + "Description": "Simulated OSD number of text columns", + "DisplayName": "Simulated OSD number of text columns", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_OSD_ROWS": { + "Description": "Simulated OSD number of text rows", + "DisplayName": "Simulated OSD number of text rows", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_PIN_MASK": { + "Description": "SITL GPIO emulation", + "DisplayName": "GPIO emulation" + }, + "SIM_RATE_HZ": { + "Description": "SITL Loop rate", + "DisplayName": "Loop rate", + "Units": "Hz" + }, + "SIM_RC_CHANCOUNT": { + "Description": "SITL RC channel count", + "DisplayName": "RC channel count" + }, + "SIM_RC_FAIL": { + "Description": "Allows you to emulate rc failures in sim", + "DisplayName": "Simulated RC signal failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "No RC pusles", + "2": "All Channels neutral except Throttle is 950us" + } + }, + "SIM_SHOVE_TIME": { + "Description": "Force to the vehicle over a period of time", + "DisplayName": "Time length for shove", + "Units": "ms" + }, + "SIM_SHOVE_X": { + "Description": "Acceleration of shove to vehicle in x axis", + "DisplayName": "Acceleration of shove x", + "Units": "m/s/s" + }, + "SIM_SHOVE_Y": { + "Description": "Acceleration of shove to vehicle in y axis", + "DisplayName": "Acceleration of shove y", + "Units": "m/s/s" + }, + "SIM_SHOVE_Z": { + "Description": "Acceleration of shove to vehicle in z axis", + "DisplayName": "Acceleration of shove z", + "Units": "m/s/s" + }, + "SIM_SONAR_GLITCH": { + "Description": "Probablility a sonar glitch would happen", + "DisplayName": "Sonar glitch probablility", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SONAR_RND": { + "Description": "Scaling factor for simulated sonar noise", + "DisplayName": "Sonar noise factor", + "User": "Advanced" + }, + "SIM_SONAR_ROT": { + "Description": "Sonar rotation from rotations enumeration", + "DisplayName": "Sonar rotation" + }, + "SIM_SONAR_SCALE": { + "Description": "Sonar conversion scale from distance to voltage", + "DisplayName": "Sonar conversion scale", + "Units": "m/V" + }, + "SIM_SPEEDUP": { + "Description": "Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used", + "DisplayName": "Sim Speedup", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced " + }, + "SIM_TEMP_BFACTOR": { + "Description": "A pressure change with temperature that closely matches what has been observed with a ICM-20789", + "DisplayName": "Baro temperature factor", + "User": "Advanced" + }, + "SIM_TEMP_BRD_OFF": { + "Description": "Barometer board temperature offset from atmospheric temperature", + "DisplayName": "Baro temperature offset", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_START": { + "Description": "Baro start temperature", + "DisplayName": "Start temperature", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_TCONST": { + "Description": "Barometer warmup temperature time constant", + "DisplayName": "Warmup time constant", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TERRAIN": { + "Description": "Enable using terrain for height", + "DisplayName": "Terrain Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_THML_SCENARI": { + "Description": "Scenario for thermalling simulation, for soaring", + "DisplayName": "Thermal scenarios" + }, + "SIM_TIDE_DIR": { + "Description": "Tide direction wave is coming from", + "DisplayName": "Tide direction", + "Units": "deg" + }, + "SIM_TIDE_SPEED": { + "Description": "Tide speed in simulation", + "DisplayName": "Tide speed", + "Units": "m/s" + }, + "SIM_TIME_JITTER": { + "Description": "Upper limit of random jitter in loop time", + "DisplayName": "Loop time jitter", + "Units": "us", + "User": "Advanced" + }, + "SIM_TWIST_TIME": { + "Description": "Time that twist is applied on the vehicle", + "DisplayName": "Twist time", + "Units": "ms" + }, + "SIM_TWIST_X": { + "Description": "Rotational acceleration of twist x axis", + "DisplayName": "Twist x", + "Units": "rad/s/s" + }, + "SIM_TWIST_Y": { + "Description": "Rotational acceleration of twist y axis", + "DisplayName": "Twist y", + "Units": "rad/s/s" + }, + "SIM_TWIST_Z": { + "Description": "Rotational acceleration of twist z axis", + "DisplayName": "Twist z", + "Units": "rad/s/s" + }, + "SIM_UART_LOSS": { + "Description": "Sets percentage of outgoing byte loss on UARTs", + "DisplayName": "UART byte loss percentage", + "Units": "%", + "User": "Advanced" + }, + "SIM_VIB_MOT_HMNC": { + "Description": "Motor harmonics generated in SITL", + "DisplayName": "Motor harmonics" + }, + "SIM_VIB_MOT_MASK": { + "Description": "Motor mask, allowing external simulators to mark motors", + "DisplayName": "Motor mask" + }, + "SIM_VIB_MOT_MAX": { + "Description": "Max frequency to use as baseline for adding motor noise for the gyros and accels", + "DisplayName": "Max motor vibration frequency", + "Units": "Hz" + }, + "SIM_VIB_MOT_MULT": { + "Description": "Amplitude scaling of motor noise relative to gyro/accel noise", + "DisplayName": "Vibration motor scale" + }, + "SIM_VICON_FAIL": { + "Description": "SITL vicon failure", + "DisplayName": "SITL vicon failure", + "User": "Advanced", + "Values": { + "0": "Vicon Healthy", + "1": "Vicon Failed" + } + }, + "SIM_VICON_GLIT_X": { + "Description": "SITL vicon position glitch North", + "DisplayName": "SITL vicon position glitch North", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Y": { + "Description": "SITL vicon position glitch East", + "DisplayName": "SITL vicon position glitch East", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Z": { + "Description": "SITL vicon position glitch Down", + "DisplayName": "SITL vicon position glitch Down", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_X": { + "Description": "SITL vicon position on vehicle in Forward direction", + "DisplayName": "SITL vicon position on vehicle in Forward direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Y": { + "Description": "SITL vicon position on vehicle in Right direction", + "DisplayName": "SITL vicon position on vehicle in Right direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Z": { + "Description": "SITL vicon position on vehicle in Down direction", + "DisplayName": "SITL vicon position on vehicle in Down direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced " + }, + "SIM_VICON_TMASK": { + "Bitmask": { + "0": "VISION_POSITION_ESTIMATE", + "1": "VISION_SPEED_ESTIMATE", + "2": "VICON_POSITION_ESTIMATE", + "3": "VISION_POSITION_DELTA", + "4": "ODOMETRY" + }, + "Description": "SITL vicon messages sent", + "DisplayName": "SITL vicon type mask", + "User": "Advanced" + }, + "SIM_VICON_VGLI_X": { + "Description": "SITL vicon velocity glitch North", + "DisplayName": "SITL vicon velocity glitch North", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Y": { + "Description": "SITL vicon velocity glitch East", + "DisplayName": "SITL vicon velocity glitch East", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Z": { + "Description": "SITL vicon velocity glitch Down", + "DisplayName": "SITL vicon velocity glitch Down", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_YAW": { + "Description": "SITL vicon yaw angle in earth frame", + "DisplayName": "SITL vicon yaw angle in earth frame", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_VICON_YAWERR": { + "Description": "SITL vicon yaw added to reported yaw sent to vehicle", + "DisplayName": "SITL vicon yaw error", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_WAVE_AMP": { + "Description": "Wave amplitude in SITL", + "DisplayName": "Wave amplitude", + "Units": "m" + }, + "SIM_WAVE_DIR": { + "Description": "Direction wave is coming from", + "DisplayName": "Wave direction", + "Units": "deg" + }, + "SIM_WAVE_ENABLE": { + "Description": "Wave enable and modes", + "DisplayName": "Wave enable", + "Values": { + "0": "disabled", + "1": "roll and pitch", + "2": "roll and pitch and heave" + } + }, + "SIM_WAVE_LENGTH": { + "Description": "Wave length in SITL", + "DisplayName": "Wave length", + "Units": "m" + }, + "SIM_WAVE_SPEED": { + "Description": "Wave speed in SITL", + "DisplayName": "Wave speed", + "Units": "m/s" + }, + "SIM_WIND_DIR": { + "Description": "Allows you to set wind direction (true deg) in sim", + "DisplayName": "Direction simulated wind is coming from", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_DIR_Z": { + "Description": "Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.", + "DisplayName": "Simulated wind vertical direction", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_SPD": { + "Description": "Allows you to emulate wind in sim", + "DisplayName": "Simulated Wind speed", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T": { + "Description": "Selects how wind varies from surface to WIND_T_ALT", + "DisplayName": "Wind Profile Type", + "User": "Advanced ", + "Values": { + "0": "square law", + "1": "none", + "2": "linear-see WIND_T_COEF" + } + }, + "SIM_WIND_TC": { + "Description": "this controls the time over which wind changes take effect", + "DisplayName": "Wind variation time constant", + "Units": "s", + "User": "Advanced" + }, + "SIM_WIND_TURB": { + "Description": "Allows you to emulate random wind variations in sim", + "DisplayName": "Simulated Wind variation", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T_ALT": { + "Description": "Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level", + "DisplayName": "Full Wind Altitude", + "Units": "m", + "User": "Advanced" + }, + "SIM_WIND_T_COEF": { + "Description": "For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value", + "DisplayName": "Linear Wind Curve Coeff", + "User": "Advanced" + }, + "SIM_WOW_PIN": { + "Description": "SITL set this simulated pin to true if vehicle is on ground", + "DisplayName": "Weight on Wheels Pin", + "User": "Advanced" + } + }, + "SIM_ARSPD2_": { + "SIM_ARSPD2_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD2_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD2_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_ARSPD_": { + "SIM_ARSPD_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_BAR2_": { + "SIM_BAR2_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR2_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR2_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR2_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR2_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR2_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR2_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR2_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BAR3_": { + "SIM_BAR3_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR3_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR3_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR3_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR3_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR3_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR3_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR3_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BARO_": { + "SIM_BARO_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BARO_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BARO_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BARO_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BARO_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BARO_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BARO_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BARO_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BARO_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BARO_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_GLD_": { + "SIM_GLD_BLN_BRST": { + "Description": "balloon burst height", + "DisplayName": "balloon burst height", + "Units": "m" + }, + "SIM_GLD_BLN_RATE": { + "Description": "balloon climb rate", + "DisplayName": "balloon climb rate", + "Units": "m/s" + } + }, + "SIM_GRPE_": { + "SIM_GRPE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPE_PIN": { + "Description": "The pin number that the gripper emp is connected to. (start at 1)", + "DisplayName": "Gripper emp pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SIM_GRPS_": { + "SIM_GRPS_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPS_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_PIN": { + "Description": "The pin number that the gripper servo is connected to. (start at 1)", + "DisplayName": "Gripper servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_GRPS_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_REVERSE": { + "Description": "Reverse the closing direction.", + "DisplayName": "Gripper close direction", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reverse" + } + } + }, + "SIM_PLD_": { + "SIM_PLD_ALT_LIMIT": { + "Description": "Precland device maximum range altitude", + "DisplayName": "Precland device alt range", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_DIST_LIMIT": { + "Description": "Precland device maximum lateral range", + "DisplayName": "Precland device lateral range", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Preland simulation", + "DisplayName": "Preland device Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_HEIGHT": { + "Description": "Precland device center's height above SITL origin. Assumes a 2x2m square as station base", + "DisplayName": "Precland device center's height SITL origin", + "Increment": "1", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_LAT": { + "Description": "Precland device center's latitude", + "DisplayName": "Precland device center's latitude", + "Increment": "0.000001", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_LON": { + "Description": "Precland device center's longitude", + "DisplayName": "Precland device center's longitude", + "Increment": "0.000001", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_OPTIONS": { + "Bitmask": { + "0": "Enable target distance" + }, + "Description": "SIM_Precland extra options", + "DisplayName": "SIM_Precland extra options", + "User": "Advanced" + }, + "SIM_PLD_ORIENT": { + "Description": "Precland device orientation vector", + "DisplayName": "Precland device orientation", + "User": "Advanced", + "Values": { + "0": "Front", + "24": "Up", + "4": "Back" + } + }, + "SIM_PLD_RATE": { + "Description": "Precland device rate. e.g led patter refresh rate, RF message rate, etc.", + "DisplayName": "Precland device update rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SIM_PLD_SHIP": { + "Description": "This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters", + "DisplayName": "SIM_Precland follow ship", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_TYPE": { + "Description": "Precland device radiance type: it can be a cylinder, a cone, or a sphere.", + "DisplayName": "Precland device radiance type", + "User": "Advanced", + "Values": { + "0": "cylinder", + "1": "cone", + "2": "sphere" + } + }, + "SIM_PLD_YAW": { + "Description": "Precland device systems rotation from north", + "DisplayName": "Precland device systems rotation from north", + "Increment": "1", + "Range": { + "high": "+180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + } + }, + "SIM_RFL_": { + "SIM_RFL_OPTS": { + "Bitmask": { + "0": "Reset position on startup", + "1": "Swap first 4 and last 4 servos (for quadplane testing)", + "2": "Demix heli servos and send roll/pitch/collective/yaw", + "3": "Don't print frame rate stats" + }, + "Description": "Bitmask of FlightAxis options", + "DisplayName": "FlightAxis options", + "User": "Advanced" + } + }, + "SIM_SB_": { + "SIM_SB_ALT_TARG": { + "Description": "altitude target", + "DisplayName": "altitude target", + "Units": "m" + }, + "SIM_SB_ARM_LEN": { + "Description": "distance from center of mass to one motor", + "DisplayName": "arm length", + "Units": "m" + }, + "SIM_SB_CLMB_RT": { + "Description": "target climb rate", + "DisplayName": "target climb rate", + "Units": "m/s" + }, + "SIM_SB_COL": { + "Description": "center of lift position above CoG", + "DisplayName": "center of lift", + "Units": "m" + }, + "SIM_SB_DRAG_FWD": { + "Description": "drag on X axis", + "DisplayName": "drag in forward direction" + }, + "SIM_SB_DRAG_SIDE": { + "Description": "drag on Y axis", + "DisplayName": "drag in sidewards direction" + }, + "SIM_SB_DRAG_UP": { + "Description": "drag on Z axis", + "DisplayName": "drag in upward direction" + }, + "SIM_SB_FLR": { + "Description": "amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift", + "DisplayName": "free lift rate" + }, + "SIM_SB_HMASS": { + "Description": "mass of lifting gas", + "DisplayName": "helium mass", + "Units": "kg" + }, + "SIM_SB_MASS": { + "Description": "mass of blimp not including lifting gas", + "DisplayName": "mass", + "Units": "kg" + }, + "SIM_SB_MOI_PITCH": { + "Description": "moment of inertia in pitch", + "DisplayName": "moment of inertia in pitch" + }, + "SIM_SB_MOI_ROLL": { + "Description": "moment of inertia in roll", + "DisplayName": "moment of inertia in roll" + }, + "SIM_SB_MOI_YAW": { + "Description": "moment of inertia in yaw", + "DisplayName": "moment of inertia in yaw" + }, + "SIM_SB_MOT_ANG": { + "Description": "maximum motor tilt angle", + "DisplayName": "motor angle", + "Units": "deg" + }, + "SIM_SB_MOT_THST": { + "Description": "thrust at max throttle for one motor", + "DisplayName": "motor thrust", + "Units": "N" + }, + "SIM_SB_WVANE": { + "Description": "center of drag for weathervaning", + "DisplayName": "weathervaning offset", + "Units": "m" + }, + "SIM_SB_YAW_RT": { + "Description": "maximum yaw rate with full left throttle at target altitude", + "DisplayName": "yaw rate", + "Units": "deg/s" + } + }, + "SIM_SERVO_": { + "SIM_SERVO_DELAY": { + "Description": "servo delay", + "DisplayName": "servo delay", + "Units": "s" + }, + "SIM_SERVO_FILTER": { + "Description": "servo filter", + "DisplayName": "servo filter", + "Units": "Hz" + }, + "SIM_SERVO_SPEED": { + "Description": "servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit", + "DisplayName": "servo speed", + "Units": "s" + } + }, + "SIM_SLUP_": { + "SIM_SLUP_DRAG": { + "Description": "Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly", + "DisplayName": "Slung Payload drag coefficient", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_ENABLE": { + "Description": "Slung Payload Sim enable/disable", + "DisplayName": "Slung Payload Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SLUP_LINELEN": { + "Description": "Slung Payload line length in meters", + "DisplayName": "Slung Payload line length", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_SYSID": { + "Description": "Slung Payload MAVLink system id to distinguish it from others on the same network", + "DisplayName": "Slung Payload MAVLink system ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SLUP_WEIGHT": { + "Description": "Slung Payload weight in kg", + "DisplayName": "Slung Payload weight", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "kg", + "User": "Advanced" + } + }, + "SIM_SPR_": { + "SIM_SPR_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Sprayer simulation", + "DisplayName": "Sprayer Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SPR_PUMP": { + "Description": "The pin number that the Sprayer pump is connected to. (start at 1)", + "DisplayName": "Sprayer pump pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SPR_SPIN": { + "Description": "The pin number that the Sprayer spinner servo is connected to. (start at 1)", + "DisplayName": "Sprayer spinner servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SOAR_": { + "SOAR_ALT_CUTOFF": { + "Description": "Cut off throttle at this alt.", + "DisplayName": "Maximum power altitude, relative to the home location", + "Range": { + "high": "5000.0", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SOAR_ALT_MAX": { + "Description": "Don't thermal any higher than this.", + "DisplayName": "Maximum soaring altitude, relative to the home location", + "Range": { + "high": "5000.0", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SOAR_ALT_MIN": { + "Description": "Don't get any lower than this.", + "DisplayName": "Minimum soaring altitude, relative to the home location", + "Range": { + "high": "1000.0", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SOAR_CRSE_ARSPD": { + "Description": "If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then AIRSPEED_CRUISE will be used while cruising between thermals.", + "DisplayName": "Specific setting for airspeed when soaring in AUTO mode.", + "Range": { + "high": "50", + "low": "-1" + }, + "User": "Advanced" + }, + "SOAR_DIST_AHEAD": { + "Description": "Initial guess of the distance to the thermal center", + "DisplayName": "Distance to thermal center", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SOAR_ENABLE": { + "Description": "Toggles the soaring mode on and off", + "DisplayName": "Is the soaring mode enabled or not", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SOAR_MAX_DRIFT": { + "Description": "The previous mode will be restored if the horizontal distance to the thermalling start location exceeds this value. -1 to disable.", + "DisplayName": "(Optional) Maximum drift distance to allow when thermalling.", + "Range": { + "high": "1000", + "low": "0" + }, + "User": "Advanced" + }, + "SOAR_MAX_RADIUS": { + "Description": "RTL will be entered when a thermal is exited and the plane is more than this distance from home. -1 to disable.", + "DisplayName": "(Optional) Maximum distance from home", + "Range": { + "high": "1000", + "low": "0" + }, + "User": "Advanced" + }, + "SOAR_MIN_CRSE_S": { + "Description": "Minimum number of seconds to spend cruising", + "DisplayName": "Minimum cruising time", + "Range": { + "high": "600", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "SOAR_MIN_THML_S": { + "Description": "Minimum number of seconds to spend thermalling", + "DisplayName": "Minimum thermalling time", + "Range": { + "high": "600", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "SOAR_POLAR_B": { + "Description": "Induced drag coeffient", + "DisplayName": "Induced drag coeffient", + "Range": { + "high": "0.05", + "low": "0.005" + }, + "User": "Advanced" + }, + "SOAR_POLAR_CD0": { + "Description": "Zero lift drag coefficient", + "DisplayName": "Zero lift drag coef.", + "Range": { + "high": "0.5", + "low": "0.005" + }, + "User": "Advanced" + }, + "SOAR_POLAR_K": { + "Description": "Cl factor 2*m*g/(rho*S)", + "DisplayName": "Cl factor", + "Range": { + "high": "400", + "low": "20" + }, + "Units": "m.m/s/s", + "User": "Advanced" + }, + "SOAR_Q1": { + "Description": "Standard deviation of noise in process for strength", + "DisplayName": "Process noise", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "User": "Advanced" + }, + "SOAR_Q2": { + "Description": "Standard deviation of noise in process for position and radius", + "DisplayName": "Process noise", + "Range": { + "high": "1", + "low": "0.01" + }, + "User": "Advanced" + }, + "SOAR_R": { + "Description": "Standard deviation of noise in measurement", + "DisplayName": "Measurement noise", + "Range": { + "high": "1", + "low": "0.01" + }, + "User": "Advanced" + }, + "SOAR_THML_ARSPD": { + "Description": "If non-zero this airspeed will be used when thermalling. A value of 0 will use AIRSPEED_CRUISE.", + "DisplayName": "Specific setting for airspeed when soaring in THERMAL mode.", + "Range": { + "high": "50", + "low": "0" + }, + "User": "Advanced" + }, + "SOAR_THML_BANK": { + "Description": "This parameter sets the bank angle to use when thermalling. Typically 30 - 45 degrees works well.", + "DisplayName": "Thermalling bank angle", + "Range": { + "high": "50", + "low": "20" + }, + "Units": "deg", + "User": "Advanced" + }, + "SOAR_THML_FLAP": { + "Description": "This sets the flap when in LOITER with soaring active. Overrides the usual auto flap behaviour.", + "DisplayName": "Flap percent to be used during thermalling flight.", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "SOAR_VSPEED": { + "Description": "Rate of climb to trigger themalling speed", + "DisplayName": "Vertical v-speed", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + } + }, + "SR0_": { + "SR0_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR0_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR1_": { + "SR1_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR1_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR2_": { + "SR2_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR2_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR3_": { + "SR3_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR3_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR4_": { + "SR4_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR4_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR5_": { + "SR5_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR5_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR6_": { + "SR6_ADSB": { + "Description": "MAVLink ADSB stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SR6_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "STAT": { + "STAT_BOOTCNT": { + "Description": "Number of times board has been booted", + "DisplayName": "Boot Count", + "ReadOnly": "True", + "User": "Standard" + }, + "STAT_FLTTIME": { + "Description": "Total FlightTime (seconds)", + "DisplayName": "Total FlightTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RESET": { + "Description": "Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)", + "DisplayName": "Statistics Reset Time", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RUNTIME": { + "Description": "Total time autopilot has run", + "DisplayName": "Total RunTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + } + }, + "STEER2SRV_": { + "STEER2SRV_D": { + "Description": "This adjusts the damping of the steering control loop. This gain helps to reduce steering jitter with vibration. It should be increased in 0.01 increments as too high a value can lead to a high frequency steering oscillation that could overstress the vehicle.", + "DisplayName": "Damping Gain", + "Increment": "0.01", + "Range": { + "high": "0.1", + "low": "0" + }, + "User": "Standard" + }, + "STEER2SRV_DRTFCT": { + "Description": "Degrees of steering wheel to derate at each additional m/s of speed above \"Derating speed\". Should be set so that at higher speeds the plane does not roll to the wing in turns.", + "DisplayName": "Derating factor", + "Increment": "0.1", + "Range": { + "high": "50.0", + "low": "0.0" + }, + "Units": "deg/m/s", + "User": "Advanced" + }, + "STEER2SRV_DRTMIN": { + "Description": "The angle that limits smallest angle of steering wheel at maximum speed. Even if it should derate below, it will stop derating at this angle.", + "DisplayName": "Minimum angle of wheel", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "STEER2SRV_DRTSPD": { + "Description": "Speed after that the maximum degree of steering will start to derate. Set this speed to a maximum speed that a plane can do controlled turn at maximum angle of steering wheel without rolling to wing. If 0 then no derating is used.", + "DisplayName": "Derating speed", + "Increment": "0.1", + "Range": { + "high": "30.0", + "low": "0.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "STEER2SRV_FF": { + "Description": "The feed forward gain for steering this is the ratio of the achieved turn rate to applied steering. A value of 1 means that the vehicle would yaw at a rate of 45 degrees per second with full steering deflection at 1m/s ground speed.", + "DisplayName": "Steering feed forward", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Standard" + }, + "STEER2SRV_I": { + "Description": "This is the gain from the integral of steering angle. Increasing this gain causes the controller to trim out steady offsets due to an out of trim vehicle.", + "DisplayName": "Integrator Gain", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "STEER2SRV_IMAX": { + "Description": "This limits the number of degrees of steering in centi-degrees over which the integrator will operate. At the default setting of 1500 centi-degrees, the integrator will be limited to +- 15 degrees of servo travel. The maximum servo deflection is +- 45 centi-degrees, so the default value represents a 1/3rd of the total control throw which is adequate unless the vehicle is severely out of trim.", + "DisplayName": "Integrator limit", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + }, + "STEER2SRV_MINSPD": { + "Description": "This is the minimum assumed ground speed in meters/second for steering. Having a minimum speed prevents oscillations when the vehicle first starts moving. The vehicle can still drive slower than this limit, but the steering calculations will be done based on this minimum speed.", + "DisplayName": "Minimum speed", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "STEER2SRV_P": { + "Description": "The proportional gain for steering. This should be approximately equal to the diameter of the turning circle of the vehicle at low speed and maximum steering angle", + "DisplayName": "Steering turning gain", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "User": "Standard" + }, + "STEER2SRV_TCONST": { + "Description": "This controls the time constant in seconds from demanded to achieved steering angle. A value of 0.75 is a good default and will work with nearly all rovers. Ground steering in aircraft needs a bit smaller time constant, and a value of 0.5 is recommended for best ground handling in fixed wing aircraft. A value of 0.75 means that the controller will try to correct any deviation between the desired and actual steering angle in 0.75 seconds. Advanced users may want to reduce this time to obtain a faster response but there is no point setting a time less than the vehicle can achieve.", + "DisplayName": "Steering Time Constant", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.4" + }, + "Units": "s", + "User": "Advanced" + } + }, + "TECS_": { + "TECS_APPR_SMAX": { + "Description": "The sink rate max for the landing approach stage of landing. This will need to be large for steep landing approaches especially when using reverse thrust. If 0, then use TECS_SINK_MAX.", + "DisplayName": "Sink rate max for landing approach stage", + "Increment": "0.1", + "Range": { + "high": "20.0", + "low": "0.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "TECS_CLMB_MAX": { + "Description": "Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.", + "DisplayName": "Maximum Climb Rate (metres/sec)", + "Increment": "0.1", + "Range": { + "high": "20.0", + "low": "0.1" + }, + "User": "Standard" + }, + "TECS_FLARE_HGT": { + "Description": "When height above ground is below this, the sink rate will be held at TECS_LAND_SINK. Use this to perform a hold-off manoeuvre when combined with small values for TECS_LAND_SINK.", + "DisplayName": "Flare holdoff height", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "TECS_HDEM_TCONST": { + "Description": "This sets the time constant of the low pass filter that is applied to the height demand input when bit 1 of TECS_OPTIONS is not selected.", + "DisplayName": "Height Demand Time Constant", + "Increment": "0.2", + "Range": { + "high": "5.0", + "low": "1.0" + }, + "Units": "s", + "User": "Advanced" + }, + "TECS_HGT_OMEGA": { + "Description": "This is the cross-over frequency of the complementary filter used to fuse vertical acceleration and baro alt to obtain an estimate of height rate and height.", + "DisplayName": "Height complementary filter frequency (radians/sec)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "TECS_INTEG_GAIN": { + "Description": "Integrator gain to trim out long-term speed and height errors.", + "DisplayName": "Controller integrator", + "Increment": "0.02", + "Range": { + "high": "0.5", + "low": "0.0" + }, + "User": "Advanced" + }, + "TECS_LAND_ARSPD": { + "Description": "When performing an autonomus landing, this value is used as the goal airspeed during approach. Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as defined by LAND_OPTIONS bitmask. Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead). If negative then this value is halfway between AIRSPEED_MIN and TRIM_CRUISE_CM speed for fixed wing autolandings.", + "DisplayName": "Airspeed during landing approach (m/s)", + "Increment": "1", + "Range": { + "high": "127", + "low": "-1" + }, + "User": "Standard" + }, + "TECS_LAND_DAMP": { + "Description": "This is the sink rate gain for the pitch demand loop when in final landing stage of flight. It should be larger than TECS_PTCH_DAMP to allow for better sink rate control during flare.", + "DisplayName": "Controller sink rate to pitch gain during flare", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "TECS_LAND_IGAIN": { + "Description": "This is the integrator gain on the control loop during landing. When set to 0 then TECS_INTEG_GAIN is used. Increase to increase the rate at which speed and height offsets are trimmed out. Typically values lower than TECS_INTEG_GAIN work best", + "DisplayName": "Controller integrator during landing", + "Increment": "0.02", + "Range": { + "high": "0.5", + "low": "0.0" + }, + "User": "Advanced" + }, + "TECS_LAND_PDAMP": { + "Description": "This is the damping gain for the pitch demand loop during landing. Increase to add damping to correct for oscillations in speed and height. If set to 0 then TECS_PTCH_DAMP will be used instead.", + "DisplayName": "Pitch damping gain when landing", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "TECS_LAND_PMAX": { + "Description": "This limits the pitch used during the final stage of automatic landing. During the final landing stage most planes need to keep their pitch small to avoid stalling. A maximum of 10 degrees is usually good. A value of zero means to use the normal pitch limits.", + "DisplayName": "Maximum pitch during final stage of landing", + "Increment": "1", + "Range": { + "high": "40", + "low": "-5" + }, + "User": "Advanced" + }, + "TECS_LAND_SINK": { + "Description": "The sink rate in meters/second for the final stage of landing.", + "DisplayName": "Sink rate for final landing stage", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "TECS_LAND_SPDWGT": { + "Description": "Same as SPDWEIGHT parameter, with the exception that this parameter is applied during landing flight stages. A value closer to 2 will result in the plane ignoring height error during landing and our experience has been that the plane will therefore keep the nose up -- sometimes good for a glider landing (with the side effect that you will likely glide a ways past the landing point). A value closer to 0 results in the plane ignoring speed error -- use caution when lowering the value below 1 -- ignoring speed could result in a stall. Values between 0 and 2 are valid values for a fixed landing weight. When using -1 the weight will be scaled during the landing. At the start of the landing approach it starts with TECS_SPDWEIGHT and scales down to 0 by the time you reach the land point. Example: Halfway down the landing approach you'll effectively have a weight of TECS_SPDWEIGHT/2.", + "DisplayName": "Weighting applied to speed control during landing.", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "TECS_LAND_SRC": { + "Description": "When zero, the flare sink rate (TECS_LAND_SINK) is a fixed sink demand. With this enabled the flare sinkrate will increase/decrease the flare sink demand as you get further beyond the LAND waypoint. Has no effect before the waypoint. This value is added to TECS_LAND_SINK proportional to distance traveled after wp. With an increasing sink rate you can still land in a given distance if you're traveling too fast and cruise passed the land point. A positive value will force the plane to land sooner proportional to distance passed land point. A negative number will tell the plane to slowly climb allowing for a pitched-up stall landing. Recommend 0.2 as initial value.", + "DisplayName": "Land sink rate change", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "-2.0" + }, + "Units": "m/s/m", + "User": "Advanced" + }, + "TECS_LAND_TCONST": { + "Description": "This is the time constant of the TECS control algorithm when in final landing stage of flight. It should be smaller than TECS_TIME_CONST to allow for faster flare", + "DisplayName": "Land controller time constant (sec)", + "Increment": "0.2", + "Range": { + "high": "5.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "TECS_LAND_TDAMP": { + "Description": "Damping gain for the throttle demand loop during an auto-landing. Same as TECS_THR_DAMP but only in effect during an auto-land. Increase to add throttle activity to dampen oscillations in speed and height. When set to 0 landing throttle damping is controlled by TECS_THR_DAMP.", + "DisplayName": "Controller throttle damping when landing", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "TECS_LAND_THR": { + "Description": "Use this parameter instead of LAND_ARSPD if your platform does not have an airspeed sensor. It is the cruise throttle during landing approach. If this value is negative then it is disabled and TECS_LAND_ARSPD is used instead.", + "DisplayName": "Cruise throttle during landing approach (percentage)", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "-1" + }, + "User": "Standard" + }, + "TECS_OPTIONS": { + "Bitmask": { + "0": "GliderOnly", + "1": "AllowDescentSpeedup" + }, + "Description": "This allows the enabling of special features in the speed/height controller.", + "DisplayName": "Extra TECS options", + "User": "Advanced" + }, + "TECS_PITCH_MAX": { + "Description": "Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates. Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.", + "DisplayName": "Maximum pitch in auto flight", + "Increment": "1", + "Range": { + "high": "45", + "low": "0" + }, + "User": "Advanced" + }, + "TECS_PITCH_MIN": { + "Description": "Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates. Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.", + "DisplayName": "Minimum pitch in auto flight", + "Increment": "1", + "Range": { + "high": "0", + "low": "-45" + }, + "User": "Advanced" + }, + "TECS_PTCH_DAMP": { + "Description": "Damping gain for pitch control from TECS control. Increasing may correct for oscillations in speed and height, but too much may cause additional oscillation and degraded control.", + "DisplayName": "Controller pitch damping", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "TECS_PTCH_FF_K": { + "Description": "This parameter sets the gain between demanded airspeed and pitch. It has units of radians per metre per second and should generally be negative. A good starting value is -0.04 for gliders and -0.08 for draggy airframes. The default (0.0) disables this feed-forward.", + "DisplayName": "Gain for pitch feed-forward.", + "Range": { + "high": "0.0", + "low": "-5.0" + }, + "User": "Advanced" + }, + "TECS_PTCH_FF_V0": { + "Description": "This parameter sets the airspeed at which no feed-forward is applied between demanded airspeed and pitch. It should correspond to the airspeed in metres per second at which the plane glides at neutral pitch including STAB_PITCH_DOWN.", + "DisplayName": "Baseline airspeed for pitch feed-forward.", + "Range": { + "high": "50.0", + "low": "5.0" + }, + "User": "Advanced" + }, + "TECS_RLL2THR": { + "Description": "Gain from bank angle to throttle to compensate for loss of airspeed from drag in turns. Set to approximately 10x the sink rate in m/s caused by a 45-degree turn. High efficiency models may need less while less efficient aircraft may need more. Should be tuned in an automatic mission with waypoints and turns greater than 90 degrees. Tune with PTCH2SRV_RLL and KFF_RDDRMIX to achieve constant airspeed, constant altitude turns.", + "DisplayName": "Bank angle compensation gain", + "Increment": "1.0", + "Range": { + "high": "30.0", + "low": "5.0" + }, + "User": "Advanced" + }, + "TECS_SINK_MAX": { + "Description": "Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX.", + "DisplayName": "Maximum Descent Rate (metres/sec)", + "Increment": "0.1", + "Range": { + "high": "20.0", + "low": "0.0" + }, + "User": "Standard" + }, + "TECS_SINK_MIN": { + "Description": "Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE.", + "DisplayName": "Minimum Sink Rate (metres/sec)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "User": "Standard" + }, + "TECS_SPDWEIGHT": { + "Description": "Mixing of pitch and throttle correction for height and airspeed errors. Pitch controls altitude and throttle controls airspeed if set to 0. Pitch controls airspeed and throttle controls altitude if set to 2 (good for gliders). Blended if set to 1.", + "DisplayName": "Weighting applied to speed control", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "TECS_SPD_OMEGA": { + "Description": "This is the cross-over frequency of the complementary filter used to fuse longitudinal acceleration and airspeed to obtain a lower noise and lag estimate of airspeed.", + "DisplayName": "Speed complementary filter frequency (radians/sec)", + "Increment": "0.05", + "Range": { + "high": "2.0", + "low": "0.5" + }, + "User": "Advanced" + }, + "TECS_SYNAIRSPEED": { + "Description": "This enables the use of synthetic airspeed in TECS for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate. This option has no effect if a healthy airspeed sensor is being used for airspeed measurements.", + "DisplayName": "Enable the use of synthetic airspeed", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "TECS_THR_DAMP": { + "Description": "Damping gain for throttle demand loop. Increase to add throttle activity to dampen oscillations in speed and height.", + "DisplayName": "Controller throttle damping", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "TECS_TIME_CONST": { + "Description": "Time constant of the TECS control algorithm. Small values make faster altitude corrections but can cause overshoot and aggressive behavior.", + "DisplayName": "Controller time constant (sec)", + "Increment": "0.2", + "Range": { + "high": "10.0", + "low": "3.0" + }, + "User": "Advanced" + }, + "TECS_TKOFF_IGAIN": { + "Description": "This is the integrator gain on the control loop during takeoff. Increase to increase the rate at which speed and height offsets are trimmed out.", + "DisplayName": "Controller integrator during takeoff", + "Increment": "0.02", + "Range": { + "high": "0.5", + "low": "0.0" + }, + "User": "Advanced" + }, + "TECS_VERT_ACC": { + "Description": "Maximum vertical acceleration used to correct speed or height errors.", + "DisplayName": "Vertical Acceleration Limit (metres/sec^2)", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "1.0" + }, + "User": "Advanced" + } + }, + "TEMP": { + "TEMP_LOG": { + "Description": "Enables temperature sensor logging", + "DisplayName": "Logging", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Log all instances", + "2": "Log only instances with sensor source set to None" + } + } + }, + "TEMP1_": { + "TEMP1_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP1_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP1_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP1_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP1_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP1_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP1_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP1_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP1_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP1_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP2_": { + "TEMP2_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP2_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP2_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP2_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP2_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP2_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP2_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP2_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP2_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP2_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP3_": { + "TEMP3_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP3_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP3_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP3_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP3_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP3_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP3_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP3_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP3_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP3_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP4_": { + "TEMP4_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP4_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP4_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP4_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP4_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP4_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP4_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP4_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP4_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP4_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP5_": { + "TEMP5_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP5_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP5_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP5_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP5_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP5_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP5_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP5_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP5_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP5_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP6_": { + "TEMP6_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP6_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP6_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP6_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP6_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP6_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP6_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP6_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP6_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP6_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP7_": { + "TEMP7_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP7_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP7_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP7_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP7_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP7_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP7_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP7_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP7_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP7_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP8_": { + "TEMP8_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP8_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP8_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP8_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP8_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP8_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP8_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP8_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP8_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP8_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP9_": { + "TEMP9_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP9_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP9_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP9_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP9_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP9_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP9_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP9_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP9_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP9_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TERRAIN_": { + "TERRAIN_CACHE_SZ": { + "Description": "The number of 32x28 cache blocks to keep in memory. Each block uses about 1800 bytes of memory", + "DisplayName": "Terrain cache size", + "Range": { + "high": "128", + "low": "0" + }, + "User": "Advanced" + }, + "TERRAIN_ENABLE": { + "Description": "enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.", + "DisplayName": "Terrain data enable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "TERRAIN_MARGIN": { + "Description": "Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used", + "DisplayName": "Acceptance margin", + "Range": { + "high": "50000", + "low": "0.05" + }, + "Units": "m", + "User": "Advanced" + }, + "TERRAIN_OFS_MAX": { + "Description": "The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.", + "DisplayName": "Terrain reference offset maximum", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "TERRAIN_OPTIONS": { + "Bitmask": { + "0": "Disable Download" + }, + "Description": "Options to change behaviour of terrain system", + "DisplayName": "Terrain options", + "User": "Advanced" + }, + "TERRAIN_SPACING": { + "Description": "Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.", + "DisplayName": "Terrain grid spacing", + "Increment": "1", + "Units": "m", + "User": "Advanced" + } + }, + "TKOFF_": { + "TKOFF_ALT": { + "Description": "This is the target altitude for TAKEOFF mode", + "DisplayName": "Takeoff mode altitude", + "Increment": "1", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TKOFF_DIST": { + "Description": "This is the distance from the takeoff location where the plane will loiter. The loiter point will be in the direction of takeoff (the direction the plane is facing when the plane begins takeoff)", + "DisplayName": "Takeoff mode distance", + "Increment": "1", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TKOFF_GND_PITCH": { + "Description": "Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments.", + "DisplayName": "Takeoff run pitch demand", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "-5.0" + }, + "Units": "deg", + "User": "Standard" + }, + "TKOFF_LVL_ALT": { + "Description": "This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition.", + "DisplayName": "Takeoff mode altitude level altitude", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TKOFF_LVL_PITCH": { + "Description": "This is the target pitch during the takeoff.", + "DisplayName": "Takeoff mode altitude initial pitch", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "TUNE_": { + "TUNE_CHAN": { + "Description": "This sets the channel for transmitter tuning. This should be connected to a knob or slider on your transmitter. It needs to be setup to use the PWM range given by TUNE_CHAN_MIN to TUNE_CHAN_MAX", + "DisplayName": "Transmitter tuning channel", + "User": "Standard", + "Values": { + "0": "Disable", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + }, + "TUNE_CHAN_MAX": { + "Description": "This sets the PWM upper limit for the tuning channel", + "DisplayName": "Transmitter tuning channel maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "TUNE_CHAN_MIN": { + "Description": "This sets the PWM lower limit for the tuning channel", + "DisplayName": "Transmitter tuning channel minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "TUNE_ERR_THRESH": { + "Description": "This sets the controller error threshold above which an alarm will sound and a message will be sent to the GCS to warn of controller instability while tuning. The error is the rms value of the P+D corrections in the loop. High values in hover indicate possible instability due to too high PID gains or excessively high D to P gain ratios.-1 will disable this message.", + "DisplayName": "Controller error threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "TUNE_MODE_REVERT": { + "Description": "This controls whether tuning values will revert on a flight mode change.", + "DisplayName": "Revert on mode change", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "TUNE_PARAM": { + "Description": "This sets which parameter or set of parameters will be tuned. Values greater than 100 indicate a set of parameters rather than a single parameter. Parameters less than 50 are for QuadPlane vertical lift motors only.", + "DisplayName": "Transmitter tuning parameter or set of parameters", + "User": "Standard", + "Values": { + "0": "None", + "1": "RateRollPI", + "10": "RateYawP", + "101": "Set_RateRollPitch", + "102": "Set_RateRoll", + "103": "Set_RatePitch", + "104": "Set_RateYaw", + "105": "Set_AngleRollPitch", + "106": "Set_VelXY", + "107": "Set_AccelZ", + "108": "Set_RatePitchDP", + "109": "Set_RateRollDP", + "11": "RateYawI", + "110": "Set_RateYawDP", + "12": "RateYawD", + "13": "AngleRollP", + "14": "AnglePitchP", + "15": "AngleYawP", + "16": "PosXYP", + "17": "PosZP", + "18": "VelXYP", + "19": "VelXYI", + "2": "RateRollP", + "20": "VelZP", + "21": "AccelZP", + "22": "AccelZI", + "23": "AccelZD", + "24": "RatePitchFF", + "25": "RateRollFF", + "26": "RateYawFF", + "3": "RateRollI", + "4": "RateRollD", + "5": "RatePitchPI", + "50": "FixedWingRollP", + "51": "FixedWingRollI", + "52": "FixedWingRollD", + "53": "FixedWingRollFF", + "54": "FixedWingPitchP", + "55": "FixedWingPitchI", + "56": "FixedWingPitchD", + "57": "FixedWingPitchFF", + "6": "RatePitchP", + "7": "RatePitchI", + "8": "RatePitchD", + "9": "RateYawPI" + } + }, + "TUNE_RANGE": { + "Description": "This sets the range over which tuning will change a parameter. A value of 2 means the tuning parameter will go from 0.5 times the start value to 2x the start value over the range of the tuning channel", + "DisplayName": "Transmitter tuning range", + "User": "Standard" + }, + "TUNE_SELECTOR": { + "Description": "This sets the channel for the transmitter tuning selector switch. This should be a 2 position switch, preferably spring loaded. A PWM above 1700 means high, below 1300 means low. If no selector is set then you won't be able to switch between parameters during flight or re-center the tuning knob", + "DisplayName": "Transmitter tuning selector channel", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Chan1", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "2": "Chan3", + "3": "Chan3", + "4": "Chan4", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + } + }, + "VEHICLE": { + "FLTMODE_GCSBLOCK": { + "Bitmask": { + "0": "Manual", + "1": "Circle", + "10": "Loiter", + "11": "Takeoff", + "12": "AVOID_ADSB", + "13": "Guided", + "14": "THERMAL", + "15": "QSTABILIZE", + "16": "QHOVER", + "17": "QLOITER", + "18": "QACRO", + "19": "QAUTOTUNE", + "2": "Stabilize", + "3": "Training", + "4": "ACRO", + "5": "FBWA", + "6": "FBWB", + "7": "CRUISE", + "8": "AUTOTUNE", + "9": "Auto" + }, + "Description": "Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.", + "DisplayName": "Flight mode block from GCS", + "User": "Standard" + } + }, + "VISO": { + "VISO_DELAY_MS": { + "Description": "Visual odometry sensor delay relative to inertial measurements", + "DisplayName": "Visual odometry sensor delay", + "Range": { + "high": "250", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "VISO_ORIENT": { + "Description": "Visual odometery camera orientation", + "DisplayName": "Visual odometery camera orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "2": "Right", + "24": "Up", + "25": "Down", + "4": "Back", + "6": "Left" + } + }, + "VISO_POS_M_NSE": { + "Description": "Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry position measurement noise ", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Visual odometry camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Visual odometry camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Visual odometry camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_QUAL_MIN": { + "Description": "Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown", + "DisplayName": "Visual odometry minimum quality", + "Range": { + "high": "100", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "VISO_SCALE": { + "Description": "Visual odometry scaling factor applied to position estimates from sensor", + "DisplayName": "Visual odometry scaling factor", + "User": "Advanced" + }, + "VISO_TYPE": { + "Description": "Visual odometry camera connection type", + "DisplayName": "Visual odometry camera connection type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IntelT265", + "3": "VOXL(ModalAI)" + } + }, + "VISO_VEL_M_NSE": { + "Description": "Visual odometry velocity measurement noise in m/s", + "DisplayName": "Visual odometry velocity measurement noise", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "VISO_YAW_M_NSE": { + "Description": "Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry yaw measurement noise", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "VTX_": { + "VTX_BAND": { + "Description": "Video Transmitter Band", + "DisplayName": "Video Transmitter Band", + "User": "Standard", + "Values": { + "0": "Band A", + "1": "Band B", + "10": "3G3 Band B", + "2": "Band E", + "3": "Airwave", + "4": "RaceBand", + "5": "Low RaceBand", + "6": "1G3 Band A", + "7": "1G3 Band B", + "8": "Band X", + "9": "3G3 Band A" + } + }, + "VTX_CHANNEL": { + "Description": "Video Transmitter Channel", + "DisplayName": "Video Transmitter Channel", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "VTX_ENABLE": { + "Description": "Toggles the Video Transmitter on and off", + "DisplayName": "Is the Video Transmitter enabled or not", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "VTX_FREQ": { + "Description": "Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL", + "DisplayName": "Video Transmitter Frequency", + "Range": { + "high": "6000", + "low": "1000" + }, + "ReadOnly": "True", + "User": "Standard" + }, + "VTX_MAX_POWER": { + "Description": "Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.", + "DisplayName": "Video Transmitter Max Power Level", + "Range": { + "high": "1000", + "low": "25" + } + }, + "VTX_OPTIONS": { + "Bitmask": { + "0": "Pitmode", + "1": "Pitmode until armed", + "2": "Pitmode when disarmed", + "3": "Unlocked", + "4": "Add leading zero byte to requests", + "5": "Use 1 stop-bit in SmartAudio", + "6": "Ignore CRC in SmartAudio", + "7": "Ignore status updates in CRSF and blindly set VTX options" + }, + "Description": "Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.", + "DisplayName": "Video Transmitter Options", + "User": "Advanced" + }, + "VTX_POWER": { + "Description": "Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level", + "DisplayName": "Video Transmitter Power Level", + "Range": { + "high": "1000", + "low": "1" + } + } + }, + "YAW": { + "YAW2SRV_DAMP": { + "Description": "Gain from yaw rate to rudder. Most effective at yaw damping and should be tuned after KFF_RDDRMIX. Also disables YAW2SRV_INT if set to 0.", + "DisplayName": "Yaw damping", + "Increment": "0.25", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + }, + "YAW2SRV_IMAX": { + "Description": "Limit of yaw integrator gain in centi-degrees of servo travel. Servos are assumed to have +/- 4500 centi-degrees of travel, so a value of 1500 allows trim of up to 1/3 of servo travel range.", + "DisplayName": "Integrator limit", + "Increment": "1", + "Range": { + "high": "4500", + "low": "0" + }, + "User": "Advanced" + }, + "YAW2SRV_INT": { + "Description": "Integral gain from lateral acceleration error. Effectively trims rudder to eliminate long-term sideslip.", + "DisplayName": "Sideslip control integrator", + "Increment": "0.25", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + }, + "YAW2SRV_RLL": { + "Description": "Gain to the yaw rate required to keep it consistent with the turn rate in a coordinated turn. Corrects for yaw tendencies after the turn is established. Increase yaw into the turn by raising. Increase yaw out of the turn by decreasing. Values outside of 0.9-1.1 range indicate airspeed calibration problems.", + "DisplayName": "Yaw coordination gain", + "Increment": "0.05", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "YAW2SRV_SLIP": { + "Description": "Gain from lateral acceleration to demanded yaw rate for aircraft with enough fuselage area to detect lateral acceleration and sideslips. Do not enable for flying wings and gliders. Actively coordinates flight more than just yaw damping. Set after YAW2SRV_DAMP and YAW2SRV_INT are tuned.", + "DisplayName": "Sideslip control gain", + "Increment": "0.25", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced" + }, + "YAW_RATE_D": { + "Description": "Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller D gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0.001" + }, + "User": "Standard" + }, + "YAW_RATE_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Yaw Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "YAW_RATE_ENABLE": { + "Description": "Enable yaw rate controller for aerobatic flight", + "DisplayName": "Yaw rate enable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "YAW_RATE_FF": { + "Description": "Yaw axis rate controller feed forward", + "DisplayName": "Yaw axis rate controller feed forward", + "Increment": "0.001", + "Range": { + "high": "3.0", + "low": "0" + }, + "User": "Standard" + }, + "YAW_RATE_FLTD": { + "Description": "Yaw axis rate controller derivative frequency in Hz", + "DisplayName": "Yaw axis rate controller derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "YAW_RATE_FLTE": { + "Description": "Yaw axis rate controller error frequency in Hz", + "DisplayName": "Yaw axis rate controller error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "YAW_RATE_FLTT": { + "Description": "Yaw axis rate controller target frequency in Hz", + "DisplayName": "Yaw axis rate controller target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "2" + }, + "Units": "Hz", + "User": "Standard" + }, + "YAW_RATE_I": { + "Description": "Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller I gain", + "Increment": "0.01", + "Range": { + "high": "0.6", + "low": "0.01" + }, + "User": "Standard" + }, + "YAW_RATE_IMAX": { + "Description": "Yaw axis rate controller I gain maximum. Constrains the maximum that the I term will output", + "DisplayName": "Yaw axis rate controller I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "YAW_RATE_NEF": { + "Description": "Yaw Error notch filter index", + "DisplayName": "Yaw Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "YAW_RATE_NTF": { + "Description": "Yaw Target notch filter index", + "DisplayName": "Yaw Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "YAW_RATE_P": { + "Description": "Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate", + "DisplayName": "Yaw axis rate controller P gain", + "Increment": "0.005", + "Range": { + "high": "0.35", + "low": "0.08" + }, + "User": "Standard" + }, + "YAW_RATE_PDMX": { + "Description": "Yaw axis rate controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Yaw axis rate controller PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1", + "low": "0" + } + }, + "YAW_RATE_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Yaw slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + } + }, + "json": { + "version": 0 + } +} \ No newline at end of file diff --git a/Plane-4.6/apm.pdef.xml b/Plane-4.6/apm.pdef.xml new file mode 100644 index 0000000..9973d7b --- /dev/null +++ b/Plane-4.6/apm.pdef.xml @@ -0,0 +1,36125 @@ + + + + + + + + + 1 255 + + + 1 255 + 1 + + + 0 10 + 1 + + + + Disable FLTD update by Autotune + Disable FLTT update by Autotune + + 0: Disable FLTD update by Autotune, 1: Disable FLTT update by Autotune + + + s + seconds + 0 30 + 1 + + + + Roll + Pitch + Yaw + Steering + Landing + + 0:Roll,1:Pitch,2:Yaw,3:Steering,4:Landing + + + 0 1 + 0.01 + + + -5 5 + 0.01 + + + 0 15 + 0.1 + deg + degrees + + + 0 1000 + 1 + m + meters + + + 0 100 + 1 + m + meters + + + + Disabled + FBWMixing + VTOL Yaw only + + + + m/s + meters per second + 0 30 + 0.1 + + + m/s/s + meters per square second + 0 30 + 0.1 + + + ds + deciseconds + 0 127 + 1 + + + s + seconds + 0 10 + 0.5 + + + % + percent + 0 100 + 1 + + + + When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. + + 0: When unset the maximum allowed throttle is always used (THR_MAX or TKOFF_THR_MAX) during takeoff. When set TECS is allowed to operate between a minimum (THR_MIN or TKOFF_THR_MIN) and a maximum (THR_MAX or TKOFF_THR_MAX) limit. Applicable only when using an airspeed sensor. + + + % + percent + -100 100 + 1 + + + m/s + meters per second + 0 30 + 0.1 + + + m/s + meters per second + 0 30 + 0.1 + + + %/s + percent per second + -1 127 + 1 + + + s + seconds + 0 10 + 0.5 + + + 0 100 + % + percent + 1 + + + deg + degrees + 0 45 + 1 + + + + AUTO_ALWAYS + AUTO_LAND + AUTO_LOITER_TO_ALT + AUTO_LOITER_ALL + AUTO_WAYPOINTS + LOITER + RTL + CIRCLE + CRUISE + FBWB + GUIDED + AUTO_LANDING_PATTERN + FBWA + ACRO + STABILIZE + THERMAL + + 0:AUTO_ALWAYS,1:AUTO_LAND,2:AUTO_LOITER_TO_ALT,3:AUTO_LOITER_ALL,4:AUTO_WAYPOINTS,5:LOITER,6:RTL,7:CIRCLE,8:CRUISE,9:FBWB,10:GUIDED,11:AUTO_LANDING_PATTERN,12:FBWA,13:ACRO,14:STABILIZE,15:THERMAL + + + m + meters + -32767 32767 + 1 + + + m + meters + 1 32767 + 1 + + + m + meters + 0 32767 + 1 + + + m + meters + -32767 32767 + 1 + + + m + meters + -32767 32767 + 1 + + + + Disabled + Enabled + + + + m/s + meters per second + + + m/s + meters per second + 5 100 + 1 + + + m/s + meters per second + 5 100 + 1 + + + m/s + meters per second + 5 75 + + + + Disabled + Enabled + + + + + Enable all modes + FBWB + Cruise + Auto + RTL + Avoid_ADSB + Guided + Loiter + Circle + QRTL + QLand + Qloiter + + 0: Enable all modes, 1:FBWB, 2:Cruise, 3:Auto, 4:RTL, 5:Avoid_ADSB, 6:Guided, 7:Loiter, 8:Circle, 9:QRTL, 10:QLand, 11:Qloiter + + + 0 10000 + m + meters + + + 1 10 + m/s + meters per second + 0.1 + + + % + percent + -100 100 + 1 + + + % + percent + 0 100 + 1 + + + % + percent + 0 100 + 1 + + + %/s + percent per second + 0 127 + 1 + + + %/s + percent per second + 0 100 + 1 + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Disabled + Enabled + EnabledNoFailsafe + + + + 925 2200 + 1 + + + % + percent + 0 100 + 1 + + + + Disabled + Enabled + + + + + CIRCLE/no change(if already in AUTO|GUIDED|LOITER) + CIRCLE + FBWA at zero throttle + Disable + FBWB + + + + s + seconds + 1 100 + 0.5 + + + + Continue + ReturnToLaunch + Glide + Deploy Parachute + Auto + + + + s + seconds + 1 300 + 0.5 + + + + Disabled + Heartbeat + HeartbeatAndREMRSSI + HeartbeatAndAUTO + + + + + Disabled + Channel 1 + Channel 2 + Channel 3 + Channel 4 + Channel 5 + Channel 6 + Channel 7 + Channel 8 + Channel 9 + Channel 10 + Channel 11 + Channel 12 + Channel 13 + Channel 14 + Channel 15 + Channel 16 + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + + Manual + CIRCLE + STABILIZE + TRAINING + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + RTL + Loiter + TAKEOFF + AVOID_ADSB + Guided + QSTABILIZE + QHOVER + QLOITER + QLAND + QRTL + QAUTOTUNE + QACRO + THERMAL + Loiter to QLand + + + + deg + degrees + 0 90 + 1 + + + deg + degrees + 0 90 + 1 + + + deg + degrees + -90 0 + 1 + + + deg/s + degrees per second + 10 500 + 1 + + + deg/s + degrees per second + 10 500 + 1 + + + deg/s + degrees per second + 0 500 + 1 + + + + Disabled + Enabled + Quaternion + + + + m + meters + -100 100 + 0.1 + + + deg/s + degrees per second + 10 360 + 1 + + + 0.5 1.2 + + + + Disabled + Enabled + + + + d% + decipercent + -1000 1000 + + + % + percent + -100 100 + + + + Fast Attitude + Medium Attitude + GPS + Performance + Control Tuning + Navigation Tuning + IMU + Mission Commands + Battery Monitor + Compass + TECS + Camera + RC Input-Output + Rangefinder + Raw IMU + Fullrate Attitude + Video Stabilization + Fullrate Notch + + 0:Fast Attitude,1:Medium Attitude,2:GPS,3:Performance,4:Control Tuning,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Compass,11:TECS,12:Camera,13:RC Input-Output,14:Rangefinder,19:Raw IMU,20:Fullrate Attitude,21:Video Stabilization,22:Fullrate Notch + + + m/s + meters per second + 0 50 + 0.1 + + + m/s + meters per second + + + deg + degrees + -45 45 + + + m + meters + + + m + meters + + + 0 100 + 1 + % + percent + + + 0 100 + 1 + m/s + meters per second + + + 0 100 + % + percent + 1 + + + 0 100 + m/s + meters per second + 1 + + + 0 16 + 1 + + + + Disable + Fly HOME then land + Go directly to landing sequence + OnlyForGoAround + + + + m/s/s + meters per square second + 10 127 + 1 + + + + Disarm + + 0:Disarm + + + + Disabled + Enabled + + + + + NotEnforced + Enforced + + + + 0 100 + % + percent + 1 + + + + Chan1 + Chan2 + Chan3 + Chan4 + Chan5 + Chan6 + Chan7 + Chan8 + Chan9 + Chan10 + Chan11 + Chan12 + Chan13 + Chan14 + Chan15 + Chan16 + + 0:Chan1,1:Chan2,2:Chan3,3:Chan4,4:Chan5,5:Chan6,6:Chan7,7:Chan8,8:Chan9,9:Chan10,10:Chan11,11:Chan12,12:Chan13,13:Chan14,14:Chan15,15:Chan16 + + + + Never reset + Always reset + + -1 127 + m + meters + + + + Rudder mixing in direct flight modes only (Manual/Stabilize/Acro) + Use centered throttle in Cruise or FBWB to indicate trim airspeed + Disable attitude check for takeoff arming + Force target airspeed to trim airspeed in Cruise or FBWB + Climb to RTL_ALTITUDE before turning for RTL + Enable yaw damper in acro mode + Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor. + EnableDefaultAirspeed for takeoff + Remove the PTCH_TRIM_DEG on the GCS horizon + Remove the PTCH_TRIM_DEG on the OSD horizon + Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL + Disable suppression of fixed wing rate gains in ground mode + Enable FBWB style loiter altitude control + Indicate takeoff waiting for neutral rudder with flight control surfaces + In AUTO - climb to next waypoint altitude immediately instead of linear climb + + 0: Rudder mixing in direct flight modes only (Manual/Stabilize/Acro), 1: Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2: Disable attitude check for takeoff arming, 3: Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to RTL_ALTITUDE before turning for RTL, 5: Enable yaw damper in acro mode, 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor., 7: EnableDefaultAirspeed for takeoff, 8: Remove the PTCH_TRIM_DEG on the GCS horizon, 9: Remove the PTCH_TRIM_DEG on the OSD horizon, 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL, 11: Disable suppression of fixed wing rate gains in ground mode, 12: Enable FBWB style loiter altitude control, 13: Indicate takeoff waiting for neutral rudder with flight control surfaces, 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb + + + 1 10 + + + 0 100 + % + percent + 1 + + + 0 100 + % + percent + 1 + + + 0 120 + 1 + s + seconds + + + + Pitch input + use both control surfaces on each wing for roll + Progressive crow flaps + + 0:Pitch input, 1:use both control surfaces on each wing for roll, 2:Progressive crow flaps + + + 0 100 + % + percent + 1 + + + 6 35 + V + volt + 0.1 + + + 6 35 + V + volt + 0.1 + + + + First battery + Second battery + + + + + Strict + Default + Relaxed + + + + m + meters + 0 30 + 1 + + + 0 100 + 1 + + + 0 100 + 1 + + + 0 100 + 1 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15 + + + + Roll + Pitch + Yaw + + 0:Roll,1:Pitch,2:Yaw + + + + Back + Down + Custom1 + Custom2 + + + + + + + + + Manual + Circle + Stabilize + Training + ACRO + FBWA + FBWB + CRUISE + AUTOTUNE + Auto + Loiter + Takeoff + AVOID_ADSB + Guided + THERMAL + QSTABILIZE + QHOVER + QLOITER + QACRO + QAUTOTUNE + + 0:Manual,1:Circle,2:Stabilize,3:Training,4:ACRO,5:FBWA,6:FBWB,7:CRUISE,8:AUTOTUNE,9:Auto,10:Loiter,11:Takeoff,12:AVOID_ADSB,13:Guided,14:THERMAL,15:QSTABILIZE,16:QHOVER,17:QLOITER,18:QACRO,19:QAUTOTUNE + + + + + + Disabled + Enabled + + + + 0 600 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + + 0 20 + m + meters + + + 0 100 + m + meters + + + 0 10000 + + + + Leave Unchanged + WhiteHot + Sepia + IronBow + Rainbow + Night + Aurora + RedHot + Jungle + Medical + BlackHot + GloryHot + + + + + Leave Unchanged + LowGain (50C to 550C) + HighGain (-20C to 150C) + + + + + Leave Unchanged + Disabled (30fps) + Enabled (25 fps) + + m + meters + + + + Disabled + Enabled + + + + 1 100 + m + meters + + + 0 1000 + m + meters + + + 0 5 + m/s + meters per second + + + + Disabled + Enabled + + + + + Roll + Pitch + Yaw + + 0:Roll,1:Pitch,2:Yaw + + + 5 20 + s + seconds + + + 20 80 + % + percent + + + 1 10 + + + 0.1 3 + + + 0.001 1 + + + 0.5 1.0 + + + 0.5 20 + + + + Disabled + Enabled + + + + s + seconds + + + + + % + percent + 0 100 + + + + UseTwoPositionSwitch + + 0:UseTwoPositionSwitch + + + + Disabled + Enabled + + + + -180 180 + deg + degrees + + + + Disabled + Trigger + + + + 0.5 2 + + + + Disabled + Enabled + + + + 1 65535 + + + + Disabled + Enabled + + + + 1 65535 + + + s + seconds + 0.1 60 + + + 0 10000000 + + + + Disabled + Enabled + + + + 0 0.8 + + + 0 30 + + + 0 255 + + + 0 1 + + + 1 20 + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Steering + Speed + + 0:Steering,1:Speed + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + 0 1.0 + + + 0 2.0 + + + 0 2.0 + + + + Disabled + Enabled + + + + s + seconds + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + 0.1 5.0 + + + 0.1 5.0 + + + + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + + + + 0 1 + + + 0 100 + % + percent + + + 0 1 + + + 0 100 + % + percent + + + 0 50 + m + meters + + + 0 4 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + 0 4 + + + 0 48 + + + 100 200 + + + 2 5 + + + 0.01 0.5 + + + + Disabled + Enabled + + + + m + meters + + + 0 10 + + + 0 30 + + + s + seconds + + + deg + degrees + 0 45 + + + m + meters + 0 1000 + + + s + seconds + + + + AltHold + Auto + Guided + Loiter + RTL + Circle + Land + PosHold + Brake + Guided_NoGPS + Smart_RTL + Auto RTL + + + + deg/s/s + degrees per square second + + + s + seconds + + + % + percent + + + % + percent + + + % + percent + + + s + seconds + + + s + seconds + + + + + + + deg/s + degrees per second + + + s + seconds + + + + + % + percent + + + % + percent + + + deg/s/s + degrees per square second + + + s + seconds + + + 0.1 100 + + + m + meters + + + % + percent + + + deg + degrees + + + % + percent + + + s + seconds + + + m + meters + + + + + + + m/s + meters per second + + + Hz + hertz + + + deg + degrees + + + + UseRTLOnAbort + AddAtToMessages + DualAircraftSynchronised + + 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised + deg + degrees + + + + + 301 307 + + + 301 307 + + + 1 11 + + + + Disabled + Enabled + Enabled including attitude reporting + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + + No change in camera selection + EO1 + IR thermal + EO1 + IR Picture-in-picture + IR + EO1 Picture-in-picture + Fusion + IR1 13mm + IR2 52mm + + + + 0 7 + + + 0 30 + + + + Disabled + Enabled + + + + + EnableLogging + + 0:EnableLogging + + + 0 50 + Hz + hertz + + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + Disabled + Enabled + + + + + None + 1stCANDriver + 2ndCanDriver + + + + 1 10 + + + + LogAllFrames + + 0:LogAllFrames + + + + Disabled + Enabled + + + + 0.00001 1 + litres + litres + + + + Disabled + Enabled + + + + 1 50 + + + 0 31 + + + + Disabled + Enabled + + + + + Disabled + FirstCAN + SecondCAN + + + + + EnableLogging + + 0:EnableLogging + + + + Disabled + Enabled + Enabled with attitude reporting + + + + + Right side up + Upside down + + + + + Disabled + Enabled + + + + + None + 1stCANDriver + 2ndCanDriver + + + + 10 200 + Hz + hertz + + + + Disabled + FixedWing + HeliRSC + + + + 10 100 + Hz + hertz + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + 1 1000 + + + 1 10 + Hz + hertz + + + 1 50 + Hz + hertz + + + + Disabled + Enabled + + + + + SRE_180 + SP_275 + + + + + Disabled + Enabled + + + + 0 10 + s + seconds + + + + Disabled + Enabled + + + + + Disabled + FirstCAN + SecondCAN + + + + + Disabled + 300 + 301 + 302 + 303 + 304 + 305 + 306 + 307 + + + + Hz + hertz + + + litres + litres + + + + LogAllCanPackets + + 0:LogAllCanPackets + + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 3 + + + + 8x8 mode + 4x4 mode + + + + 1 3 + + + 1 255 + + + 1 3 + + + 1 255 + + + 1 3 + + + 1 255 + + + + Set as Rangefinder + Set as Proximity sensor + + + + 1 4 + + + + + + + + Disabled + uAvionix-MAVLink + Sagetech + uAvionix-UCP + Sagetech MX Series + + True + + + 1 100 + True + + + 0 100000 + m + meters + + + -1 16777215 + + + + NoInfo + Light + Small + Large + HighVortexlarge + Heavy + HighlyManuv + Rotocraft + RESERVED + Glider + LightAir + Parachute + UltraLight + RESERVED + UAV + Space + RESERVED + EmergencySurface + ServiceSurface + PointObstacle + + + + + NO_DATA + L15W23 + L25W28P5 + L25W34 + L35W33 + L35W38 + L45W39P5 + L45W45 + L55W45 + L55W52 + L65W59P5 + L65W67 + L75W72P5 + L75W80 + L85W80 + L85W90 + + + + + NoData + Left2m + Left4m + Left6m + Center + Right2m + Right4m + Right6m + + + + + NO_DATA + AppliedBySensor + + + + + Rx + Tx + + 0:Rx,1:Tx + + + 0 7777 + octal + octal + + + + UAT_in + 1090ES_in + UAT_out + 1090ES_out + + 0:UAT_in,1:1090ES_in,2:UAT_out,3:1090ES_out + + + 0 32767 + m + meters + + + + + + no logging + log only special ID + log all + + + + + Ping200X Send GPS + Squawk 7400 on RC failsafe + Squawk 7400 on GCS failsafe + Sagetech MXS use External Config + + 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe,3:Sagetech MXS use External Config + + + + + + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + + + + + + + + + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + + + + m + meters + + + m + meters + + + hPa + hectopascal + + + + + + + + + + + + + + + s + seconds + + + km + kilometers + + + + Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) + Enable AFS for all autonomous modes (not just AUTO) + + 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + + + s + seconds + + + + + 0.0 1.0 + .01 + + + + Disabled + Use GPS for DCM position + Use GPS for DCM position and height + + + + 0.1 0.4 + .01 + + + 0.1 0.4 + .01 + + + 0 127 + m/s + meters per second + 1 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + + None + Yaw45 + Yaw90 + Yaw135 + Yaw180 + Yaw225 + Yaw270 + Yaw315 + Roll180 + Yaw45Roll180 + Yaw90Roll180 + Yaw135Roll180 + Pitch180 + Yaw225Roll180 + Yaw270Roll180 + Yaw315Roll180 + Roll90 + Yaw45Roll90 + Yaw90Roll90 + Yaw135Roll90 + Roll270 + Yaw45Roll270 + Yaw90Roll270 + Yaw135Roll270 + Pitch90 + Pitch270 + Yaw90Pitch180 + Yaw270Pitch180 + Pitch90Roll90 + Pitch90Roll180 + Pitch90Roll270 + Pitch180Roll90 + Pitch180Roll270 + Pitch270Roll90 + Pitch270Roll180 + Pitch270Roll270 + Yaw90Pitch180Roll90 + Yaw270Roll90 + Yaw293Pitch68Roll180 + Pitch315 + Pitch315Roll90 + Roll45 + Roll315 + Custom 4.1 and older + Custom 1 + Custom 2 + + + + 0.001 0.5 + .01 + + + 0 10 + 1 + + + + Disabled + Enable EKF2 + Enable EKF3 + ExternalAHRS + + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + + DisableDCMFallbackFW + DisableDCMFallbackVTOL + DontDisableAirspeedUsingEKF + + 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + + + + + + None + NMEA AIVDM message + + True + + + 1 100 + + + s + seconds + 1 2000 + + + + Log all AIVDM messages + Log only unsupported AIVDM messages + Log decoded messages + + 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + + + + + m/s + meters per second + 1 + 1 20 + + + + Disabled + minimum PWM when disarmed + 0 PWM when disarmed + + + + m/s/s + meters per square second + 0.25 3.0 + + + + Disabled + ArmingOnly + ArmOrDisarm + + + + + Land + VTOL Land + DO_LAND_START + Takeoff + VTOL Takeoff + Rallypoint + RTL + + 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + + + + All + Barometer + Compass + GPS lock + INS + Parameters + RC Channels + Board voltage + Battery Level + Airspeed + Logging Available + Hardware safety switch + GPS Configuration + System + Mission + Rangefinder + Camera + AuxAuth + FFT + + 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,9:Airspeed,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,19:FFT + + + + Disable prearm display + Do not send status text on state change + + 0:Disable prearm display,1:Do not send status text on state change + + + mGauss + milligauss + 0 500 + + + + Crash Dump arming check active + Crash Dump arming check deactivated + + + + + + + Disable + Enable + + + + + Normal + Swapped + Auto Detect + + + + + FirstSensor + 2ndSensor + + + + + SpeedMismatchDisable + AllowSpeedMismatchRecovery + DisableVoltageCorrection + UseEkf3Consistency + ReportOffset + + 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + + + m/s + meters per second + + + m/s + meters per second + + + 0.0 10.0 + + + 0.0 10.0 + % + percent + + + + + + None + I2C-MS4525D0 + Analog + I2C-MS5525 + I2C-MS5525 (0x76) + I2C-MS5525 (0x77) + I2C-SDP3X + I2C-DLVR-5in + DroneCAN + I2C-DLVR-10in + I2C-DLVR-20in + I2C-DLVR-30in + I2C-DLVR-60in + NMEA water speed + MSP + ASP5033 + ExternalAHRS + SITL + + + + + DoNotUse + Use + UseWhenZeroThrottle + + + + 0.1 + + + 0.1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + Normal + Swapped + Auto Detect + + + + + Disable + Enable + + + + + + + Bus0 + Bus1 + Bus2 + + True + + + True + + + + + + None + I2C-MS4525D0 + Analog + I2C-MS5525 + I2C-MS5525 (0x76) + I2C-MS5525 (0x77) + I2C-SDP3X + I2C-DLVR-5in + DroneCAN + I2C-DLVR-10in + I2C-DLVR-20in + I2C-DLVR-30in + I2C-DLVR-60in + NMEA water speed + MSP + ASP5033 + ExternalAHRS + SITL + + + + + DoNotUse + Use + UseWhenZeroThrottle + + + + 0.1 + + + 0.1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + Normal + Swapped + Auto Detect + + + + + Disable + Enable + + + + + + + Bus0 + Bus1 + Bus2 + + True + + + True + + + + + + Disabled + Enabled + + + + + None + Report + Climb Or Descend + Move Horizontally + Move Perpendicularly in 3D + RTL + Hover + + + + + None + Report + + + + + Remain in AVOID_ADSB + Resume previous flight mode + RTL + Resume if AUTO else Loiter + + + + + + s + seconds + + + s + seconds + + + m + meters + + + m + meters + + + m + meters + + + m + meters + + + m + meters + + + + + Pa + pascal + 1 + True + True + + + degC + degrees Celsius + 1 + True + + + m + meters + 0.1 + + + + FirstBaro + 2ndBaro + 3rdBaro + + + + + Disabled + Bus0 + Bus1 + Bus6 + + + + Pa + pascal + 1 + True + True + + + Pa + pascal + 1 + True + True + + + % + percent + 0 100 + 1 + + + + BMP085 + BMP280 + MS5611 + MS5607 + MS5637 + FBM320 + DPS280 + LPS25H + Keller + MS5837 + BMP388 + SPL06 + MSP + BMP581 + + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + + + True + + + True + + + True + + + m + meters + 0.1 + True + + + m + meters + 1 + 0 5000 + + + + Treat MS5611 as MS5607 + + 0:Treat MS5611 as MS5607 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + W + watt + 1 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Land + Terminate + QLand + Loiter to QLand + + + + + None + RTL + Land + Terminate + QLand + Parachute + Loiter to QLand + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + True + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + + Disabled + Enabled + + True + + + + Disabled + 50Hz + 75Hz + 100Hz + 150Hz + 200Hz + 250Hz + 300Hz + + True + + + -8388608 8388607 + + + + Output1 + Output2 + Output3 + Output4 + Output5 + Output6 + Output7 + Output8 + Output9 + Output10 + Output11 + Output12 + Output13 + Output14 + + 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + True + + + -1 80 + degC + degrees Celsius + + + + AUTO + PX4V1 + Pixhawk + Cube/Pixhawk2 + Pixracer + PixhawkMini + Pixhawk2Slim + Intel Aero FC + Pixhawk Pro + AUAV2.1 + PCNC1 + MINDPXV2 + SP01 + CUAVv5/FMUV5 + VRX BRAIN51 + VRX BRAIN52 + VRX BRAIN52E + VRX UBRAIN51 + VRX UBRAIN52 + VRX CORE10 + VRX BRAIN54 + PX4 FMUV6 + PX4 OLDDRIVERS + + True + + + + Disabled + Enabled + EnableNoFWUpdate + + True + + + + ActiveForSafetyDisable + ActiveForSafetyEnable + ActiveWhenArmed + Force safety on when the aircraft disarms + + 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + + + V + volt + 4.0 5.5 + 0.1 + + + V + volt + 3.3 12.0 + 0.1 + + + 0 32 + 1 + + + + 3.3V + 5V + + + + + Enable hardware watchdog + Disable MAVftp + Enable set of internal parameters + Enable Debug Pins + Unlock flash on reboot + Write protect firmware flash on reboot + Write protect bootloader flash on reboot + Skip board validation + Disable board arming gpio output change on arm/disarm + + 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + + + 0 10000 + ms + milliseconds + + + 1 500 + 1 + + + 0 1 + 0.1 + + + 0 100 + 1 + + + 0 10 + 1 + True + + + 0 20 + degC + degrees Celsius + + + 0 64 + True + + + 0 64 + True + + + + StandardFW + DshotFW + + True + + + + + + None + CYRF6936 + CC2500 + BK2425 + + + + + Auto + DSM2 + DSMX + + + + 0 4 + + + + NotDisabled + Disabled + + + + 0 16 + + + 0 16 + + + + Disabled + Enabled + + + + 1 8 + + + + Disabled + MinChannel + MidChannel + MaxChannel + MinChannelCW + MidChannelCW + MaxChannelCW + + + + + Mode1 + Mode2 + + + + + Disabled + TestChan1 + TestChan2 + TestChan3 + TestChan4 + TestChan5 + TestChan6 + TestChan7 + TestChan8 + + + + 0 16 + + + 0 16 + + + 1 8 + + + 0 40 + + + 0 120 + + + 0 31 + + + + + + GPS + MAVLINK_SYSTEM_TIME + HW + + 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + + + -720 +840 + + + + + + Disabled + Enabled + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + 0 3600 + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + deg + degrees + 0 180 + + + + Always + Only when in AUTO + + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + Disabled + RunCam Split Micro/RunCam with UART + RunCam Split + RunCam Split4 4k + RunCam Hybrid/RunCam Thumb Pro + Runcam 2 4k + + + + + Power Button + WiFi Button + Change Mode + 5-Key OSD + Settings Access + DisplayPort + Start Recording + Stop Recording + + 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + + + + + + + + + + Stick yaw right + Stick roll right + 3-position switch + 2-position switch + Autorecording enabled + + 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + + + + + 0 4 + + Log None + Log Error + Log Warning and below + Log Info and below + Log Everything + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + True + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + True + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo 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not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND + Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location + Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings + USE QRTL-instead of QLAND for rc failsafe when in VTOL modes + Use Governor-use ICE Idle Governor in MANUAL for forward motor + Force Qassist-on always + Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST + Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed + Delay Spoolup-delay VTOL spoolup for 2 seconds after arming + Disable speed based Qassist when using synthethic airspeed estimates + Disable Ground Effect Compensation-on baro altitude reports + Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively + ThrLandControl-enable throttle stick control of landing rate + DisableApproach-disable use of approach and airbrake stages in VTOL landing + EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning + ARMVTOL-arm only in VTOL or AUTO modes + CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND + Force RTL mode-forces RTL mode on rc failsafe in VTOL modes overriding bit 5(USE_QRTL) + Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes. + Scale FF by the ratio of VTOL to plane angle P gains in Position 1 phase of transition into VTOL flight as well as reducing VTOL angle P based on airspeed. + + 0: Level Transition-keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, 1: Allow FW Takeoff-if bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, 2: Allow FW Land-if bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, 3: Vtol Takeoff Frame-command NAV_VTOL_TAKEOFF alt set by the command's reference frame not above current location, 4: Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings, 5: USE QRTL-instead of QLAND for rc failsafe when in VTOL modes, 6: Use Governor-use ICE Idle Governor in MANUAL for forward motor, 7: Force Qassist-on always, 8: Mtrs_Only_Qassist-in tailsitters only uses VTOL motors and not flying surfaces for QASSIST, 10: Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed, 11: Delay Spoolup-delay VTOL spoolup for 2 seconds after arming, 12: Disable speed based Qassist when using synthethic airspeed estimates, 13: Disable Ground Effect Compensation-on baro altitude reports, 14: Ignore forward flight angle limits-in Qmodes and use Q_ANGLE_MAX exclusively, 15: ThrLandControl-enable throttle stick control of landing rate, 16: DisableApproach-disable use of approach and airbrake stages in VTOL landing, 17: EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause 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PWM in microseconds + 0 2000 + + + PWM + PWM in microseconds + 0 2000 + + + + Low + Default + High + + + + + Low + Default + High + + + + 0 10 + s + seconds + + + 0.2 0.8 + + + + Disabled + Learn + Learn and Save + + + + + PWM enabled while disarmed + PWM disabled while disarmed + + + + 5 80 + deg + degrees + 1 + + + 0.05 2 + s + seconds + 0.1 + + + 0 5 + 0.1 + + + + First battery + Second battery + + + + 0 .5 + s + seconds + 0.001 + + + 0 .5 + s + seconds + 0.001 + + + 0 5 + s + seconds + 0.001 + + + + Voltage compensation uses raw voltage + + 0:Voltage compensation uses raw voltage + + + 0 2 + s + seconds + 0.001 + + + + + Hz + hertz + 0.5 5 + 0.1 + + + 1.000 3.000 + + + 1.000 8.000 + + + 0.02 1.00 + 0.01 + + + 1.000 8.000 + + + 0.00 1.00 + 0.001 + + + 0 1 + 0.01 + + + 0 100 + Hz + hertz + + + 0 100 + Hz + hertz + + + 0.200 1.500 + 0.05 + + + 0.000 3.000 + + + 0 1000 + d% + decipercent + + + 0.000 0.400 + + + 0 0.5 + 0.001 + + + 1 50 + 1 + Hz + hertz + + + 1 100 + 1 + Hz + hertz + + + 1 100 + 1 + Hz + hertz + + + 0 200 + 0.5 + + + 0 1000 + d% + decipercent + + + 0 0.02 + 0.0001 + + + 1 8 + + + 1 8 + + + 0.500 2.000 + + + 0.1 6.0 + 0.1 + + + 0.02 1.00 + 0.01 + + + 0.00 1.00 + 0.001 + + + 0 4500 + 10 + cm/s/s + centimeters per square second + + + 0 100 + Hz + hertz + + + 0 100 + Hz + hertz + + + 0 6 + 0.01 + + + deg + degrees + 0 45 + 1 + + + m/s/s/s + meters per cubic second + 1 20 + 1 + + + m/s/s/s + meters per cubic second + 5 50 + 1 + + + + + + Disable + Enable + Enable Always + + True + + + deg + degrees + 5 80 + + + deg + degrees + 5 80 + + + + PlaneMode + BodyFrameRoll + + 0:PlaneMode,1:BodyFrameRoll + + + 0 1 + 0.01 + + + 0 1 + 0.01 + + + 0 4 + 0.1 + + + 1 5 + + + deg + degrees + 0 80 + + + + Motor 1 + Motor 2 + Motor 3 + Motor 4 + Motor 5 + Motor 6 + Motor 7 + Motor 8 + Motor 9 + Motor 10 + Motor 11 + Motor 12 + + 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12 + + + + Throttle + ATT_THR + Disk Theory + Altitude correction + + 0:Throttle,1:ATT_THR,2:Disk Theory,3:Altitude correction + + + 0.1 1 + + + kg/m/m + kilograms per square meter + 0 50 + + + deg/s + degrees per second + 10 500 + + + deg/s + degrees per second + 10 500 + + + % + percent + -1 100 + + + 0 2 + + + 0 2 + + + 0 2 + + + 0 15 + + + + + + Disable + Enable + + True + + + + Motor 1 + Motor 2 + Motor 3 + Motor 4 + Motor 5 + Motor 6 + Motor 7 + Motor 8 + Motor 9 + Motor 10 + Motor 11 + Motor 12 + + 0:Motor 1, 1:Motor 2, 2:Motor 3, 3:Motor 4, 4:Motor 5, 5:Motor 6, 6:Motor 7, 7:Motor 8, 8:Motor 9, 9:Motor 10, 10:Motor 11, 11:Motor 12 + + + deg/s + degrees per second + 1 + 10 300 + + + deg + degrees + 1 + 20 80 + + + + Continuous + Binary + VectoredYaw + Bicopter + + + + deg/s + degrees per second + 1 + 10 300 + + + 0 30 + + + deg + degrees + 0 30 + + + 0 1 + + + deg + degrees + 1 + 0 15 + + + + + cm/s + centimeters per second + 10 2000 + 50 + + + cm + centimeters + 5 1000 + 1 + + + cm/s + centimeters per second + 10 1000 + 50 + + + cm/s + centimeters per second + 10 500 + 10 + + + cm/s/s + centimeters per square second + 50 500 + 10 + + + cm/s/s + centimeters per square second + 50 500 + 10 + + + + Disable + Enable + + + + m/s/s/s + meters per cubic second + 1 20 + + + m + meters + 0.1 100 + + + cm/s/s + centimeters per square second + 0 500 + 10 + + + + + + Only use during takeoffs or landing see weathervane takeoff and land override parameters + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + 0.5 4 + 0.1 + + + deg + degrees + 0 10 + 0.1 + + + m + meters + 0 50 + 1 + + + m/s + meters per second + 0 50 + 0.1 + + + m/s + meters per second + 0 5 + 0.1 + + + + No override + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + + No override + Disabled + Nose into wind + Nose or tail into wind + Side into wind + tail into wind + + + + + Use pitch when nose or tail-in for faster weathervaning + + 0:Use pitch when nose or tail-in for faster weathervaning + + + + + + + km + kilometers + 0.1 + + + + DoNotIncludeHome + IncludeHome + + + + + + 0.0 120.0 + s + seconds + + + + Ignore RC Receiver + Ignore MAVLink Overrides + Ignore Receiver Failsafe bit but allow other RC failsafes if setup + FPort Pad + Log RC input bytes + Arming check throttle for 0 input + Skip the arming check for neutral Roll/Pitch/Yaw sticks + Allow Switch reverse + Use passthrough for CRSF telemetry + Suppress CRSF mode/rate message for ELRS systems + Enable multiple receiver support + Use Link Quality for RSSI with CRSF + Annotate CRSF flight mode with * on disarm + Use 420kbaud for ELRS protocol + + 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol + + + + All + PPM + IBUS + SBUS + SBUS_NI + DSM + SUMD + SRXL + SRXL2 + CRSF + ST24 + FPORT + FPORT2 + FastSBUS + DroneCAN + Ghost + MAVRadio + + 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio + + + 0.5 10.0 + s + seconds + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + ADSB Avoidance Enable + AUTO Mode + AirMode + Airbrakes + Airspeed Ratio Calibration + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + ArmDisarm with Quadplane AirMode (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + CRUISE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Crow Select + Disable Airspeed Use + Disarm + EKF Source Set + Enable FW Autotune + FBWA Mode + FBWA taildragger takeoff mode + FFT Tune + Fence Enable + Flap + Force FS Action to FBWA + GPS Disable + GPS Disable Yaw + GUIDED Mode + Generator + ICEngine start / stop + InvertedFlight Enable + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + Landing Flare + Landing Gear + Lost Plane Sound + MANUAL Mode + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Non Auto Terrain Follow Disable + Optflow Calibration + Parachute Release + Pause Stream Logging + Plane AUTO Mode Landing Abort + QAssist 3pos + QRTL Mode + QSTABILIZE Mode + Quadplane Fwd Throttle Override enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Reverse Throttle + RunCam Control + RunCam OSD Control + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set roll pitch and yaw trim to current servo and RC + Soaring Enable + SwitchExternalAHRS + TAKEOFF Mode + TRAINING Mode + Test autotuned gains after tune is complete + Trigger re-reading of mode switch + VTOL Forward Throttle + VTX Power + Weathervane Enable + + + + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + 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+ DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Ignition + Parachute + Camera + ICE Starter + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + 0.4 1.0 + s + seconds + 0.1 + + + 0 180 + deg/s + degrees per second + 1 + + + 0.08 0.35 + 0.005 + + + 0.01 0.6 + 0.01 + + + 0 1 + 0.01 + + + 0.001 0.03 + 0.001 + + + 0 3.0 + 0.001 + + + 2 50 + 1 + Hz + hertz + + + 2 50 + 1 + Hz + hertz + + + 0 50 + 1 + Hz + hertz + + + 0 200 + 0.5 + + + 0 1 + 0.01 + + + 0 0.03 + 0.001 + + + 1 8 + + + 1 8 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 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BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right 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meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + 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AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + 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LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + Disabled + AnalogPin + RCChannelPwmValue + ReceiverProtocol + PWMInputPin + TelemetryRadioRSSI + + + + + V5 Nano + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + V + volt + 0.01 + 0 5.0 + + + V + volt + 0.01 + 0 5.0 + + + 0 16 + + + PWM + PWM in microseconds + 0 2000 + + + PWM + PWM in microseconds + 0 2000 + + + + + + Disabled + ShowSlips + ShowOverruns + + + + 50 400 + True + Hz + hertz + + + + Enable per-task perf info + + 0:Enable per-task perf info + + + + + + None + Lua Scripts + + True + + + 1000 1000000 + 10000 + + + 1024 1048576 + 1024 + True + + + + No Scripts to run message if all scripts have stopped + Runtime messages for memory usage and execution time + Suppress logging scripts to dataflash + log runtime memory usage and execution time + Disable pre-arm check + Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + + + + + + + + + + + + + + + ROMFS + APM/scripts + + 0:ROMFS, 1:APM/scripts + True + + + + + + + + Normal + IO Priority + Storage Priority + UART Priority + I2C Priority + SPI Priority + Timer Priority + Main Priority + Boost Priority + + True + + + + Disabled + Enabled + + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + MAVLink1 + MAVLink2 + + True + + + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + True + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + 0 120 + s + seconds + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + + + Disable + Enable + + + + 25 400 + Hz + hertz + + + + 1Khz + loop-rate + double loop-rate + triple loop-rate + quadruple loop rate + + + + + None + BLHeli32/Kiss/AM32 + BLHeli_S/BlueJay + BLHeli32/AM32/Kiss+EDT + BLHeli_S/BlueJay+EDT + + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + True + + + + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + SRCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + + + + Disabled + Enabled + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + 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Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + 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RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + 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RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + 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Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Flap + FlapAuto + Aileron + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + DifferentialSpoilerLeft1 + DifferentialSpoilerRight1 + Elevator + Rudder + SprayerPump + SprayerSpinner + FlaperonLeft + FlaperonRight + GroundSteering + Parachute + Gripper + LandingGear + EngineRunEnable + Motor1 + Motor2 + Motor3 + Motor4 + Motor5 + Motor6 + Motor7/TailTiltServo + Motor8 + TiltMotorsFront + TiltMotorsRear + TiltMotorRearLeft + TiltMotorRearRight + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Ignition + Starter + Throttle + ThrottleLeft + ThrottleRight + TiltMotorFrontLeft + TiltMotorFrontRight + ElevonLeft + ElevonRight + VTailLeft + VTailRight + Motor9 + Motor10 + Motor11 + Motor12 + DifferentialSpoilerLeft2 + DifferentialSpoilerRight2 + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + Airbrakes + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + RateRoll + RatePitch + RateThrust + RateYaw + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + Disabled + Enabled + + True + + + + Disabled + TestMotor1 + TestMotor2 + TestMotor3 + TestMotor4 + TestMotor5 + TestMotor6 + TestMotor7 + TestMotor8 + + + + s + seconds + 0 300 + + + Hz + hertz + 0 500 + + + + Disabled + Enabled + + + + + None + OneShot + OneShot125 + Brushed + DShot150 + DShot300 + DShot600 + DShot1200 + + True + + + + Console + Mavlink Serial Channel1 + Mavlink Serial Channel2 + Mavlink Serial Channel3 + Mavlink Serial Channel4 + Mavlink Serial Channel5 + + + + 1 127 + True + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + True + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 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Complete Parameter List

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This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

+ + +[toc exclude="Complete Parameter List"] + + + +

Rover Parameters

+ + +

Eeprom format version number (Rover:FORMAT_VERSION)

Note: This parameter is for advanced users
+ +

This value is incremented when changes are made to the eeprom format

+ + + +

Log bitmask (Rover:LOG_BITMASK)

Note: This parameter is for advanced users
+ +

Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.

+ + + +

Reset Switch Channel (Rover:RST_SWITCH_CH)

Note: This parameter is for advanced users
+ +

RC channel to use to reset to last flight mode after geofence takeover.

+ + + +

Initial driving mode (Rover:INITIAL_MODE)

Note: This parameter is for advanced users
+ +

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.

+ + + +

MAVLink system ID of this vehicle (Rover:SYSID_THISMAV)

Note: This parameter is for advanced users
+ +

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

+ + + +

MAVLink ground station ID (Rover:SYSID_MYGCS)

Note: This parameter is for advanced users
+ +

The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.

+ + + +

Telemetry startup delay (Rover:TELEM_DELAY)

+ +

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

+ + + +

GCS PID tuning mask (Rover:GCS_PID_MASK)

Note: This parameter is for advanced users
+ +

bitmask of PIDs to send MAVLink PID_TUNING messages for

+ + + +

Auto mode trigger pin (Rover:AUTO_TRIGGER_PIN)

+ +

pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.

+ + + +

Auto mode trigger kickstart acceleration (Rover:AUTO_KICKSTART)

+ +

X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor

+ + + +

Target cruise speed in auto modes (Rover:CRUISE_SPEED)

+ +

The target speed in auto missions.

+ + + +

Base throttle percentage in auto (Rover:CRUISE_THROTTLE)

+ +

The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.

+ + + +

Pilot input steering type (Rover:PILOT_STEER_TYPE)

+ +

Pilot RC input interpretation

+ + + +

Failsafe Action (Rover:FS_ACTION)

+ +

What to do on a failsafe event

+ + + +

Failsafe timeout (Rover:FS_TIMEOUT)

+ +

The time in seconds that a failsafe condition must persist before the failsafe action is triggered

+ + + +

Throttle Failsafe Enable (Rover:FS_THR_ENABLE)

+ +

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.

+ + + +

Throttle Failsafe Value (Rover:FS_THR_VALUE)

+ +

The PWM level on the throttle channel below which throttle failsafe triggers.

+ + + +

GCS failsafe enable (Rover:FS_GCS_ENABLE)

+ +

Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.

+ + + +

Crash check action (Rover:FS_CRASH_CHECK)

+ +

What to do on a crash event. When enabled the rover will go to hold if a crash is detected.

+ + + +

EKF Failsafe Action (Rover:FS_EKF_ACTION)

Note: This parameter is for advanced users
+ +

Controls the action that will be taken when an EKF failsafe is invoked

+ + + +

EKF failsafe variance threshold (Rover:FS_EKF_THRESH)

Note: This parameter is for advanced users
+ +

Allows setting the maximum acceptable compass and velocity variance

+ + + +

Mode channel (Rover:MODE_CH)

Note: This parameter is for advanced users
+ +

RC Channel to use for driving mode control

+ + + +

Mode1 (Rover:MODE1)

+ +

Driving mode for switch position 1 (910 to 1230 and above 2049)

+ + + +

Mode2 (Rover:MODE2)

+ +

Driving mode for switch position 2 (1231 to 1360)

+ + + +

Mode3 (Rover:MODE3)

+ +

Driving mode for switch position 3 (1361 to 1490)

+ + + +

Mode4 (Rover:MODE4)

+ +

Driving mode for switch position 4 (1491 to 1620)

+ + + +

Mode5 (Rover:MODE5)

+ +

Driving mode for switch position 5 (1621 to 1749)

+ + + +

Mode6 (Rover:MODE6)

+ +

Driving mode for switch position 6 (1750 to 2049)

+ + + +

GCS sysid enforcement (Rover:SYSID_ENFORCE)

Note: This parameter is for advanced users
+ +

This controls whether packets from other than the expected GCS system ID will be accepted

+ + + +

Turn radius of vehicle (Rover:TURN_RADIUS)

+ +

Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode

+ + + +

Acro mode turn rate maximum (Rover:ACRO_TURN_RATE)

+ +

Acro mode turn rate maximum

+ + + +

Return-to-Launch speed default (Rover:RTL_SPEED)

+ +

Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.

+ + + +

Frame Class (Rover:FRAME_CLASS)

+ +

Frame Class

+ + + +

BalanceBot Maximum Pitch (Rover:BAL_PITCH_MAX)

+ +

Pitch angle in degrees at 100% throttle

+ + + +

Crash Angle (Rover:CRASH_ANGLE)

+ +

Pitch/Roll angle limit in degrees for crash check. Zero disables check

+ + + +

Frame Type (Rover:FRAME_TYPE)

+ +

Frame Type

+ + + +

Loiter type (Rover:LOIT_TYPE)

+ +

Loiter behaviour when moving to the target point

+ + + +

Simple_Type (Rover:SIMPLE_TYPE)

+ +

Simple mode types

+ + + +

Loiter radius (Rover:LOIT_RADIUS)

+ +

Vehicle will drift when within this distance of the target position

+ + + +

Mission done behave (Rover:MIS_DONE_BEHAVE)

+ +

Behaviour after mission completes

+ + + +

Balance Bot pitch trim angle (Rover:BAL_PITCH_TRIM)

+ +

Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.

+ + + +

Stick Mixing (Rover:STICK_MIXING)

Note: This parameter is for advanced users
+ +

When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.

+ + + +

Speed maximum (Rover:SPEED_MAX)

Note: This parameter is for advanced users
+ +

Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE.

+ + + +

Loiter speed gain (Rover:LOIT_SPEED_GAIN)

Note: This parameter is for advanced users
+ +

Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable.

+ + + +

Failsafe Options (Rover:FS_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask to enable failsafe options

+ + + +

Guided mode options (Rover:GUID_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change guided mode behaviour

+ + + +

Manual mode options (Rover:MANUAL_OPTIONS)

Note: This parameter is for advanced users
+ +

Manual mode specific options

+ + + +

Manual Steering Expo (Rover:MANUAL_STR_EXPO)

Note: This parameter is for advanced users
+ +

Manual steering expo to allow faster steering when stick at edges

+ + + +

GCS failsafe timeout (Rover:FS_GCS_TIMEOUT)

+ +

Timeout before triggering the GCS failsafe

+ + + +

Channel 7 option (Rover:CH7_OPTION)

+ +

What to do use channel 7 for

+ + + +

Auxiliary switch channel (Rover:AUX_CH)

Note: This parameter is for advanced users
+ +

RC Channel to use for auxiliary functions including saving waypoints

+ + + +

Pivot turn angle (Rover:PIVOT_TURN_ANGLE)

+ +

Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.

+ + + +

Pivot turn rate (Rover:PIVOT_TURN_RATE)

+ +

Desired pivot turn rate in deg/s.

+ + + +

VEHICLE Parameters

+ + +

Flight mode block from GCS (FLTMODE_GCSBLOCK)

+ +

Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.

+ + + +

Lua Script Parameters

+ + +

Force enable High Latency mode (RCK_FORCEHL)

+ +

Automatically enables High Latency mode if not already enabled

+ + + +

Update rate (RCK_PERIOD)

+ +

When in High Latency mode, send Rockblock updates every N seconds

+ + + +

Display Rockblock debugging text (RCK_DEBUG)

+ +

Sends Rockblock debug text to GCS via statustexts

+ + + +

Enable Message transmission (RCK_ENABLE)

+ +

Enables the Rockblock sending and recieving

+ + + +

parameter reversion enable (PREV_ENABLE)

+ +

Enable parameter reversion system

+ + + +

param reversion RC function (PREV_RC_FUNC)

+ +

RCn_OPTION number to used to trigger parameter reversion

+ + + +

Precland altitude cutoff (PLND_ALT_CUTOFF)

+ +

The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing

+ + + +

Precland distance cutoff (DIST_CUTOFF)

+ +

The distance from target beyond which the target is ignored

+ + + +

Mount POI distance max (POI_DIST_MAX)

+ +

POI's max distance (in meters) from the vehicle

+ + + +

Camera1 Thermal Palette (CAM1_THERM_PAL)

+ +

thermal image colour palette

+ + + +

Camera1 Thermal Gain (CAM1_THERM_GAIN)

+ +

thermal image temperature range

+ + + +

Camera1 Thermal Raw Data (CAM1_THERM_RAW)

+ +

save images with raw temperatures

+ + + +

terrain brake enable (TERR_BRK_ENABLE)

+ +

terrain brake enable

+ + + +

terrain brake altitude (TERR_BRK_ALT)

+ +

terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.

+ + + +

terrain brake home distance (TERR_BRK_HDIST)

+ +

terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate

+ + + +

terrain brake speed threshold (TERR_BRK_SPD)

+ +

terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.

+ + + +

Quicktune enable (QUIK_ENABLE)

+ +

Enable quicktune system

+ + + +

Quicktune axes (QUIK_AXES)

+ +

axes to tune

+ + + +

Quicktune doubling time (QUIK_DOUBLE_TIME)

+ +

Time to double a tuning parameter. Raise this for a slower tune.

+ + + +

Quicktune gain margin (QUIK_GAIN_MARGIN)

+ +

Reduction in gain after oscillation detected. Raise this number to get a more conservative tune

+ + + +

Quicktune oscillation rate threshold (QUIK_OSC_SMAX)

+ +

Threshold for oscillation detection. A lower value will lead to a more conservative tune.

+ + + +

Quicktune Yaw P max (QUIK_YAW_P_MAX)

+ +

Maximum value for yaw P gain

+ + + +

Quicktune Yaw D max (QUIK_YAW_D_MAX)

+ +

Maximum value for yaw D gain

+ + + +

Quicktune roll/pitch PI ratio (QUIK_RP_PI_RATIO)

+ +

Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain

+ + + +

Quicktune Yaw PI ratio (QUIK_Y_PI_RATIO)

+ +

Ratio between P and I gains for yaw. Raise this to get a lower I gain

+ + + +

Quicktune auto filter enable (QUIK_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Quicktune auto save (QUIK_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Quicktune RC function (QUIK_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

Quicktune maximum gain reduction (QUIK_MAX_REDUCE)

+ +

This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.

+ + + +

Quicktune options (QUIK_OPTIONS)

+ +

Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.

+ + + +

Ship landing enable (SHIP_ENABLE)

+ +

Enable ship landing system

+ + + +

Ship landing angle (SHIP_LAND_ANGLE)

+ +

Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.

+ + + +

Ship automatic offset trigger (SHIP_AUTO_OFS)

+ +

Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.

+ + + +

CoG adjustment ratio (CGA_RATIO)

Note: This parameter is for advanced users
+ +

The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).

+ + + +

enable web server (WEB_ENABLE)

+ +

enable web server

+ + + +

web server TCP port (WEB_BIND_PORT)

+ +

web server TCP port

+ + + +

web server debugging (WEB_DEBUG)

Note: This parameter is for advanced users
+ +

web server debugging

+ + + +

web server block size (WEB_BLOCK_SIZE)

Note: This parameter is for advanced users
+ +

web server block size for download

+ + + +

web server timeout (WEB_TIMEOUT)

Note: This parameter is for advanced users
+ +

timeout for inactive connections

+ + + +

web server minimum file size for sendfile (WEB_SENDFILE_MIN)

Note: This parameter is for advanced users
+ +

sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download

+ + + +

Slung Payload enable (SLUP_ENABLE)

+ +

Slung Payload enable

+ + + +

Slung Payload Velocity P gain (SLUP_VEL_P)

+ +

Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload

+ + + +

Slung Payload horizontal distance max (SLUP_DIST_MAX)

+ +

Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress

+ + + +

Slung Payload mavlink system id (SLUP_SYSID)

+ +

Slung Payload mavlink system id. 0 to use any/all system ids

+ + + +

Slung Payload return to WP position P gain (SLUP_WP_POS_P)

+ +

WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint

+ + + +

Slung Payload resting offset estimate filter time constant (SLUP_RESTOFS_TC)

+ +

payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response

+ + + +

Slung Payload debug output (SLUP_DEBUG)

+ +

Slung payload debug output, set to 1 to enable debug

+ + + +

Rover Quicktune enable (RTUN_ENABLE)

+ +

Enable quicktune system

+ + + +

Rover Quicktune axes (RTUN_AXES)

+ +

axes to tune

+ + + +

Rover Quicktune Steering Rate FeedForward ratio (RTUN_STR_FFRATIO)

+ +

Ratio between measured response and FF gain. Raise this to get a higher FF gain

+ + + +

Rover Quicktune Steering FF to P ratio (RTUN_STR_P_RATIO)

+ +

Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Steering FF to I ratio (RTUN_STR_I_RATIO)

+ +

Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune Speed FeedForward (equivalent) ratio (RTUN_SPD_FFRATIO)

+ +

Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value

+ + + +

Rover Quicktune Speed FF to P ratio (RTUN_SPD_P_RATIO)

+ +

Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged

+ + + +

Rover Quicktune Speed FF to I ratio (RTUN_SPD_I_RATIO)

+ +

Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged

+ + + +

Rover Quicktune auto filter enable (RTUN_AUTO_FILTER)

+ +

When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER

+ + + +

Rover Quicktune auto save (RTUN_AUTO_SAVE)

+ +

Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune

+ + + +

Rover Quicktune RC function (RTUN_RC_FUNC)

+ +

RCn_OPTION number to use to control tuning stop/start/save

+ + + +

WinchControl Rate Up (WINCH_RATE_UP)

+ +

Maximum rate when retracting line

+ + + +

WinchControl Rate Down (WINCH_RATE_DN)

+ +

Maximum rate when releasing line

+ + + +

Winch Rate Control RC function (WINCH_RC_FUNC)

+ +

RCn_OPTION number to use to control winch rate

+ + + +

EKF Source ExternalNav Innovation Threshold (ESRC_EXTN_THRESH)

+ +

ExternalNav may be used if innovations are below this threshold

+ + + +

EKF Source ExternalNav Quality Threshold (ESRC_EXTN_QUAL)

+ +

ExternalNav may be used if quality is above this threshold

+ + + +

EKF Source OpticalFlow Innovation Threshold (ESRC_FLOW_THRESH)

+ +

OpticalFlow may be used if innovations are below this threshold

+ + + +

EKF Source OpticalFlow Quality Threshold (ESRC_FLOW_QUAL)

+ +

OpticalFlow may be used if quality is above this threshold

+ + + +

EKF Source Rangefinder Max (ESRC_RNGFND_MAX)

+ +

OpticalFlow may be used if rangefinder distance is below this threshold

+ + + +

Count of SOC estimators (BATT_SOC_COUNT)

+ +

Number of battery SOC estimators

+ + + +

Battery estimator index (BATT_SOC1_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC1_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC1_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC1_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC1_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC2_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC2_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC2_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC2_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC2_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC3_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC3_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC3_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC3_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC3_C3)

+ +

Battery estimator coefficient3

+ + + +

Battery estimator index (BATT_SOC4_IDX)

+ +

Battery estimator index

+ + + +

Battery estimator cell count (BATT_SOC4_NCELL)

+ +

Battery estimator cell count

+ + + +

Battery estimator coefficient1 (BATT_SOC4_C1)

+ +

Battery estimator coefficient1

+ + + +

Battery estimator coefficient2 (BATT_SOC4_C2)

+ +

Battery estimator coefficient2

+ + + +

Battery estimator coefficient3 (BATT_SOC4_C3)

+ +

Battery estimator coefficient3

+ + + +

Deadreckoning Enable (DR_ENABLE)

+ +

Deadreckoning Enable

+ + + +

Deadreckoning Enable Distance (DR_ENABLE_DIST)

+ +

Distance from home (in meters) beyond which the dead reckoning will be enabled

+ + + +

Deadreckoning GPS speed accuracy maximum threshold (DR_GPS_SACC_MAX)

+ +

GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy

+ + + +

Deadreckoning GPS satellite count min threshold (DR_GPS_SAT_MIN)

+ +

GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count

+ + + +

Deadreckoning GPS check trigger seconds (DR_GPS_TRIGG_SEC)

+ +

GPS checks must fail for this many seconds before dead reckoning will be triggered

+ + + +

Deadreckoning Lean Angle (DR_FLY_ANGLE)

+ +

lean angle (in degrees) during deadreckoning

+ + + +

Deadreckoning Altitude Min (DR_FLY_ALT_MIN)

+ +

Copter will fly at at least this altitude (in meters) above home during deadreckoning

+ + + +

Deadreckoning flight timeout (DR_FLY_TIMEOUT)

+ +

Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout

+ + + +

Deadreckoning Next Mode (DR_NEXT_MODE)

+ +

Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered

+ + + +

Angular acceleration limit (AEROM_ANG_ACCEL)

+ +

Maximum angular acceleration in maneuvers

+ + + +

Roll control filtertime constant (AEROM_ANG_TC)

+ +

This is the time over which we filter the desired roll to smooth it

+ + + +

Throttle feed forward from pitch (AEROM_THR_PIT_FF)

+ +

This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch

+ + + +

P gain for speed controller (AEROM_SPD_P)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

I gain for speed controller (AEROM_SPD_I)

+ +

This controls how rapidly the throttle is raised to compensate for a speed error

+ + + +

Roll control time constant (AEROM_ROL_COR_TC)

+ +

This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections

+ + + +

Time constant for correction of our distance along the path (AEROM_TIME_COR_P)

+ +

This is the time constant for correcting path position errors

+ + + +

P gain for path error corrections (AEROM_ERR_COR_P)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

D gain for path error corrections (AEROM_ERR_COR_D)

+ +

This controls how rapidly we correct back onto the desired path

+ + + +

The roll rate to use when entering a roll maneuver (AEROM_ENTRY_RATE)

+ +

This controls how rapidly we roll into a new orientation

+ + + +

The lookahead for throttle control (AEROM_THR_LKAHD)

+ +

This controls how far ahead we look in time along the path for the target throttle

+ + + +

Debug control (AEROM_DEBUG)

+ +

This controls the printing of extra debug information on paths

+ + + +

Minimum Throttle (AEROM_THR_MIN)

+ +

Lowest throttle used during maneuvers

+ + + +

Throttle boost (AEROM_THR_BOOST)

+ +

This is the extra throttle added in schedule elements marked as needing a throttle boost

+ + + +

Yaw acceleration (AEROM_YAW_ACCEL)

+ +

This is maximum yaw acceleration to use

+ + + +

Lookahead (AEROM_LKAHD)

+ +

This is how much time to look ahead in the path for calculating path rates

+ + + +

Path Scale (AEROM_PATH_SCALE)

+ +

Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.

+ + + +

Box Width (AEROM_BOX_WIDTH)

+ +

Length of aerobatic "box"

+ + + +

Stall turn throttle (AEROM_STALL_THR)

+ +

Amount of throttle to reduce to for a stall turn

+ + + +

Stall turn pitch threshold (AEROM_STALL_PIT)

+ +

Pitch threashold for moving to final stage of stall turn

+ + + +

KnifeEdge Rudder (AEROM_KE_RUDD)

+ +

Percent of rudder normally uses to sustain knife-edge at trick speed

+ + + +

KnifeEdge Rudder lookahead (AEROM_KE_RUDD_LK)

+ +

Time to look ahead in the path to calculate rudder correction for bank angle

+ + + +

Altitude Abort (AEROM_ALT_ABORT)

+ +

Maximum allowable loss in altitude during a trick or sequence from its starting altitude.

+ + + +

Timesync P gain (AEROM_TS_P)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync I gain (AEROM_TS_I)

+ +

This controls how rapidly two aircraft are brought back into time sync

+ + + +

Timesync speed max (AEROM_TS_SPDMAX)

+ +

This sets the maximum speed adjustment for time sync between aircraft

+ + + +

Timesync rate of send of NAMED_VALUE_FLOAT data (AEROM_TS_RATE)

+ +

This sets the rate we send data for time sync between aircraft

+ + + +

Mission angle (AEROM_MIS_ANGLE)

+ +

When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used

+ + + +

Aerobatic options (AEROM_OPTIONS)

+ +

Options to control aerobatic behavior

+ + + +

Tricks on Switch Enable (TRIK_ENABLE)

+ +

Enables Tricks on Switch. TRIK params hidden until enabled

+ + + +

Trik Selection Scripting Function (TRIK_SEL_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick selection

+ + + +

Trik Action Scripting Function (TRIK_ACT_FN)

+ +

Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)

+ + + +

Trik Count (TRIK_COUNT)

+ +

Number of tricks which can be selected over the range of the trik selection RC channel

+ + + +

ViewPro debug (VIEP_DEBUG)

Note: This parameter is for advanced users
+ +

ViewPro debug

+ + + +

ViewPro Camera For Switch Low (VIEP_CAM_SWLOW)

+ +

Camera selection when switch is in low position

+ + + +

ViewPro Camera For Switch Mid (VIEP_CAM_SWMID)

+ +

Camera selection when switch is in middle position

+ + + +

ViewPro Camera For Switch High (VIEP_CAM_SWHIGH)

+ +

Camera selection when switch is in high position

+ + + +

ViewPro Zoom Speed (VIEP_ZOOM_SPEED)

+ +

ViewPro Zoom Speed. Higher numbers result in faster zooming

+ + + +

ViewPro Zoom Times Max (VIEP_ZOOM_MAX)

+ +

ViewPro Zoom Times Max

+ + + +

EFI INF-Inject enable (EFI_INF_ENABLE)

+ +

Enable EFI INF-Inject driver

+ + + +

EFI INF-Inject options (EFI_INF_OPTIONS)

+ +

EFI INF driver options

+ + + +

EFI INF-Inject throttle rate (EFI_INF_THR_HZ)

+ +

EFI INF throttle output rate

+ + + +

EFI INF-Inject ignition aux function (EFI_INF_IGN_AUX)

+ +

EFI INF throttle ignition aux function

+ + + +

Generator SVFFI enable (EFI_SVF_ENABLE)

+ +

Enable SVFFI generator support

+ + + +

Generator SVFFI arming check (EFI_SVF_ARMCHECK)

+ +

Check for Generator ARM state before arming

+ + + +

Enable ANX battery support (BATT_ANX_ENABLE)

+ +

Enable ANX battery support

+ + + +

Set ANX CAN driver (BATT_ANX_CANDRV)

+ +

Set ANX CAN driver

+ + + +

ANX CAN battery index (BATT_ANX_INDEX)

+ +

ANX CAN battery index

+ + + +

ANX CAN battery options (BATT_ANX_OPTIONS)

Note: This parameter is for advanced users
+ +

ANX CAN battery options

+ + + +

EFI DLA enable (EFI_DLA_ENABLE)

+ +

Enable EFI DLA driver

+ + + +

EFI DLA fuel scale (EFI_DLA_LPS)

+ +

EFI DLA litres of fuel per second of injection time

+ + + +

Hobbywing ESC Enable (ESC_HW_ENABLE)

+ +

Enable Hobbywing ESC telemetry

+ + + +

Hobbywing ESC motor poles (ESC_HW_POLES)

+ +

Number of motor poles for eRPM scaling

+ + + +

Hobbywing ESC motor offset (ESC_HW_OFS)

+ +

Motor number offset of first ESC

+ + + +

Enable NMEA 2000 EFI driver (EFI_2K_ENABLE)

+ +

Enable NMEA 2000 EFI driver

+ + + +

NMEA 2000 CAN driver (EFI_2K_CANDRV)

+ +

NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

NMEA 2000 options (EFI_2K_OPTIONS)

+ +

NMEA 2000 driver options

+ + + +

DJIRS2 debug (DJIR_DEBUG)

Note: This parameter is for advanced users
+ +

Enable DJIRS2 debug

+ + + +

DJIRS2 upside down (DJIR_UPSIDEDOWN)

+ +

DJIRS2 upside down

+ + + +

Enable SkyPower EFI support (EFI_SP_ENABLE)

+ +

Enable SkyPower EFI support

+ + + +

Set SkyPower EFI CAN driver (EFI_SP_CANDRV)

+ +

Set SkyPower EFI CAN driver

+ + + +

SkyPower EFI update rate (EFI_SP_UPDATE_HZ)

Note: This parameter is for advanced users
+ +

SkyPower EFI update rate

+ + + +

SkyPower EFI throttle function (EFI_SP_THR_FN)

+ +

SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control

+ + + +

SkyPower EFI throttle rate (EFI_SP_THR_RATE)

Note: This parameter is for advanced users
+ +

SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine

+ + + +

SkyPower EFI start function (EFI_SP_START_FN)

+ +

SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start

+ + + +

SkyPower EFI generator control function (EFI_SP_GEN_FN)

+ +

SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop

+ + + +

SkyPower EFI minimum RPM (EFI_SP_MIN_RPM)

Note: This parameter is for advanced users
+ +

SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped

+ + + +

SkyPower EFI telemetry rate (EFI_SP_TLM_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS

+ + + +

SkyPower EFI log rate (EFI_SP_LOG_RT)

Note: This parameter is for advanced users
+ +

SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed

+ + + +

SkyPower EFI allow start disarmed (EFI_SP_ST_DISARM)

+ +

SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed

+ + + +

SkyPower EFI ECU model (EFI_SP_MODEL)

+ +

SkyPower EFI ECU model

+ + + +

SkyPower EFI enable generator control (EFI_SP_GEN_CTRL)

+ +

SkyPower EFI enable generator control

+ + + +

SkyPower EFI restart time (EFI_SP_RST_TIME)

+ +

SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.

+ + + +

Enable Halo6000 EFI driver (EFI_H6K_ENABLE)

+ +

Enable Halo6000 EFI driver

+ + + +

Halo6000 CAN driver (EFI_H6K_CANDRV)

+ +

Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver

+ + + +

Halo6000 start auxilliary function (EFI_H6K_START_FN)

+ +

The RC auxilliary function number for start/stop of the generator. Zero to disable start function

+ + + +

Halo6000 telemetry rate (EFI_H6K_TELEM_RT)

+ +

The rate that additional generator telemetry is sent

+ + + +

Halo6000 total fuel capacity (EFI_H6K_FUELTOT)

+ +

The capacity of the tank in litres

+ + + +

Halo6000 options (EFI_H6K_OPTIONS)

+ +

Halo6000 options

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M Connected (TOFSENSE_NO)

+ +

Number of TOFSENSE-M CAN sensors connected

+ + + +

TOFSENSE-M mode to be used (TOFSENSE_MODE)

+ +

TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode

+ + + +

TOFSENSE-M First Instance (TOFSENSE_INST1)

+ +

First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M First ID (TOFSENSE_ID1)

+ +

First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Second Instance (TOFSENSE_INST2)

+ +

Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Second ID (TOFSENSE_ID2)

+ +

Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M Third Instance (TOFSENSE_INST3)

+ +

Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)

+ + + +

TOFSENSE-M Thir ID (TOFSENSE_ID3)

+ +

Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software

+ + + +

TOFSENSE-M to be used as Proximity sensor (TOFSENSE_S1_PRX)

+ +

Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)

+ + + +

TOFSENSE-M serial port config (TOFSENSE_S1_SP)

+ +

UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28.

+ + + +

TOFSENSE-M serial port baudrate (TOFSENSE_S1_BR)

+ +

Serial Port baud rate. Sensor baud rate can be changed from Nassistant software

+ + + +

AFS_ Parameters

+ + +

Enable Advanced Failsafe (AFS_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect

+ + + +

Manual Pin (AFS_MAN_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Heartbeat Pin (AFS_HB_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Comms Waypoint (AFS_WP_COMMS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on comms loss

+ + + +

GPS Loss Waypoint (AFS_WP_GPS_LOSS)

Note: This parameter is for advanced users
+ +

Waypoint number to navigate to on GPS lock loss

+ + + +

Force Terminate (AFS_TERMINATE)

Note: This parameter is for advanced users
+ +

Can be set in flight to force termination of the heartbeat signal

+ + + +

Terminate action (AFS_TERM_ACTION)

Note: This parameter is for advanced users
+ +

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter

+ + + +

Terminate Pin (AFS_TERM_PIN)

Note: This parameter is for advanced users
+ +

This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

AMSL limit (AFS_AMSL_LIMIT)

Note: This parameter is for advanced users
+ +

This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.

+ + + +

Error margin for GPS based AMSL limit (AFS_AMSL_ERR_GPS)

Note: This parameter is for advanced users
+ +

This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.

+ + + +

QNH pressure (AFS_QNH_PRESSURE)

Note: This parameter is for advanced users
+ +

This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.

+ + + +

Maximum number of GPS loss events (AFS_MAX_GPS_LOSS)

Note: This parameter is for advanced users
+ +

Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.

+ + + +

Maximum number of comms loss events (AFS_MAX_COM_LOSS)

Note: This parameter is for advanced users
+ +

Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.

+ + + +

Enable geofence Advanced Failsafe (AFS_GEOFENCE)

Note: This parameter is for advanced users
+ +

This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1

+ + + +

Enable RC Advanced Failsafe (AFS_RC)

Note: This parameter is for advanced users
+ +

This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1

+ + + +

Enable RC Termination only in manual control modes (AFS_RC_MAN_ONLY)

Note: This parameter is for advanced users
+ +

If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.

+ + + +

Enable dual loss terminate due to failure of both GCS and GPS simultaneously (AFS_DUAL_LOSS)

Note: This parameter is for advanced users
+ +

This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.

+ + + +

RC failure time (AFS_RC_FAIL_TIME)

Note: This parameter is for advanced users
+ +

This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.

+ + + +

Max allowed range (AFS_MAX_RANGE)

Note: This parameter is for advanced users
+ +

This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.

+ + + +

AFS options (AFS_OPTIONS)

+ +

See description for each bitmask bit description

+ + + +

GCS timeout (AFS_GCS_TIMEOUT)

Note: This parameter is for advanced users
+ +

The time (in seconds) of persistent data link loss before GCS failsafe occurs.

+ + + +

AHRS_ Parameters

+ + +

AHRS GPS gain (AHRS_GPS_GAIN)

Note: This parameter is for advanced users
+ +

This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

+ + + +

AHRS use GPS for DCM navigation and position-down (AHRS_GPS_USE)

Note: This parameter is for advanced users
+ +

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

+ + + +

Yaw P (AHRS_YAW_P)

Note: This parameter is for advanced users
+ +

This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.

+ + + +

AHRS RP_P (AHRS_RP_P)

Note: This parameter is for advanced users
+ +

This controls how fast the accelerometers correct the attitude

+ + + +

Maximum wind (AHRS_WIND_MAX)

Note: This parameter is for advanced users
+ +

This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.

+ + + +

AHRS Trim Roll (AHRS_TRIM_X)

+ +

Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.

+ + + +

AHRS Trim Pitch (AHRS_TRIM_Y)

+ +

Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.

+ + + +

AHRS Trim Yaw (AHRS_TRIM_Z)

Note: This parameter is for advanced users
+ +

Not Used

+ + + +

Board Orientation (AHRS_ORIENTATION)

Note: This parameter is for advanced users
+ +

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

+ + + +

AHRS Velocity Complementary Filter Beta Coefficient (AHRS_COMP_BETA)

Note: This parameter is for advanced users
+ +

This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.

+ + + +

AHRS GPS Minimum satellites (AHRS_GPS_MINSATS)

Note: This parameter is for advanced users
+ +

Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.

+ + + +

Use NavEKF Kalman filter for attitude and position estimation (AHRS_EKF_TYPE)

Note: This parameter is for advanced users
+ +

This controls which NavEKF Kalman filter version is used for attitude and position estimation

+ + + +

Board orientation roll offset (AHRS_CUSTOM_ROLL)

Note: This parameter is for advanced users
+ +

Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Board orientation pitch offset (AHRS_CUSTOM_PIT)

Note: This parameter is for advanced users
+ +

Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Board orientation yaw offset (AHRS_CUSTOM_YAW)

Note: This parameter is for advanced users
+ +

Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

+ + + +

Optional AHRS behaviour (AHRS_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

+ + + +

AIS_ Parameters

+ + +

AIS receiver type (AIS_TYPE)

+ +

AIS receiver type

+ + + +

AIS vessel list size (AIS_LIST_MAX)

Note: This parameter is for advanced users
+ +

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

+ + + +

AIS vessel time out (AIS_TIME_OUT)

Note: This parameter is for advanced users
+ +

if no updates are received in this time a vessel will be removed from the list

+ + + +

AIS logging options (AIS_LOGGING)

Note: This parameter is for advanced users
+ +

Bitmask of AIS logging options

+ + + +

ARMING_ Parameters

+ + +

Require Arming Motors (ARMING_REQUIRE)

Note: This parameter is for advanced users
+ +

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane.

+ + + +

Accelerometer error threshold (ARMING_ACCTHRESH)

Note: This parameter is for advanced users
+ +

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

+ + + +

Arming with Rudder enable/disable (ARMING_RUDDER)

Note: This parameter is for advanced users
+ +

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

+ + + +

Required mission items (ARMING_MIS_ITEMS)

Note: This parameter is for advanced users
+ +

Bitmask of mission items that are required to be planned in order to arm the aircraft

+ + + +

Arm Checks to Perform (bitmask) (ARMING_CHECK)

+ +

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.

+ + + +

Arming options (ARMING_OPTIONS)

Note: This parameter is for advanced users
+ +

Options that can be applied to change arming behaviour

+ + + +

Compass magnetic field strength error threshold vs earth magnetic model (ARMING_MAGTHRESH)

Note: This parameter is for advanced users
+ +

Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check

+ + + +

Disable CrashDump Arming check (ARMING_CRSDP_IGN)

Note: This parameter is for advanced users
+ +

Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.

+ + + +

ARSPD Parameters

+ + +

Airspeed Enable (ARSPD_ENABLE)

+ +

Enable airspeed sensor support

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDER)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Primary airspeed sensor (ARSPD_PRIMARY)

Note: This parameter is for advanced users
+ +

This selects which airspeed sensor will be the primary if multiple sensors are found

+ + + +

Airspeed options bitmask (ARSPD_OPTIONS)

Note: This parameter is for advanced users
+ +

This parameter and function is not used by this vehicle. Always set to 0.

+ + + +

Maximum airspeed and ground speed difference (ARSPD_WIND_MAX)

Note: This parameter is for advanced users
+ +

This parameter and function is not used by this vehicle. Always set to 0.

+ + + +

Airspeed and GPS speed difference that gives a warning (ARSPD_WIND_WARN)

Note: This parameter is for advanced users
+ +

This parameter and function is not used by this vehicle. Always set to 0.

+ + + +

Re-enable Consistency Check Gate Size (ARSPD_WIND_GATE)

Note: This parameter is for advanced users
+ +

This parameter and function is not used by this vehicle.

+ + + +

Maximum offset cal speed error (ARSPD_OFF_PCNT)

Note: This parameter is for advanced users
+ +

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

+ + + +

ARSPD2_ Parameters

+ + +

Airspeed type (ARSPD2_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD2_USE)

+ +

This parameter is not used by this vehicle. Always set to 0.

+ + + +

Airspeed offset (ARSPD2_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

+ + + +

Airspeed pin (ARSPD2_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

This parameter and function is not used by this vehicle. Always set to 0. (ARSPD2_AUTOCAL)

Note: This parameter is for advanced users
+ +

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

+ + + +

Control pitot tube order (ARSPD2_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Skip airspeed offset calibration on startup (ARSPD2_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD2_PSI_RANGE)

Note: This parameter is for advanced users
+ +

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

+ + + +

Airspeed I2C bus (ARSPD2_BUS)

Note: This parameter is for advanced users
+ +

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

+ + + +

Airspeed ID (ARSPD2_DEVID)

Note: This parameter is for advanced users
+ +

Airspeed sensor ID, taking into account its type, bus and instance

+ + + +

ARSPD_ Parameters

+ + +

Airspeed type (ARSPD_TYPE)

+ +

Type of airspeed sensor

+ + + +

Airspeed use (ARSPD_USE)

+ +

This parameter is not used by this vehicle. Always set to 0.

+ + + +

Airspeed offset (ARSPD_OFFSET)

Note: This parameter is for advanced users
+ +

Airspeed calibration offset

+ + + +

Airspeed ratio (ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

+ + + +

Airspeed pin (ARSPD_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

This parameter and function is not used by this vehicle. Always set to 0. (ARSPD_AUTOCAL)

Note: This parameter is for advanced users
+ +

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

+ + + +

Control pitot tube order (ARSPD_TUBE_ORDR)

Note: This parameter is for advanced users
+ +

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

+ + + +

Skip airspeed offset calibration on startup (ARSPD_SKIP_CAL)

Note: This parameter is for advanced users
+ +

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

+ + + +

The PSI range of the device (ARSPD_PSI_RANGE)

Note: This parameter is for advanced users
+ +

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

+ + + +

Airspeed I2C bus (ARSPD_BUS)

Note: This parameter is for advanced users
+ +

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

+ + + +

Airspeed ID (ARSPD_DEVID)

Note: This parameter is for advanced users
+ +

Airspeed sensor ID, taking into account its type, bus and instance

+ + + +

ATC Parameters

+ + +

Steering control rate P gain (ATC_STR_RAT_P)

+ +

Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)

+ + + +

Steering control I gain (ATC_STR_RAT_I)

+ +

Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual

+ + + +

Steering control I gain maximum (ATC_STR_RAT_IMAX)

+ +

Steering control I gain maximum. Constrains the steering output (range -1 to +1) that the I term will generate

+ + + +

Steering control D gain (ATC_STR_RAT_D)

+ +

Steering control D gain. Compensates for short-term change in desired turn rate vs actual

+ + + +

Steering control feed forward (ATC_STR_RAT_FF)

+ +

Steering control feed forward

+ + + +

Steering control filter frequency (ATC_STR_RAT_FILT)

+ +

Steering control input filter. Lower values reduce noise but add delay.

+ + + +

Steering control Target filter frequency in Hz (ATC_STR_RAT_FLTT)

+ +

Target filter frequency in Hz

+ + + +

Steering control Error filter frequency in Hz (ATC_STR_RAT_FLTE)

+ +

Error filter frequency in Hz

+ + + +

Steering control Derivative term filter frequency in Hz (ATC_STR_RAT_FLTD)

+ +

Derivative filter frequency in Hz

+ + + +

Steering slew rate limit (ATC_STR_RAT_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Steering control PD sum maximum (ATC_STR_RAT_PDMX)

+ +

Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Steering control Derivative FeedForward Gain (ATC_STR_RAT_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Steering control Target notch filter index (ATC_STR_RAT_NTF)

Note: This parameter is for advanced users
+ +

Steering control Target notch filter index

+ + + +

Steering control Error notch filter index (ATC_STR_RAT_NEF)

Note: This parameter is for advanced users
+ +

Steering control Error notch filter index

+ + + +

Speed control P gain (ATC_SPEED_P)

+ +

Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)

+ + + +

Speed control I gain (ATC_SPEED_I)

+ +

Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed

+ + + +

Speed control I gain maximum (ATC_SPEED_IMAX)

+ +

Speed control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate

+ + + +

Speed control D gain (ATC_SPEED_D)

+ +

Speed control D gain. Compensates for short-term change in desired speed vs actual

+ + + +

Speed control feed forward (ATC_SPEED_FF)

+ +

Speed control feed forward

+ + + +

Speed control filter frequency (ATC_SPEED_FILT)

+ +

Speed control input filter. Lower values reduce noise but add delay.

+ + + +

Speed control Target filter frequency in Hz (ATC_SPEED_FLTT)

+ +

Target filter frequency in Hz

+ + + +

Speed control Error filter frequency in Hz (ATC_SPEED_FLTE)

+ +

Error filter frequency in Hz

+ + + +

Speed control Derivative term filter frequency in Hz (ATC_SPEED_FLTD)

+ +

Derivative filter frequency in Hz

+ + + +

Speed control slew rate limit (ATC_SPEED_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Speed control PD sum maximum (ATC_SPEED_PDMX)

+ +

Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Speed control Derivative FeedForward Gain (ATC_SPEED_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Speed control Target notch filter index (ATC_SPEED_NTF)

Note: This parameter is for advanced users
+ +

Speed control Target notch filter index

+ + + +

Speed control Error notch filter index (ATC_SPEED_NEF)

Note: This parameter is for advanced users
+ +

Speed control Error notch filter index

+ + + +

Speed control acceleration (and deceleration) maximum in m/s/s (ATC_ACCEL_MAX)

+ +

Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting

+ + + +

Speed control brake enable/disable (ATC_BRAKE)

+ +

Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle.

+ + + +

Speed control stop speed (ATC_STOP_SPEED)

+ +

Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value

+ + + +

Steering control angle P gain (ATC_STR_ANG_P)

+ +

Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)

+ + + +

Steering control angular acceleration maximum (ATC_STR_ACC_MAX)

+ +

Steering control angular acceleration maximum (in deg/s/s). 0 to disable acceleration limiting

+ + + +

Steering control rotation rate maximum (ATC_STR_RAT_MAX)

+ +

Steering control rotation rate maximum in deg/s. 0 to remove rate limiting

+ + + +

Speed control deceleration maximum in m/s/s (ATC_DECEL_MAX)

+ +

Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration

+ + + +

Pitch control P gain (ATC_BAL_P)

+ +

Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)

+ + + +

Pitch control I gain (ATC_BAL_I)

+ +

Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch

+ + + +

Pitch control I gain maximum (ATC_BAL_IMAX)

+ +

Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate

+ + + +

Pitch control D gain (ATC_BAL_D)

+ +

Pitch control D gain. Compensates for short-term change in desired pitch vs actual

+ + + +

Pitch control feed forward (ATC_BAL_FF)

+ +

Pitch control feed forward

+ + + +

Pitch control filter frequency (ATC_BAL_FILT)

+ +

Pitch control input filter. Lower values reduce noise but add delay.

+ + + +

Pitch control Target filter frequency in Hz (ATC_BAL_FLTT)

+ +

Pitch control Target filter frequency in Hz

+ + + +

Pitch control Error filter frequency in Hz (ATC_BAL_FLTE)

+ +

Pitch control Error filter frequency in Hz

+ + + +

Pitch control Derivative term filter frequency in Hz (ATC_BAL_FLTD)

+ +

Pitch control Derivative filter frequency in Hz

+ + + +

Pitch control slew rate limit (ATC_BAL_SMAX)

Note: This parameter is for advanced users
+ +

Pitch control upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Pitch control PD sum maximum (ATC_BAL_PDMX)

+ +

Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Pitch control Derivative FeedForward Gain (ATC_BAL_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Pitch control Target notch filter index (ATC_BAL_NTF)

Note: This parameter is for advanced users
+ +

Pitch control Target notch filter index

+ + + +

Pitch control Error notch filter index (ATC_BAL_NEF)

Note: This parameter is for advanced users
+ +

Pitch control Error notch filter index

+ + + +

Pitch control feed forward from current pitch angle (ATC_BAL_PIT_FF)

+ +

Pitch control feed forward from current pitch angle

+ + + +

Sail Heel control P gain (ATC_SAIL_P)

+ +

Sail Heel control P gain for sailboats. Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)

+ + + +

Sail Heel control I gain (ATC_SAIL_I)

+ +

Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual

+ + + +

Sail Heel control I gain maximum (ATC_SAIL_IMAX)

+ +

Sail Heel control I gain maximum. Constrains the maximum I term contribution to the main sail output (range -1 to +1)

+ + + +

Sail Heel control D gain (ATC_SAIL_D)

+ +

Sail Heel control D gain. Compensates for short-term change in desired heel angle vs actual

+ + + +

Sail Heel control feed forward (ATC_SAIL_FF)

+ +

Sail Heel control feed forward

+ + + +

Sail Heel control filter frequency (ATC_SAIL_FILT)

+ +

Sail Heel control input filter. Lower values reduce noise but add delay.

+ + + +

Sail Heel Target filter frequency in Hz (ATC_SAIL_FLTT)

+ +

Target filter frequency in Hz

+ + + +

Sail Heel Error filter frequency in Hz (ATC_SAIL_FLTE)

+ +

Error filter frequency in Hz

+ + + +

Sail Heel Derivative term filter frequency in Hz (ATC_SAIL_FLTD)

+ +

Derivative filter frequency in Hz

+ + + +

Sail heel slew rate limit (ATC_SAIL_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Sail Heel control PD sum maximum (ATC_SAIL_PDMX)

+ +

Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Sail Heel Derivative FeedForward Gain (ATC_SAIL_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Sail Heel Target notch filter index (ATC_SAIL_NTF)

Note: This parameter is for advanced users
+ +

Sail Heel Target notch filter index

+ + + +

Sail Heel Error notch filter index (ATC_SAIL_NEF)

Note: This parameter is for advanced users
+ +

Sail Heel Error notch filter index

+ + + +

Turning maximum G force (ATC_TURN_MAX_G)

+ +

The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns

+ + + +

Pitch control limit time constant (ATC_BAL_LIM_TC)

+ +

Pitch control limit time constant to protect against falling. Lower values limit pitch more quickly, higher values limit more slowly. Set to 0 to disable

+ + + +

Pitch control limit throttle threshold (ATC_BAL_LIM_THR)

+ +

Pitch control limit throttle threshold. Pitch angle will be limited if throttle crosses this threshold (from 0 to 1)

+ + + +

AVOID_ Parameters

+ + +

Avoidance control enable/disable (AVOID_ENABLE)

+ +

Enabled/disable avoidance input sources

+ + + +

Avoidance distance margin in GPS modes (AVOID_MARGIN)

+ +

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

+ + + +

Avoidance behaviour (AVOID_BEHAVE)

+ +

Avoidance behaviour (slide or stop)

+ + + +

Avoidance maximum horizontal backup speed (AVOID_BACKUP_SPD)

+ +

Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.

+ + + +

Avoidance maximum acceleration (AVOID_ACCEL_MAX)

+ +

Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits

+ + + +

Avoidance deadzone between stopping and backing away from obstacle (AVOID_BACKUP_DZ)

+ +

Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.

+ + + +

Avoidance maximum vertical backup speed (AVOID_BACKZ_SPD)

+ +

Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.

+ + + +

BARO Parameters

+ + +

Ground Pressure (BARO1_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

ground temperature (BARO_GND_TEMP)

Note: This parameter is for advanced users
+ +

User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.

+ + + +

altitude offset (BARO_ALT_OFFSET)

Note: This parameter is for advanced users
+ +

altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.

+ + + +

Primary barometer (BARO_PRIMARY)

Note: This parameter is for advanced users
+ +

This selects which barometer will be the primary if multiple barometers are found

+ + + +

External baro bus (BARO_EXT_BUS)

Note: This parameter is for advanced users
+ +

This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.

+ + + +

Ground Pressure (BARO2_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Absolute Pressure (BARO3_GND_PRESS)

Note: This parameter is for advanced users
+ +

calibrated ground pressure in Pascals

+ + + +

Range in which sample is accepted (BARO_FLTR_RNG)

+ +

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

+ + + +

External barometers to probe (BARO_PROBE_EXT)

Note: This parameter is for advanced users
+ +

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

+ + + +

Baro ID (BARO1_DEVID)

Note: This parameter is for advanced users
+ +

Barometer sensor ID, taking into account its type, bus and instance

+ + + +

Baro ID2 (BARO2_DEVID)

Note: This parameter is for advanced users
+ +

Barometer2 sensor ID, taking into account its type, bus and instance

+ + + +

Baro ID3 (BARO3_DEVID)

Note: This parameter is for advanced users
+ +

Barometer3 sensor ID, taking into account its type, bus and instance

+ + + +

field elevation (BARO_FIELD_ELV)

Note: This parameter is for advanced users
+ +

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

+ + + +

Altitude error maximum (BARO_ALTERR_MAX)

Note: This parameter is for advanced users
+ +

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

+ + + +

Barometer options (BARO_OPTIONS)

Note: This parameter is for advanced users
+ +

Barometer options

+ + + +

BARO1_WCF_ Parameters

+ + +

Wind coefficient enable (BARO1_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO1_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO1_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO1_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO1_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO1_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO1_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BARO2_WCF_ Parameters

+ + +

Wind coefficient enable (BARO2_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO2_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO2_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO2_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO2_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO2_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO2_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BARO3_WCF_ Parameters

+ + +

Wind coefficient enable (BARO3_WCF_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the use of wind coefficients for barometer compensation

+ + + +

Pressure error coefficient in positive X direction (forward) (BARO3_WCF_FWD)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative X direction (backwards) (BARO3_WCF_BCK)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Y direction (right) (BARO3_WCF_RGT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Y direction (left) (BARO3_WCF_LFT)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in positive Z direction (up) (BARO3_WCF_UP)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

Pressure error coefficient in negative Z direction (down) (BARO3_WCF_DN)

Note: This parameter is for advanced users
+ +

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

+ + + +

BATT2_ Parameters

+ + +

Battery monitoring (BATT2_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT2_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT2_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT2_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT2_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT2_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT2_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT2_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT2_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT2_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT2_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT2_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT2_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT2_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT2_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT2_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT2_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT2_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT2_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT2_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT2_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT2_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT2_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT2_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT2_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT2_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT2_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT2_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT2_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT2_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT2_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT2_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT2_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT2_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT2_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT2_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT3_ Parameters

+ + +

Battery monitoring (BATT3_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT3_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT3_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT3_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT3_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT3_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT3_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT3_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT3_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT3_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT3_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT3_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT3_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT3_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT3_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT3_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT3_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT3_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT3_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT3_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT3_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT3_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT3_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT3_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT3_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT3_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT3_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT3_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT3_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT3_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT3_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT3_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT3_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT3_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT3_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT3_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT4_ Parameters

+ + +

Battery monitoring (BATT4_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT4_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT4_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT4_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT4_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT4_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT4_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT4_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT4_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT4_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT4_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT4_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT4_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT4_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT4_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT4_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT4_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT4_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT4_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT4_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT4_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT4_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT4_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT4_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT4_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT4_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT4_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT4_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT4_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT4_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT4_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT4_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT4_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT4_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT4_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT4_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT5_ Parameters

+ + +

Battery monitoring (BATT5_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT5_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT5_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT5_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT5_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT5_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT5_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT5_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT5_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT5_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT5_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT5_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT5_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT5_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT5_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT5_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT5_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT5_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT5_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT5_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT5_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT5_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT5_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT5_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT5_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT5_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT5_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT5_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT5_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT5_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT5_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT5_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT5_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT5_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT5_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT5_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT5_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT6_ Parameters

+ + +

Battery monitoring (BATT6_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT6_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT6_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT6_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT6_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT6_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT6_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT6_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT6_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT6_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT6_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT6_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT6_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT6_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT6_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT6_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT6_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT6_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT6_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT6_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT6_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT6_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT6_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT6_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT6_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT6_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT6_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT6_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT6_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT6_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT6_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT6_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT6_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT6_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT6_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT6_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT6_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT7_ Parameters

+ + +

Battery monitoring (BATT7_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT7_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT7_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT7_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT7_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT7_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT7_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT7_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT7_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT7_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT7_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT7_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT7_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT7_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT7_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT7_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT7_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT7_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT7_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT7_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT7_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT7_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT7_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT7_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT7_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT7_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT7_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT7_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT7_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT7_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT7_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT7_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT7_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT7_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT7_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT7_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT7_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT8_ Parameters

+ + +

Battery monitoring (BATT8_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT8_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT8_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT8_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT8_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT8_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT8_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT8_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT8_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT8_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT8_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT8_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT8_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT8_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT8_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT8_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT8_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT8_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT8_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT8_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT8_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT8_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT8_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT8_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT8_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT8_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT8_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT8_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT8_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT8_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT8_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT8_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT8_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT8_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT8_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT8_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT8_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT9_ Parameters

+ + +

Battery monitoring (BATT9_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT9_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT9_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT9_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT9_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT9_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT9_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT9_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT9_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT9_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT9_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT9_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT9_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT9_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT9_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT9_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT9_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT9_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT9_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT9_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT9_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT9_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT9_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT9_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT9_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT9_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT9_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT9_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT9_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT9_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT9_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT9_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT9_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT9_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT9_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT9_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT9_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTA_ Parameters

+ + +

Battery monitoring (BATTA_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTA_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTA_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTA_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTA_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTA_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTA_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTA_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTA_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTA_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTA_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTA_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTA_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTA_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTA_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTA_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTA_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTA_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTA_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTA_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTA_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTA_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTA_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTA_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTA_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTA_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTA_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTA_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTA_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTA_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTA_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTA_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTA_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTA_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTA_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTA_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTA_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTB_ Parameters

+ + +

Battery monitoring (BATTB_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTB_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTB_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTB_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTB_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTB_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTB_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTB_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTB_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTB_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTB_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTB_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTB_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTB_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTB_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTB_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTB_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTB_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTB_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTB_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTB_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTB_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTB_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTB_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTB_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTB_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTB_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTB_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTB_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTB_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTB_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTB_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTB_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTB_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTB_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTB_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTB_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTC_ Parameters

+ + +

Battery monitoring (BATTC_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTC_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTC_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTC_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTC_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTC_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTC_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTC_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTC_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTC_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTC_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTC_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTC_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTC_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTC_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTC_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTC_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTC_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTC_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTC_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTC_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTC_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTC_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTC_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTC_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTC_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTC_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTC_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTC_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTC_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTC_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTC_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTC_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTC_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTC_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTC_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTC_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTD_ Parameters

+ + +

Battery monitoring (BATTD_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTD_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTD_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTD_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTD_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTD_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTD_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTD_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTD_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTD_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTD_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTD_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTD_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTD_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTD_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTD_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTD_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTD_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTD_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTD_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTD_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTD_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTD_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTD_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTD_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTD_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTD_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTD_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTD_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTD_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTD_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTD_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTD_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTD_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTD_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTD_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTD_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTE_ Parameters

+ + +

Battery monitoring (BATTE_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTE_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTE_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTE_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTE_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTE_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTE_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTE_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTE_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTE_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTE_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTE_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTE_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTE_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTE_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTE_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTE_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTE_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTE_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTE_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTE_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTE_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTE_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTE_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTE_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTE_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTE_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTE_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTE_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTE_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTE_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTE_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTE_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTE_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTE_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTE_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTE_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTF_ Parameters

+ + +

Battery monitoring (BATTF_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTF_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTF_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTF_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTF_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTF_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTF_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTF_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTF_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTF_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTF_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTF_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTF_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTF_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTF_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTF_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTF_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTF_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTF_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTF_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTF_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTF_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTF_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTF_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTF_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTF_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTF_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTF_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTF_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTF_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTF_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTF_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTF_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTF_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTF_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTF_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTF_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATTG_ Parameters

+ + +

Battery monitoring (BATTG_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATTG_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATTG_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATTG_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATTG_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATTG_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATTG_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATTG_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATTG_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATTG_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATTG_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATTG_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATTG_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATTG_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATTG_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATTG_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATTG_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATTG_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATTG_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATTG_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATTG_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATTG_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATTG_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATTG_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATTG_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATTG_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATTG_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATTG_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATTG_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATTG_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATTG_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATTG_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATTG_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATTG_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATTG_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATTG_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATTG_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BATT_ Parameters

+ + +

Battery monitoring (BATT_MONITOR)

+ +

Controls enabling monitoring of the battery's voltage and current

+ + + +

Battery capacity (BATT_CAPACITY)

+ +

Capacity of the battery in mAh when full

+ + + +

Battery serial number (BATT_SERIAL_NUM)

Note: This parameter is for advanced users
+ +

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.

+ + + +

Low voltage timeout (BATT_LOW_TIMER)

Note: This parameter is for advanced users
+ +

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

+ + + +

Failsafe voltage source (BATT_FS_VOLTSRC)

Note: This parameter is for advanced users
+ +

Voltage type used for detection of low voltage event

+ + + +

Low battery voltage (BATT_LOW_VOLT)

+ +

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

+ + + +

Low battery capacity (BATT_LOW_MAH)

+ +

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

+ + + +

Critical battery voltage (BATT_CRT_VOLT)

+ +

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

+ + + +

Battery critical capacity (BATT_CRT_MAH)

+ +

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

+ + + +

Low battery failsafe action (BATT_FS_LOW_ACT)

+ +

What action the vehicle should perform if it hits a low battery failsafe

+ + + +

Critical battery failsafe action (BATT_FS_CRT_ACT)

+ +

What action the vehicle should perform if it hits a critical battery failsafe

+ + + +

Required arming voltage (BATT_ARM_VOLT)

Note: This parameter is for advanced users
+ +

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

+ + + +

Required arming remaining capacity (BATT_ARM_MAH)

Note: This parameter is for advanced users
+ +

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.

+ + + +

Battery monitor options (BATT_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the battery monitor

+ + + +

ESC Telemetry Index to write to (BATT_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

+ + + +

Battery Voltage sensing pin (BATT_VOLT_PIN)

+ +

Sets the analog input pin that should be used for voltage monitoring.

+ + + +

Battery Current sensing pin (BATT_CURR_PIN)

+ +

Sets the analog input pin that should be used for current monitoring.

+ + + +

Voltage Multiplier (BATT_VOLT_MULT)

Note: This parameter is for advanced users
+ +

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

+ + + +

Amps per volt (BATT_AMP_PERVLT)

+ +

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

+ + + +

AMP offset (BATT_AMP_OFFSET)

+ +

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

+ + + +

Voltage offset (BATT_VLT_OFFSET)

Note: This parameter is for advanced users
+ +

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address

+ + + +

Battery Sum mask (BATT_SUM_MASK)

+ +

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

+ + + +

Scales reported power monitor current (BATT_CURR_MULT)

Note: This parameter is for advanced users
+ +

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

+ + + +

Empty fuel level voltage (BATT_FL_VLT_MIN)

Note: This parameter is for advanced users
+ +

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level voltage multiplier (BATT_FL_V_MULT)

Note: This parameter is for advanced users
+ +

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

+ + + +

Fuel level filter frequency (BATT_FL_FLTR)

Note: This parameter is for advanced users
+ +

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

+ + + +

Fuel level analog pin number (BATT_FL_PIN)

+ +

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

First order term (BATT_FL_FF)

Note: This parameter is for advanced users
+ +

First order polynomial fit term

+ + + +

Second order term (BATT_FL_FS)

Note: This parameter is for advanced users
+ +

Second order polynomial fit term

+ + + +

Third order term (BATT_FL_FT)

Note: This parameter is for advanced users
+ +

Third order polynomial fit term

+ + + +

Offset term (BATT_FL_OFF)

Note: This parameter is for advanced users
+ +

Offset polynomial fit term

+ + + +

Maximum Battery Voltage (BATT_MAX_VOLT)

Note: This parameter is for advanced users
+ +

Maximum voltage of battery. Provides scaling of current versus voltage

+ + + +

Battery monitor I2C bus number (BATT_I2C_BUS)

Note: This parameter is for advanced users
+ +

Battery monitor I2C bus number

+ + + +

Battery monitor I2C address (BATT_I2C_ADDR)

Note: This parameter is for advanced users
+ +

Battery monitor I2C address. If this is zero then probe list of supported addresses

+ + + +

Battery monitor max current (BATT_MAX_AMPS)

Note: This parameter is for advanced users
+ +

This controls the maximum current the INS2XX sensor will work with.

+ + + +

Battery monitor shunt resistor (BATT_SHUNT)

Note: This parameter is for advanced users
+ +

This sets the shunt resistor used in the device

+ + + +

ESC mask (BATT_ESC_MASK)

+ +

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

+ + + +

BCN Parameters

+ + +

Beacon based position estimation device type (BCN_TYPE)

Note: This parameter is for advanced users
+ +

What type of beacon based position estimation device is connected

+ + + +

Beacon origin's latitude (BCN_LATITUDE)

Note: This parameter is for advanced users
+ +

Beacon origin's latitude

+ + + +

Beacon origin's longitude (BCN_LONGITUDE)

Note: This parameter is for advanced users
+ +

Beacon origin's longitude

+ + + +

Beacon origin's altitude above sealevel in meters (BCN_ALT)

Note: This parameter is for advanced users
+ +

Beacon origin's altitude above sealevel in meters

+ + + +

Beacon systems rotation from north in degrees (BCN_ORIENT_YAW)

Note: This parameter is for advanced users
+ +

Beacon systems rotation from north in degrees

+ + + +

BRD_ Parameters

+ + +

Serial 1 flow control (BRD_SER1_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.

+ + + +

Serial 2 flow control (BRD_SER2_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 3 flow control (BRD_SER3_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 4 flow control (BRD_SER4_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Serial 5 flow control (BRD_SER5_RTSCTS)

Note: This parameter is for advanced users
+ +

Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

+ + + +

Sets default state of the safety switch (BRD_SAFETY_DEFLT)

+ +

This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.

+ + + +

SBUS output rate (BRD_SBUS_OUT)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz

+ + + +

User-defined serial number (BRD_SERIAL_NUM)

+ +

User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot

+ + + +

Outputs which ignore the safety switch state (BRD_SAFETY_MASK)

Note: This parameter is for advanced users
+ +

A bitmask which controls what outputs can move while the safety switch has not been pressed

+ + + +

Board heater temperature target (BRD_HEAT_TARG)

Note: This parameter is for advanced users
+ +

Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.

+ + + +

Board type (BRD_TYPE)

Note: This parameter is for advanced users
+ +

This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)

+ + + +

Enable IO co-processor (BRD_IO_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

+ + + +

Options for safety button behavior (BRD_SAFETYOPTION)

+ +

This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed

+ + + +

Autopilot board voltage requirement (BRD_VBUS_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

Servo voltage requirement (BRD_VSERVO_MIN)

Note: This parameter is for advanced users
+ +

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

+ + + +

microSD slowdown (BRD_SD_SLOWDOWN)

Note: This parameter is for advanced users
+ +

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

+ + + +

Set PWM Out Voltage (BRD_PWM_VOLT_SEL)

Note: This parameter is for advanced users
+ +

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

+ + + +

Board options (BRD_OPTIONS)

Note: This parameter is for advanced users
+ +

Board specific option flags

+ + + +

Boot delay (BRD_BOOT_DELAY)

Note: This parameter is for advanced users
+ +

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

+ + + +

Board Heater P gain (BRD_HEAT_P)

Note: This parameter is for advanced users
+ +

Board Heater P gain

+ + + +

Board Heater I gain (BRD_HEAT_I)

Note: This parameter is for advanced users
+ +

Board Heater integrator gain

+ + + +

Board Heater IMAX (BRD_HEAT_IMAX)

Note: This parameter is for advanced users
+ +

Board Heater integrator maximum

+ + + +

Alternative HW config (BRD_ALT_CONFIG)

Note: This parameter is for advanced users
+ +

Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.

+ + + +

Board heater temp lower margin (BRD_HEAT_LOWMGN)

Note: This parameter is for advanced users
+ +

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

+ + + +

SDCard Mission size (BRD_SD_MISSION)

Note: This parameter is for advanced users
+ +

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

+ + + +

SDCard Fence size (BRD_SD_FENCE)

Note: This parameter is for advanced users
+ +

This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.

+ + + +

Load DShot FW on IO (BRD_IO_DSHOT)

Note: This parameter is for advanced users
+ +

This loads the DShot firmware on the IO co-processor

+ + + +

BRD_RADIO Parameters

+ + +

Set type of direct attached radio (BRD_RADIO_TYPE)

+ +

This enables support for direct attached radio receivers

+ + + +

protocol (BRD_RADIO_PROT)

Note: This parameter is for advanced users
+ +

Select air protocol

+ + + +

debug level (BRD_RADIO_DEBUG)

Note: This parameter is for advanced users
+ +

radio debug level

+ + + +

disable receive CRC (BRD_RADIO_DISCRC)

Note: This parameter is for advanced users
+ +

disable receive CRC (for debug)

+ + + +

RSSI signal strength (BRD_RADIO_SIGCH)

Note: This parameter is for advanced users
+ +

Channel to show receive RSSI signal strength, or zero for disabled

+ + + +

Packet rate channel (BRD_RADIO_PPSCH)

Note: This parameter is for advanced users
+ +

Channel to show received packet-per-second rate, or zero for disabled

+ + + +

Enable telemetry (BRD_RADIO_TELEM)

Note: This parameter is for advanced users
+ +

If this is non-zero then telemetry packets will be sent over DSM

+ + + +

Telemetry Transmit power (BRD_RADIO_TXPOW)

Note: This parameter is for advanced users
+ +

Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX

+ + + +

Put radio into FCC test mode (BRD_RADIO_FCCTST)

Note: This parameter is for advanced users
+ +

If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled

+ + + +

Stick input mode (BRD_RADIO_STKMD)

Note: This parameter is for advanced users
+ +

This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.

+ + + +

Set radio to factory test channel (BRD_RADIO_TESTCH)

Note: This parameter is for advanced users
+ +

This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.

+ + + +

RSSI value channel for telemetry data on transmitter (BRD_RADIO_TSIGCH)

Note: This parameter is for advanced users
+ +

Channel to show telemetry RSSI value as received by TX

+ + + +

Telemetry PPS channel (BRD_RADIO_TPPSCH)

Note: This parameter is for advanced users
+ +

Channel to show telemetry packets-per-second value, as received at TX

+ + + +

Transmitter transmit power (BRD_RADIO_TXMAX)

Note: This parameter is for advanced users
+ +

Set transmitter maximum transmit power (from 1 to 8)

+ + + +

Transmitter buzzer adjustment (BRD_RADIO_BZOFS)

Note: This parameter is for advanced users
+ +

Set transmitter buzzer note adjustment (adjust frequency up)

+ + + +

Auto-bind time (BRD_RADIO_ABTIME)

Note: This parameter is for advanced users
+ +

When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.

+ + + +

Auto-bind level (BRD_RADIO_ABLVL)

Note: This parameter is for advanced users
+ +

This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially

+ + + +

BRD_RTC Parameters

+ + +

Allowed sources of RTC time (BRD_RTC_TYPES)

Note: This parameter is for advanced users
+ +

Specifies which sources of UTC time will be accepted

+ + + +

Timezone offset from UTC (BRD_RTC_TZ_MIN)

Note: This parameter is for advanced users
+ +

Adds offset in +- minutes from UTC to calculate local time

+ + + +

BTN_ Parameters

+ + +

Enable button reporting (BTN_ENABLE)

Note: This parameter is for advanced users
+ +

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

+ + + +

First button Pin (BTN_PIN1)

+ +

Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Second button Pin (BTN_PIN2)

+ +

Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Third button Pin (BTN_PIN3)

+ +

Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Fourth button Pin (BTN_PIN4)

+ +

Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Report send time (BTN_REPORT_SEND)

+ +

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

+ + + +

Button Pin 1 Options (BTN_OPTIONS1)

+ +

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 2 Options (BTN_OPTIONS2)

+ +

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 3 Options (BTN_OPTIONS3)

+ +

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 4 Options (BTN_OPTIONS4)

+ +

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

+ + + +

Button Pin 1 RC Channel function (BTN_FUNC1)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 2 RC Channel function (BTN_FUNC2)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 3 RC Channel function (BTN_FUNC3)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

Button Pin 4 RC Channel function (BTN_FUNC4)

+ +

Auxiliary RC Options function executed on pin change

+ + + +

CAM Parameters

+ + +

Maximum photo roll angle. (CAM_MAX_ROLL)

+ +

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

+ + + +

Distance-trigging in AUTO mode only (CAM_AUTO_ONLY)

+ +

When enabled, trigging by distance is done in AUTO mode only.

+ + + +

CAM1 Parameters

+ + +

Camera shutter (trigger) type (CAM1_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM1_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM1_SERVO_ON)

+ +

PWM value in microseconds to move servo to when shutter is activated

+ + + +

Camera servo OFF PWM value (CAM1_SERVO_OFF)

+ +

PWM value in microseconds to move servo to when shutter is deactivated

+ + + +

Camera trigger distance (CAM1_TRIGG_DIST)

+ +

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

+ + + +

Camera relay ON value (CAM1_RELAY_ON)

+ +

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

+ + + +

Camera minimum time interval between photos (CAM1_INTRVAL_MIN)

+ +

Postpone shooting if previous picture was taken less than this many seconds ago

+ + + +

Camera feedback pin (CAM1_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM1_FEEDBAK_POL)

+ +

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

+ + + +

Camera options (CAM1_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM1_MNT_INST)

+ +

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

+ + + +

Camera horizontal field of view (CAM1_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM1_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM2 Parameters

+ + +

Camera shutter (trigger) type (CAM2_TYPE)

+ +

how to trigger the camera to take a picture

+ + + +

Camera shutter duration held open (CAM2_DURATION)

+ +

Duration in seconds that the camera shutter is held open

+ + + +

Camera servo ON PWM value (CAM2_SERVO_ON)

+ +

PWM value in microseconds to move servo to when shutter is activated

+ + + +

Camera servo OFF PWM value (CAM2_SERVO_OFF)

+ +

PWM value in microseconds to move servo to when shutter is deactivated

+ + + +

Camera trigger distance (CAM2_TRIGG_DIST)

+ +

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

+ + + +

Camera relay ON value (CAM2_RELAY_ON)

+ +

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

+ + + +

Camera minimum time interval between photos (CAM2_INTRVAL_MIN)

+ +

Postpone shooting if previous picture was taken less than this many seconds ago

+ + + +

Camera feedback pin (CAM2_FEEDBAK_PIN)

+ +

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

+ + + +

Camera feedback pin polarity (CAM2_FEEDBAK_POL)

+ +

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

+ + + +

Camera options (CAM2_OPTIONS)

+ +

Camera options bitmask

+ + + +

Camera Mount instance (CAM2_MNT_INST)

+ +

Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1

+ + + +

Camera horizontal field of view (CAM2_HFOV)

+ +

Camera horizontal field of view. 0 if unknown

+ + + +

Camera vertical field of view (CAM2_VFOV)

+ +

Camera vertical field of view. 0 if unknown

+ + + +

CAM_RC_ Parameters

+ + +

RunCam device type (CAM_RC_TYPE)

+ +

RunCam device type used to determine OSD menu structure and shutter options.

+ + + +

RunCam features available (CAM_RC_FEATURES)

Note: This parameter is for advanced users
+ +

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

+ + + +

RunCam boot delay before allowing updates (CAM_RC_BT_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam button delay before allowing further button presses (CAM_RC_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

+ + + +

RunCam mode delay before allowing further button presses (CAM_RC_MDE_DELAY)

Note: This parameter is for advanced users
+ +

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

+ + + +

RunCam control option (CAM_RC_CONTROL)

Note: This parameter is for advanced users
+ +

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

+ + + +

CAN_ Parameters

+ + +

Loglevel (CAN_LOGLEVEL)

Note: This parameter is for advanced users
+ +

Loglevel for recording initialisation and debug information from CAN Interface

+ + + +

CAN_D1_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D1_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D1_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D1_PC_ Parameters

+ + +

ESC channels (CAN_D1_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D1_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D1_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D1_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D1_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D1_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D1_UC_ Parameters

+ + +

Own node ID (CAN_D1_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D1_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D1_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D1_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D1_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D1_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D1_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D1_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D1_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D1_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D1_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D1_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D1_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D1_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D1_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D1_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D1_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D1_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D2_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D2_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D2_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D2_PC_ Parameters

+ + +

ESC channels (CAN_D2_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D2_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D2_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D2_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D2_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D2_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D2_UC_ Parameters

+ + +

Own node ID (CAN_D2_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D2_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D2_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D2_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D2_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D2_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D2_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D2_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D2_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D2_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D2_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D2_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D2_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D2_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D2_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D2_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D2_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D2_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_D3_ Parameters

+ + +

Enable use of specific protocol over virtual driver (CAN_D3_PROTOCOL)

Note: This parameter is for advanced users
+ +

Enabling this option starts selected protocol that will use this virtual driver

+ + + +

Secondary protocol with 11 bit CAN addressing (CAN_D3_PROTOCOL2)

Note: This parameter is for advanced users
+ +

Secondary protocol with 11 bit CAN addressing

+ + + +

CAN_D3_PC_ Parameters

+ + +

ESC channels (CAN_D3_PC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

+ + + +

ESC output rate (CAN_D3_PC_ESC_RT)

Note: This parameter is for advanced users
+ +

Output rate of ESC command messages

+ + + +

Servo channels (CAN_D3_PC_SRV_BM)

Note: This parameter is for advanced users
+ +

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

+ + + +

Servo command output rate (CAN_D3_PC_SRV_RT)

Note: This parameter is for advanced users
+ +

Output rate of servo command messages

+ + + +

ECU Node ID (CAN_D3_PC_ECU_ID)

Note: This parameter is for advanced users
+ +

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

+ + + +

ECU command output rate (CAN_D3_PC_ECU_RT)

Note: This parameter is for advanced users
+ +

Output rate of ECU command messages

+ + + +

CAN_D3_UC_ Parameters

+ + +

Own node ID (CAN_D3_UC_NODE)

Note: This parameter is for advanced users
+ +

DroneCAN node ID used by the driver itself on this network

+ + + +

Output channels to be transmitted as servo over DroneCAN (CAN_D3_UC_SRV_BM)

+ +

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

+ + + +

Output channels to be transmitted as ESC over DroneCAN (CAN_D3_UC_ESC_BM)

Note: This parameter is for advanced users
+ +

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

+ + + +

Servo output rate (CAN_D3_UC_SRV_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for servo outputs

+ + + +

DroneCAN options (CAN_D3_UC_OPTION)

Note: This parameter is for advanced users
+ +

Option flags

+ + + +

Notify State rate (CAN_D3_UC_NTF_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for Notify State Message

+ + + +

ESC Output channels offset (CAN_D3_UC_ESC_OF)

Note: This parameter is for advanced users
+ +

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

+ + + +

CAN pool size (CAN_D3_UC_POOL)

Note: This parameter is for advanced users
+ +

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

+ + + +

Bitmask for output channels for reversible ESCs over DroneCAN. (CAN_D3_UC_ESC_RV)

Note: This parameter is for advanced users
+ +

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

+ + + +

DroneCAN relay output rate (CAN_D3_UC_RLY_RT)

Note: This parameter is for advanced users
+ +

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

+ + + +

DroneCAN Serial enable (CAN_D3_UC_SER_EN)

Note: This parameter is for advanced users
+ +

Enable DroneCAN virtual serial ports

+ + + +

Serial CAN remote node number (CAN_D3_UC_S1_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

DroneCAN Serial1 index (CAN_D3_UC_S1_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S1_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S1_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S2_NOD)

Note: This parameter is for advanced users
+ +

CAN remote node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S2_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

DroneCAN Serial default baud rate (CAN_D3_UC_S2_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S2_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

Serial CAN remote node number (CAN_D3_UC_S3_NOD)

Note: This parameter is for advanced users
+ +

CAN node number for serial port

+ + + +

Serial port number on remote CAN node (CAN_D3_UC_S3_IDX)

Note: This parameter is for advanced users
+ +

Serial port number on remote CAN node

+ + + +

Serial baud rate on remote CAN node (CAN_D3_UC_S3_BD)

Note: This parameter is for advanced users
+ +

Serial baud rate on remote CAN node

+ + + +

Serial protocol of DroneCAN serial port (CAN_D3_UC_S3_PRO)

Note: This parameter is for advanced users
+ +

Serial protocol of DroneCAN serial port

+ + + +

CAN_P1_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P1_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P1_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P1_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P2_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P2_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P2_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P2_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_P3_ Parameters

+ + +

Index of virtual driver to be used with physical CAN interface (CAN_P3_DRIVER)

+ +

Enabling this option enables use of CAN buses.

+ + + +

Bitrate of CAN interface (CAN_P3_BITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 10000 to 1000000

+ + + +

Bitrate of CANFD interface (CAN_P3_FDBITRATE)

Note: This parameter is for advanced users
+ +

Bit rate can be set up to from 1000000 to 8000000

+ + + +

CAN_SLCAN_ Parameters

+ + +

SLCAN Route (CAN_SLCAN_CPORT)

+ +

CAN Interface ID to be routed to SLCAN, 0 means no routing

+ + + +

SLCAN Serial Port (CAN_SLCAN_SERNUM)

+ +

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

+ + + +

SLCAN Timeout (CAN_SLCAN_TIMOUT)

+ +

Duration of inactivity after which SLCAN is switched back to original driver in seconds.

+ + + +

SLCAN Start Delay (CAN_SLCAN_SDELAY)

+ +

Duration after which slcan starts after setting SERNUM in seconds.

+ + + +

CIRC Parameters

+ + +

Circle Radius (CIRC_RADIUS)

+ +

Vehicle will circle the center at this distance

+ + + +

Circle Speed (CIRC_SPEED)

+ +

Vehicle will move at this speed around the circle. If set to zero WP_SPEED will be used

+ + + +

Circle Direction (CIRC_DIR)

+ +

Circle Direction

+ + + +

COMPASS_ Parameters

+ + +

Compass offsets in milligauss on the X axis (COMPASS_OFS_X)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass x-axis values to compensate for metal in the frame

+ + + +

Compass offsets in milligauss on the Y axis (COMPASS_OFS_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass y-axis values to compensate for metal in the frame

+ + + +

Compass offsets in milligauss on the Z axis (COMPASS_OFS_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to the compass z-axis values to compensate for metal in the frame

+ + + +

Compass declination (COMPASS_DEC)

+ +

An angle to compensate between the true north and magnetic north

+ + + +

Learn compass offsets automatically (COMPASS_LEARN)

Note: This parameter is for advanced users
+ +

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

+ + + +

Use compass for yaw (COMPASS_USE)

Note: This parameter is for advanced users
+ +

Enable or disable the use of the compass (instead of the GPS) for determining heading

+ + + +

Auto Declination (COMPASS_AUTODEC)

Note: This parameter is for advanced users
+ +

Enable or disable the automatic calculation of the declination based on gps location

+ + + +

Motor interference compensation type (COMPASS_MOTCT)

Note: This parameter is for advanced users
+ +

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

+ + + +

Motor interference compensation for body frame X axis (COMPASS_MOT_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation for body frame Y axis (COMPASS_MOT_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation for body frame Z axis (COMPASS_MOT_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass orientation (COMPASS_ORIENT)

Note: This parameter is for advanced users
+ +

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass is attached via an external cable (COMPASS_EXTERNAL)

Note: This parameter is for advanced users
+ +

Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass2 offsets in milligauss on the X axis (COMPASS_OFS2_X)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's x-axis values to compensate for metal in the frame

+ + + +

Compass2 offsets in milligauss on the Y axis (COMPASS_OFS2_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's y-axis values to compensate for metal in the frame

+ + + +

Compass2 offsets in milligauss on the Z axis (COMPASS_OFS2_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to compass2's z-axis values to compensate for metal in the frame

+ + + +

Motor interference compensation to compass2 for body frame X axis (COMPASS_MOT2_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass2 for body frame Y axis (COMPASS_MOT2_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass2 for body frame Z axis (COMPASS_MOT2_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass3 offsets in milligauss on the X axis (COMPASS_OFS3_X)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's x-axis values to compensate for metal in the frame

+ + + +

Compass3 offsets in milligauss on the Y axis (COMPASS_OFS3_Y)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's y-axis values to compensate for metal in the frame

+ + + +

Compass3 offsets in milligauss on the Z axis (COMPASS_OFS3_Z)

Note: This parameter is for advanced users
+ +

Offset to be added to compass3's z-axis values to compensate for metal in the frame

+ + + +

Motor interference compensation to compass3 for body frame X axis (COMPASS_MOT3_X)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass3 for body frame Y axis (COMPASS_MOT3_Y)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Motor interference compensation to compass3 for body frame Z axis (COMPASS_MOT3_Z)

Note: This parameter is for advanced users
+ +

Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

+ + + +

Compass device id (COMPASS_DEV_ID)

Note: This parameter is for advanced users
+ +

Compass device id. Automatically detected, do not set manually

+ + + +

Compass2 device id (COMPASS_DEV_ID2)

Note: This parameter is for advanced users
+ +

Second compass's device id. Automatically detected, do not set manually

+ + + +

Compass3 device id (COMPASS_DEV_ID3)

Note: This parameter is for advanced users
+ +

Third compass's device id. Automatically detected, do not set manually

+ + + +

Compass2 used for yaw (COMPASS_USE2)

Note: This parameter is for advanced users
+ +

Enable or disable the secondary compass for determining heading.

+ + + +

Compass2 orientation (COMPASS_ORIENT2)

Note: This parameter is for advanced users
+ +

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass2 is attached via an external cable (COMPASS_EXTERN2)

Note: This parameter is for advanced users
+ +

Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass3 used for yaw (COMPASS_USE3)

Note: This parameter is for advanced users
+ +

Enable or disable the tertiary compass for determining heading.

+ + + +

Compass3 orientation (COMPASS_ORIENT3)

Note: This parameter is for advanced users
+ +

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

+ + + +

Compass3 is attached via an external cable (COMPASS_EXTERN3)

Note: This parameter is for advanced users
+ +

Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

+ + + +

Compass soft-iron diagonal X component (COMPASS_DIA_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron diagonal Y component (COMPASS_DIA_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron diagonal Z component (COMPASS_DIA_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal X component (COMPASS_ODI_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal Y component (COMPASS_ODI_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass soft-iron off-diagonal Z component (COMPASS_ODI_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal X component (COMPASS_DIA2_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal Y component (COMPASS_DIA2_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron diagonal Z component (COMPASS_DIA2_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal X component (COMPASS_ODI2_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal Y component (COMPASS_ODI2_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass2 soft-iron off-diagonal Z component (COMPASS_ODI2_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal X component (COMPASS_DIA3_X)

Note: This parameter is for advanced users
+ +

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal Y component (COMPASS_DIA3_Y)

Note: This parameter is for advanced users
+ +

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron diagonal Z component (COMPASS_DIA3_Z)

Note: This parameter is for advanced users
+ +

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal X component (COMPASS_ODI3_X)

Note: This parameter is for advanced users
+ +

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal Y component (COMPASS_ODI3_Y)

Note: This parameter is for advanced users
+ +

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass3 soft-iron off-diagonal Z component (COMPASS_ODI3_Z)

Note: This parameter is for advanced users
+ +

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

+ + + +

Compass calibration fitness (COMPASS_CAL_FIT)

Note: This parameter is for advanced users
+ +

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

+ + + +

Compass maximum offset (COMPASS_OFFS_MAX)

Note: This parameter is for advanced users
+ +

This sets the maximum allowed compass offset in calibration and arming checks

+ + + +

Compass disable driver type mask (COMPASS_DISBLMSK)

Note: This parameter is for advanced users
+ +

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

+ + + +

Range in which sample is accepted (COMPASS_FLTR_RNG)

+ +

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

+ + + +

Automatically check orientation (COMPASS_AUTO_ROT)

+ +

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

+ + + +

Compass device id with 1st order priority (COMPASS_PRIO1_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 2nd order priority (COMPASS_PRIO2_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

+ + + +

Compass device id with 3rd order priority (COMPASS_PRIO3_ID)

Note: This parameter is for advanced users
+ +

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

+ + + +

Enable Compass (COMPASS_ENABLE)

+ +

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

+ + + +

Compass1 scale factor (COMPASS_SCALE)

+ +

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass2 scale factor (COMPASS_SCALE2)

+ +

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass3 scale factor (COMPASS_SCALE3)

+ +

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

+ + + +

Compass options (COMPASS_OPTIONS)

Note: This parameter is for advanced users
+ +

This sets options to change the behaviour of the compass

+ + + +

Compass4 device id (COMPASS_DEV_ID4)

Note: This parameter is for advanced users
+ +

Extra 4th compass's device id. Automatically detected, do not set manually

+ + + +

Compass5 device id (COMPASS_DEV_ID5)

Note: This parameter is for advanced users
+ +

Extra 5th compass's device id. Automatically detected, do not set manually

+ + + +

Compass6 device id (COMPASS_DEV_ID6)

Note: This parameter is for advanced users
+ +

Extra 6th compass's device id. Automatically detected, do not set manually

+ + + +

Compass7 device id (COMPASS_DEV_ID7)

Note: This parameter is for advanced users
+ +

Extra 7th compass's device id. Automatically detected, do not set manually

+ + + +

Compass8 device id (COMPASS_DEV_ID8)

Note: This parameter is for advanced users
+ +

Extra 8th compass's device id. Automatically detected, do not set manually

+ + + +

Custom orientation roll offset (COMPASS_CUS_ROLL)

Note: This parameter is for advanced users
+ +

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation pitch offset (COMPASS_CUS_PIT)

Note: This parameter is for advanced users
+ +

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

Custom orientation yaw offset (COMPASS_CUS_YAW)

Note: This parameter is for advanced users
+ +

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

+ + + +

COMPASS_PMOT Parameters

+ + +

per-motor compass correction enable (COMPASS_PMOT_EN)

Note: This parameter is for advanced users
+ +

This enables per-motor compass corrections

+ + + +

per-motor exponential correction (COMPASS_PMOT_EXP)

Note: This parameter is for advanced users
+ +

This is the exponential correction for the power output of the motor for per-motor compass correction

+ + + +

Compass per-motor1 X (COMPASS_PMOT1_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor1

+ + + +

Compass per-motor1 Y (COMPASS_PMOT1_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor1

+ + + +

Compass per-motor1 Z (COMPASS_PMOT1_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor1

+ + + +

Compass per-motor2 X (COMPASS_PMOT2_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor2

+ + + +

Compass per-motor2 Y (COMPASS_PMOT2_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor2

+ + + +

Compass per-motor2 Z (COMPASS_PMOT2_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor2

+ + + +

Compass per-motor3 X (COMPASS_PMOT3_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor3

+ + + +

Compass per-motor3 Y (COMPASS_PMOT3_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor3

+ + + +

Compass per-motor3 Z (COMPASS_PMOT3_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor3

+ + + +

Compass per-motor4 X (COMPASS_PMOT4_X)

Note: This parameter is for advanced users
+ +

Compensation for X axis of motor4

+ + + +

Compass per-motor4 Y (COMPASS_PMOT4_Y)

Note: This parameter is for advanced users
+ +

Compensation for Y axis of motor4

+ + + +

Compass per-motor4 Z (COMPASS_PMOT4_Z)

Note: This parameter is for advanced users
+ +

Compensation for Z axis of motor4

+ + + +

CUST_ROT Parameters

+ + +

Enable Custom rotations (CUST_ROT_ENABLE)

+ +

This enables custom rotations

+ + + +

CUST_ROT1_ Parameters

+ + +

Custom roll (CUST_ROT1_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT1_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT1_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

CUST_ROT2_ Parameters

+ + +

Custom roll (CUST_ROT2_ROLL)

+ +

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom pitch (CUST_ROT2_PITCH)

+ +

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

+ + + +

Custom yaw (CUST_ROT2_YAW)

+ +

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

+ + + +

DDS Parameters

+ + +

DDS enable (DDS_ENABLE)

Note: This parameter is for advanced users
+ +

Enable DDS subsystem

+ + + +

DDS UDP port (DDS_UDP_PORT)

+ +

UDP port number for DDS

+ + + +

DDS DOMAIN ID (DDS_DOMAIN_ID)

+ +

Set the ROS_DOMAIN_ID

+ + + +

DDS ping timeout (DDS_TIMEOUT_MS)

+ +

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

+ + + +

DDS ping max attempts (DDS_MAX_RETRY)

+ +

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.

+ + + +

DDS_IP Parameters

+ + +

IPv4 Address 1st byte (DDS_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (DDS_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (DDS_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (DDS_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

DID_ Parameters

+ + +

Enable ODID subsystem (DID_ENABLE)

+ +

Enable ODID subsystem

+ + + +

MAVLink serial port (DID_MAVPORT)

+ +

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

+ + + +

DroneCAN driver number (DID_CANDRIVER)

+ +

DroneCAN driver index, 0 to disable DroneCAN

+ + + +

OpenDroneID options (DID_OPTIONS)

+ +

Options for OpenDroneID subsystem

+ + + +

Barometer vertical accuraacy (DID_BARO_ACC)

Note: This parameter is for advanced users
+ +

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

+ + + +

DOCK Parameters

+ + +

Dock mode speed (DOCK_SPEED)

+ +

Vehicle speed limit in dock mode

+ + + +

Dock mode direction of approach (DOCK_DIR)

Note: This parameter is for advanced users
+ +

Compass direction in which vehicle should approach towards dock. -1 value represents unset parameter

+ + + +

Dock mode heading correction enable/disable (DOCK_HDG_CORR_EN)

Note: This parameter is for advanced users
+ +

When enabled, the autopilot modifies the path to approach the target head-on along desired line of approch in dock mode

+ + + +

Dock mode heading correction weight (DOCK_HDG_CORR_WT)

Note: This parameter is for advanced users
+ +

This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach

+ + + +

Distance from docking target when we should stop (DOCK_STOP_DIST)

+ +

The vehicle starts stopping when it is this distance away from docking target

+ + + +

EAHRS Parameters

+ + +

AHRS type (EAHRS_TYPE)

+ +

Type of AHRS device

+ + + +

AHRS data rate (EAHRS_RATE)

+ +

Requested rate for AHRS device

+ + + +

External AHRS options (EAHRS_OPTIONS)

+ +

External AHRS options bitmask

+ + + +

External AHRS sensors (EAHRS_SENSORS)

Note: This parameter is for advanced users
+ +

External AHRS sensors bitmask

+ + + +

AHRS logging rate (EAHRS_LOG_RATE)

+ +

Logging rate for EARHS devices

+ + + +

EFI Parameters

+ + +

EFI communication type (EFI_TYPE)

Note: This parameter is for advanced users
+ +

What method of communication is used for EFI #1

+ + + +

EFI Calibration Coefficient 1 (EFI_COEF1)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

+ + + +

EFI Calibration Coefficient 2 (EFI_COEF2)

Note: This parameter is for advanced users
+ +

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

+ + + +

ECU Fuel Density (EFI_FUEL_DENS)

Note: This parameter is for advanced users
+ +

Used to calculate fuel consumption

+ + + +

EFI_THRLIN Parameters

+ + +

Enable throttle linearisation (EFI_THRLIN_EN)

Note: This parameter is for advanced users
+ +

Enable EFI throttle linearisation

+ + + +

Throttle linearisation - First Order (EFI_THRLIN_COEF1)

Note: This parameter is for advanced users
+ +

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

+ + + +

Throttle linearisation - Second Order (EFI_THRLIN_COEF2)

Note: This parameter is for advanced users
+ +

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

+ + + +

Throttle linearisation - Third Order (EFI_THRLIN_COEF3)

Note: This parameter is for advanced users
+ +

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

+ + + +

throttle linearization offset (EFI_THRLIN_OFS)

Note: This parameter is for advanced users
+ +

Offset for throttle linearization

+ + + +

EK2_ Parameters

+ + +

Enable EKF2 (EK2_ENABLE)

Note: This parameter is for advanced users
+ +

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

+ + + +

GPS mode control (EK2_GPS_TYPE)

Note: This parameter is for advanced users
+ +

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

+ + + +

GPS horizontal velocity measurement noise (m/s) (EK2_VELNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

+ + + +

GPS vertical velocity measurement noise (m/s) (EK2_VELD_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

+ + + +

GPS velocity innovation gate size (EK2_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

GPS horizontal position measurement noise (m) (EK2_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

+ + + +

GPS position measurement gate size (EK2_POS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

GPS glitch radius gate size (m) (EK2_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

+ + + +

Primary altitude sensor source (EK2_ALT_SOURCE)

Note: This parameter is for advanced users
+ +

Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).

+ + + +

Altitude measurement noise (m) (EK2_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

+ + + +

Height measurement gate size (EK2_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Height measurement delay (msec) (EK2_HGT_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the Height measurements lag behind the inertial measurements.

+ + + +

Magnetometer measurement noise (Gauss) (EK2_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Magnetometer default fusion mode (EK2_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

+ + + +

Magnetometer measurement gate size (EK2_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Equivalent airspeed measurement noise (m/s) (EK2_EAS_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

+ + + +

Airspeed measurement gate size (EK2_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range finder measurement noise (m) (EK2_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range finder measurement gate size (EK2_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Maximum valid optical flow rate (EK2_MAX_FLOW)

Note: This parameter is for advanced users
+ +

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

+ + + +

Optical flow measurement noise (rad/s) (EK2_FLOW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Optical Flow measurement gate size (EK2_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Optical Flow measurement delay (msec) (EK2_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Rate gyro noise (rad/s) (EK2_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

+ + + +

Accelerometer noise (m/s^2) (EK2_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

+ + + +

Rate gyro bias stability (rad/s/s) (EK2_GBIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

+ + + +

Rate gyro scale factor stability (1/s) (EK2_GSCL_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

+ + + +

Accelerometer bias stability (m/s^3) (EK2_ABIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

+ + + +

Wind velocity process noise (m/s^2) (EK2_WIND_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

+ + + +

Height rate to wind process noise scaler (EK2_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

+ + + +

GPS preflight check (EK2_GPS_CHECK)

Note: This parameter is for advanced users
+ +

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

+ + + +

Bitmask of active IMUs (EK2_IMU_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

+ + + +

GPS accuracy check scaler (%) (EK2_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

+ + + +

Non-GPS operation position uncertainty (m) (EK2_NOAID_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

+ + + +

Yaw measurement noise (rad) (EK2_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

+ + + +

Yaw measurement gate size (EK2_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Output complementary filter time constant (centi-sec) (EK2_TAU_OUTPUT)

Note: This parameter is for advanced users
+ +

Sets the time constant of the output complementary filter/predictor in centi-seconds.

+ + + +

Earth magnetic field process noise (gauss/s) (EK2_MAGE_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

+ + + +

Body magnetic field process noise (gauss/s) (EK2_MAGB_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

+ + + +

Range finder switch height percentage (EK2_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK2_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

+ + + +

Range beacon measurement noise (m) (EK2_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range beacon measurement gate size (EK2_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range beacon measurement delay (msec) (EK2_BCN_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Range finder max ground speed (EK2_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

+ + + +

Bitmask of active EKF cores that will always use heading fusion (EK2_MAG_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

+ + + +

Bitmask control of EKF reference height correction (EK2_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

+ + + +

Optical flow use bitmask (EK2_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

EarthField error limit (EK2_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Height rate filter crossover frequency (EK2_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK2_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK2_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK2_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.

+ + + +

Optional EKF behaviour (EK2_OPTIONS)

Note: This parameter is for advanced users
+ +

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

+ + + +

EK3_ Parameters

+ + +

Enable EKF3 (EK3_ENABLE)

Note: This parameter is for advanced users
+ +

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

+ + + +

GPS horizontal velocity measurement noise (m/s) (EK3_VELNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

+ + + +

GPS vertical velocity measurement noise (m/s) (EK3_VELD_M_NSE)

Note: This parameter is for advanced users
+ +

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

+ + + +

GPS velocity innovation gate size (EK3_VEL_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS horizontal position measurement noise (m) (EK3_POSNE_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

+ + + +

GPS position measurement gate size (EK3_POS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

+ + + +

GPS glitch radius gate size (m) (EK3_GLITCH_RAD)

Note: This parameter is for advanced users
+ +

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

+ + + +

Altitude measurement noise (m) (EK3_ALT_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

+ + + +

Height measurement gate size (EK3_HGT_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

+ + + +

Height measurement delay (msec) (EK3_HGT_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the Height measurements lag behind the inertial measurements.

+ + + +

Magnetometer measurement noise (Gauss) (EK3_MAG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Magnetometer default fusion mode (EK3_MAG_CAL)

Note: This parameter is for advanced users
+ +

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.

+ + + +

Magnetometer measurement gate size (EK3_MAG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Equivalent airspeed measurement noise (m/s) (EK3_EAS_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

+ + + +

Airspeed measurement gate size (EK3_EAS_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range finder measurement noise (m) (EK3_RNG_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range finder measurement gate size (EK3_RNG_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Maximum valid optical flow rate (EK3_MAX_FLOW)

Note: This parameter is for advanced users
+ +

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

+ + + +

Optical flow measurement noise (rad/s) (EK3_FLOW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

+ + + +

Optical Flow measurement gate size (EK3_FLOW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Optical Flow measurement delay (msec) (EK3_FLOW_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

+ + + +

Rate gyro noise (rad/s) (EK3_GYRO_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

+ + + +

Accelerometer noise (m/s^2) (EK3_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

+ + + +

Rate gyro bias stability (rad/s/s) (EK3_GBIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

+ + + +

Accelerometer bias stability (m/s^3) (EK3_ABIAS_P_NSE)

Note: This parameter is for advanced users
+ +

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

+ + + +

Wind velocity process noise (m/s^2) (EK3_WIND_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

+ + + +

Height rate to wind process noise scaler (EK3_WIND_PSCALE)

Note: This parameter is for advanced users
+ +

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

+ + + +

GPS preflight check (EK3_GPS_CHECK)

Note: This parameter is for advanced users
+ +

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

+ + + +

Bitmask of active IMUs (EK3_IMU_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

+ + + +

GPS accuracy check scaler (%) (EK3_CHECK_SCALE)

Note: This parameter is for advanced users
+ +

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

+ + + +

Non-GPS operation position uncertainty (m) (EK3_NOAID_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

+ + + +

Bitmask controlling sidelip angle fusion (EK3_BETA_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.

+ + + +

Yaw measurement noise (rad) (EK3_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

+ + + +

Yaw measurement gate size (EK3_YAW_I_GATE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Output complementary filter time constant (centi-sec) (EK3_TAU_OUTPUT)

Note: This parameter is for advanced users
+ +

Sets the time constant of the output complementary filter/predictor in centi-seconds.

+ + + +

Earth magnetic field process noise (gauss/s) (EK3_MAGE_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

+ + + +

Body magnetic field process noise (gauss/s) (EK3_MAGB_P_NSE)

Note: This parameter is for advanced users
+ +

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

+ + + +

Range finder switch height percentage (EK3_RNG_USE_HGT)

Note: This parameter is for advanced users
+ +

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

+ + + +

Maximum terrain gradient (EK3_TERR_GRAD)

Note: This parameter is for advanced users
+ +

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

+ + + +

Range beacon measurement noise (m) (EK3_BCN_M_NSE)

Note: This parameter is for advanced users
+ +

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

+ + + +

Range beacon measurement gate size (EK3_BCN_I_GTE)

Note: This parameter is for advanced users
+ +

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

+ + + +

Range beacon measurement delay (msec) (EK3_BCN_DELAY)

Note: This parameter is for advanced users
+ +

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

+ + + +

Range finder max ground speed (EK3_RNG_USE_SPD)

Note: This parameter is for advanced users
+ +

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

+ + + +

Accelerometer bias limit (EK3_ACC_BIAS_LIM)

Note: This parameter is for advanced users
+ +

The accelerometer bias state will be limited to +- this value

+ + + +

Bitmask of active EKF cores that will always use heading fusion (EK3_MAG_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

+ + + +

Bitmask control of EKF reference height correction (EK3_OGN_HGT_MASK)

Note: This parameter is for advanced users
+ +

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

+ + + +

Visual odometry minimum velocity error (EK3_VIS_VERR_MIN)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Visual odometry maximum velocity error (EK3_VIS_VERR_MAX)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

+ + + +

Wheel odometry velocity error (EK3_WENC_VERR)

Note: This parameter is for advanced users
+ +

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

+ + + +

Optical flow use bitmask (EK3_FLOW_USE)

Note: This parameter is for advanced users
+ +

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

+ + + +

Height rate filter crossover frequency (EK3_HRT_FILT)

+ +

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

+ + + +

EarthField error limit (EK3_MAG_EF_LIM)

Note: This parameter is for advanced users
+ +

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

+ + + +

Bitmask of which EKF-GSF yaw estimators run (EK3_GSF_RUN_MASK)

Note: This parameter is for advanced users
+ +

1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

+ + + +

Bitmask of which EKF-GSF yaw estimators are used (EK3_GSF_USE_MASK)

Note: This parameter is for advanced users
+ +

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.

+ + + +

Maximum number of resets to the EKF-GSF yaw estimate allowed (EK3_GSF_RST_MAX)

Note: This parameter is for advanced users
+ +

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.

+ + + +

EKF3 Lane Relative Error Sensitivity Threshold (EK3_ERR_THRESH)

Note: This parameter is for advanced users
+ +

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

+ + + +

EKF3 Sensor Affinity Options (EK3_AFFINITY)

Note: This parameter is for advanced users
+ +

These options control the affinity between sensor instances and EKF cores

+ + + +

Ballistic coefficient for X axis drag (EK3_DRAG_BCOEF_X)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Ballistic coefficient for Y axis drag (EK3_DRAG_BCOEF_Y)

Note: This parameter is for advanced users
+ +

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

+ + + +

Observation noise for drag acceleration (EK3_DRAG_M_NSE)

Note: This parameter is for advanced users
+ +

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

+ + + +

Momentum coefficient for propeller drag (EK3_DRAG_MCOEF)

Note: This parameter is for advanced users
+ +

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

+ + + +

On ground not moving test scale factor (EK3_OGNM_TEST_SF)

Note: This parameter is for advanced users
+ +

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

+ + + +

Baro height ground effect dead zone (EK3_GND_EFF_DZ)

Note: This parameter is for advanced users
+ +

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

+ + + +

Primary core number (EK3_PRIMARY)

Note: This parameter is for advanced users
+ +

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

+ + + +

Logging Level (EK3_LOG_LEVEL)

Note: This parameter is for advanced users
+ +

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

+ + + +

GPS vertical accuracy threshold (EK3_GPS_VACC_MAX)

Note: This parameter is for advanced users
+ +

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

+ + + +

Optional EKF behaviour (EK3_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad

+ + + +

EK3_SRC Parameters

+ + +

Position Horizontal Source (Primary) (EK3_SRC1_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Primary)

+ + + +

Velocity Horizontal Source (EK3_SRC1_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source

+ + + +

Position Vertical Source (EK3_SRC1_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source

+ + + +

Velocity Vertical Source (EK3_SRC1_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source

+ + + +

Yaw Source (EK3_SRC1_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source

+ + + +

Position Horizontal Source (Secondary) (EK3_SRC2_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Secondary)

+ + + +

Velocity Horizontal Source (Secondary) (EK3_SRC2_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Secondary)

+ + + +

Position Vertical Source (Secondary) (EK3_SRC2_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Secondary)

+ + + +

Velocity Vertical Source (Secondary) (EK3_SRC2_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Secondary)

+ + + +

Yaw Source (Secondary) (EK3_SRC2_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Secondary)

+ + + +

Position Horizontal Source (Tertiary) (EK3_SRC3_POSXY)

Note: This parameter is for advanced users
+ +

Position Horizontal Source (Tertiary)

+ + + +

Velocity Horizontal Source (Tertiary) (EK3_SRC3_VELXY)

Note: This parameter is for advanced users
+ +

Velocity Horizontal Source (Tertiary)

+ + + +

Position Vertical Source (Tertiary) (EK3_SRC3_POSZ)

Note: This parameter is for advanced users
+ +

Position Vertical Source (Tertiary)

+ + + +

Velocity Vertical Source (Tertiary) (EK3_SRC3_VELZ)

Note: This parameter is for advanced users
+ +

Velocity Vertical Source (Tertiary)

+ + + +

Yaw Source (Tertiary) (EK3_SRC3_YAW)

Note: This parameter is for advanced users
+ +

Yaw Source (Tertiary)

+ + + +

EKF Source Options (EK3_SRC_OPTIONS)

Note: This parameter is for advanced users
+ +

EKF Source Options

+ + + +

ESC_TLM Parameters

+ + +

ESC Telemetry mavlink offset (ESC_TLM_MAV_OFS)

+ +

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

+ + + +

FENCE_ Parameters

+ + +

Fence enable/disable (FENCE_ENABLE)

+ +

Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.

+ + + +

Fence Type (FENCE_TYPE)

+ +

Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.

+ + + +

Fence Action (FENCE_ACTION)

+ +

What action should be taken when fence is breached

+ + + +

Circular Fence Radius (FENCE_RADIUS)

+ +

Circle fence radius which when breached will cause an RTL

+ + + +

Fence Margin (FENCE_MARGIN)

+ +

Distance that autopilot's should maintain from the fence to avoid a breach

+ + + +

Fence polygon point total (FENCE_TOTAL)

+ +

Number of polygon points saved in eeprom (do not update manually)

+ + + +

FFT_ Parameters

+ + +

Enable (FFT_ENABLE)

Note: This parameter is for advanced users
+ +

Enable Gyro FFT analyser

+ + + +

Minimum Frequency (FFT_MINHZ)

Note: This parameter is for advanced users
+ +

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

+ + + +

Maximum Frequency (FFT_MAXHZ)

Note: This parameter is for advanced users
+ +

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

+ + + +

Sample Mode (FFT_SAMPLE_MODE)

Note: This parameter is for advanced users
+ +

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

+ + + +

FFT window size (FFT_WINDOW_SIZE)

Note: This parameter is for advanced users
+ +

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

+ + + +

FFT window overlap (FFT_WINDOW_OLAP)

Note: This parameter is for advanced users
+ +

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

+ + + +

FFT learned hover frequency (FFT_FREQ_HOVER)

Note: This parameter is for advanced users
+ +

The learned hover noise frequency

+ + + +

FFT learned thrust reference (FFT_THR_REF)

Note: This parameter is for advanced users
+ +

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

+ + + +

FFT SNR reference threshold (FFT_SNR_REF)

Note: This parameter is for advanced users
+ +

FFT SNR reference threshold in dB at which a signal is determined to be present.

+ + + +

FFT attenuation for bandwidth calculation (FFT_ATT_REF)

Note: This parameter is for advanced users
+ +

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

+ + + +

FFT learned bandwidth at hover (FFT_BW_HOVER)

Note: This parameter is for advanced users
+ +

FFT learned bandwidth at hover for the attenuation frequencies.

+ + + +

FFT harmonic fit frequency threshold (FFT_HMNC_FIT)

Note: This parameter is for advanced users
+ +

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

+ + + +

FFT harmonic peak target (FFT_HMNC_PEAK)

Note: This parameter is for advanced users
+ +

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

+ + + +

FFT output frames to retain and average (FFT_NUM_FRAMES)

Note: This parameter is for advanced users
+ +

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

+ + + +

FFT options (FFT_OPTIONS)

Note: This parameter is for advanced users
+ +

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

+ + + +

FILT1_ Parameters

+ + +

Filter Type (FILT1_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT1_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT1_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT1_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT2_ Parameters

+ + +

Filter Type (FILT2_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT2_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT2_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT2_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT3_ Parameters

+ + +

Filter Type (FILT3_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT3_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT3_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT3_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT4_ Parameters

+ + +

Filter Type (FILT4_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT4_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT4_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT4_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT5_ Parameters

+ + +

Filter Type (FILT5_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT5_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT5_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT5_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT6_ Parameters

+ + +

Filter Type (FILT6_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT6_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT6_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT6_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT7_ Parameters

+ + +

Filter Type (FILT7_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT7_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT7_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT7_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FILT8_ Parameters

+ + +

Filter Type (FILT8_TYPE)

+ +

Filter Type

+ + + +

Notch Filter center frequency (FILT8_NOTCH_FREQ)

Note: This parameter is for advanced users
+ +

Notch Filter center frequency in Hz.

+ + + +

Notch Filter quality factor (FILT8_NOTCH_Q)

Note: This parameter is for advanced users
+ +

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

+ + + +

Notch Filter attenuation (FILT8_NOTCH_ATT)

Note: This parameter is for advanced users
+ +

Notch Filter attenuation in dB.

+ + + +

FLOW Parameters

+ + +

Optical flow sensor type (FLOW_TYPE)

+ +

Optical flow sensor type

+ + + +

X axis optical flow scale factor correction (FLOW_FXSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Y axis optical flow scale factor correction (FLOW_FYSCALER)

+ +

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

+ + + +

Flow sensor yaw alignment (FLOW_ORIENT_YAW)

+ +

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

+ + + +

X position offset (FLOW_POS_X)

Note: This parameter is for advanced users
+ +

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

+ + + +

Y position offset (FLOW_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

+ + + +

Z position offset (FLOW_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

+ + + +

Address on the bus (FLOW_ADDR)

Note: This parameter is for advanced users
+ +

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

+ + + +

Height override of sensor above ground (FLOW_HGT_OVR)

Note: This parameter is for advanced users
+ +

This is used in rover vehicles, where the sensor is a fixed height above the ground

+ + + +

FOLL Parameters

+ + +

Follow enable/disable (FOLL_ENABLE)

+ +

Enabled/disable following a target

+ + + +

Follow target's mavlink system id (FOLL_SYSID)

+ +

Follow target's mavlink system id

+ + + +

Follow distance maximum (FOLL_DIST_MAX)

+ +

Follow distance maximum. targets further than this will be ignored

+ + + +

Follow offset type (FOLL_OFS_TYPE)

+ +

Follow offset type

+ + + +

Follow offsets in meters north/forward (FOLL_OFS_X)

+ +

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters east/right (FOLL_OFS_Y)

+ +

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

+ + + +

Follow offsets in meters down (FOLL_OFS_Z)

+ +

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

+ + + +

Follow yaw behaviour (FOLL_YAW_BEHAVE)

+ +

Follow yaw behaviour

+ + + +

Follow position error P gain (FOLL_POS_P)

+ +

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

+ + + +

Follow altitude type (FOLL_ALT_TYPE)

+ +

Follow altitude type

+ + + +

Follow options (FOLL_OPTIONS)

+ +

Follow options bitmask

+ + + +

FRSKY_ Parameters

+ + +

Uplink sensor id (FRSKY_UPLINK_ID)

Note: This parameter is for advanced users
+ +

Change the uplink sensor id (SPort only)

+ + + +

First downlink sensor id (FRSKY_DNLINK1_ID)

Note: This parameter is for advanced users
+ +

Change the first extra downlink sensor id (SPort only)

+ + + +

Second downlink sensor id (FRSKY_DNLINK2_ID)

Note: This parameter is for advanced users
+ +

Change the second extra downlink sensor id (SPort only)

+ + + +

Default downlink sensor id (FRSKY_DNLINK_ID)

Note: This parameter is for advanced users
+ +

Change the default downlink sensor id (SPort only)

+ + + +

FRSky Telemetry Options (FRSKY_OPTIONS)

+ +

A bitmask to set some FRSky Telemetry specific options

+ + + +

GEN_ Parameters

+ + +

Generator type (GEN_TYPE)

+ +

Generator type

+ + + +

Generator Options (GEN_OPTIONS)

+ +

Bitmask of options for generators

+ + + +

GPS Parameters

+ + +

Navigation filter setting (GPS_NAVFILTER)

Note: This parameter is for advanced users
+ +

Navigation filter engine setting

+ + + +

Automatic Switchover Setting (GPS_AUTO_SWITCH)

Note: This parameter is for advanced users
+ +

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary

+ + + +

SBAS Mode (GPS_SBAS_MODE)

Note: This parameter is for advanced users
+ +

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

+ + + +

Minimum elevation (GPS_MIN_ELEV)

Note: This parameter is for advanced users
+ +

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

+ + + +

Destination for GPS_INJECT_DATA MAVLink packets (GPS_INJECT_TO)

Note: This parameter is for advanced users
+ +

The GGS can send raw serial packets to inject data to multiple GPSes.

+ + + +

Swift Binary Protocol Logging Mask (GPS_SBP_LOGMASK)

Note: This parameter is for advanced users
+ +

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

+ + + +

Raw data logging (GPS_RAW_DATA)

Note: This parameter is for advanced users
+ +

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

+ + + +

Save GPS configuration (GPS_SAVE_CFG)

Note: This parameter is for advanced users
+ +

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

+ + + +

Automatic GPS configuration (GPS_AUTO_CONFIG)

Note: This parameter is for advanced users
+ +

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

+ + + +

Multi GPS Blending Mask (GPS_BLEND_MASK)

Note: This parameter is for advanced users
+ +

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

+ + + +

driver options (GPS_DRV_OPTIONS)

Note: This parameter is for advanced users
+ +

Additional backend specific options

+ + + +

Primary GPS (GPS_PRIMARY)

Note: This parameter is for advanced users
+ +

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

+ + + +

1st GPS type (GPS_TYPE)

Note: This parameter is for advanced users
+ +

GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE

+ + + +

2nd GPS type.Renamed in 4.6 to GPS2_TYPE (GPS_TYPE2)

Note: This parameter is for advanced users
+ +

GPS type of 2nd GPS

+ + + +

GNSS system configuration (GPS_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.

+ + + +

GNSS system configuration. (GPS_GNSS_MODE2)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE

+ + + +

GPS update rate in milliseconds (GPS_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS

+ + + +

GPS 2 update rate in milliseconds (GPS_RATE_MS2)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS

+ + + +

Antenna X position offset (GPS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.

+ + + +

Antenna Y position offset (GPS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.

+ + + +

Antenna X position offset (GPS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.

+ + + +

Antenna Y position offset (GPS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.

+ + + +

Antenna Z position offset (GPS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.

+ + + +

GPS delay in milliseconds (GPS_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.

+ + + +

GPS 2 delay in milliseconds (GPS_DELAY_MS2)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.

+ + + +

GPS physical COM port (GPS_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS physical COM port (GPS_COM_PORT2)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.

+ + + +

GPS Node ID 1 (GPS_CAN_NODEID1)

Note: This parameter is for advanced users
+ +

GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.

+ + + +

GPS Node ID 2 (GPS_CAN_NODEID2)

Note: This parameter is for advanced users
+ +

GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.

+ + + +

GPS1_ Parameters

+ + +

GPS type (GPS1_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS1_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS1_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS1_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS1_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS1_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS1_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS1_MB_ Parameters

+ + +

Moving base type (GPS1_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS1_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS1_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS1_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS2_ Parameters

+ + +

GPS type (GPS2_TYPE)

Note: This parameter is for advanced users
+ +

GPS type

+ + + +

GNSS system configuration (GPS2_GNSS_MODE)

Note: This parameter is for advanced users
+ +

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

+ + + +

GPS update rate in milliseconds (GPS2_RATE_MS)

Note: This parameter is for advanced users
+ +

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

+ + + +

Antenna X position offset (GPS2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Y position offset (GPS2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

Antenna Z position offset (GPS2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

+ + + +

GPS delay in milliseconds (GPS2_DELAY_MS)

Note: This parameter is for advanced users
+ +

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

+ + + +

GPS physical COM port (GPS2_COM_PORT)

Note: This parameter is for advanced users
+ +

The physical COM port on the connected device, currently only applies to SBF and GSOF GPS

+ + + +

Detected CAN Node ID for GPS (GPS2_CAN_NODEID)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

+ + + +

DroneCAN GPS NODE ID (GPS2_CAN_OVRIDE)

Note: This parameter is for advanced users
+ +

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

+ + + +

GPS2_MB_ Parameters

+ + +

Moving base type (GPS2_MB_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS2_MB_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS2_MB_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS2_MB_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB1_ Parameters

+ + +

Moving base type (GPS_MB1_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB1_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB1_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB1_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GPS_MB2_ Parameters

+ + +

Moving base type (GPS_MB2_TYPE)

Note: This parameter is for advanced users
+ +

Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.

+ + + +

Base antenna X position offset (GPS_MB2_OFS_X)

Note: This parameter is for advanced users
+ +

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

+ + + +

Base antenna Y position offset (GPS_MB2_OFS_Y)

Note: This parameter is for advanced users
+ +

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

+ + + +

Base antenna Z position offset (GPS_MB2_OFS_Z)

Note: This parameter is for advanced users
+ +

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

+ + + +

GRIP_ Parameters

+ + +

Gripper Enable/Disable (GRIP_ENABLE)

+ +

Gripper enable/disable

+ + + +

Gripper Type (GRIP_TYPE)

+ +

Gripper enable/disable

+ + + +

Gripper Grab PWM (GRIP_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (GRIP_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Neutral PWM (GRIP_NEUTRAL)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to grabber when not grabbing or releasing

+ + + +

EPM Gripper Regrab interval (GRIP_REGRAB)

Note: This parameter is for advanced users
+ +

Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

+ + + +

EPM UAVCAN Hardpoint ID (GRIP_CAN_ID)

+ +

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

+ + + +

Gripper Autoclose time (GRIP_AUTOCLOSE)

Note: This parameter is for advanced users
+ +

Time in seconds that gripper close the gripper after opening; 0 to disable

+ + + +

INS Parameters

+ + +

Gyro offsets of X axis (INS_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of X axis (INS_GYR2OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Y axis (INS_GYR2OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro2 offsets of Z axis (INS_GYR2OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of X axis (INS_GYR3OFFS_X)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Y axis (INS_GYR3OFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro3 offsets of Z axis (INS_GYR3OFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Accelerometer scaling of X axis (INS_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 scaling of X axis (INS_ACC2SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Y axis (INS_ACC2SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 scaling of Z axis (INS_ACC2SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer2 offsets of X axis (INS_ACC2OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Y axis (INS_ACC2OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer2 offsets of Z axis (INS_ACC2OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 scaling of X axis (INS_ACC3SCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Y axis (INS_ACC3SCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 scaling of Z axis (INS_ACC3SCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer3 offsets of X axis (INS_ACC3OFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Y axis (INS_ACC3OFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer3 offsets of Z axis (INS_ACC3OFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

Gyro filter cutoff frequency (INS_GYRO_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Accel filter cutoff frequency (INS_ACCEL_FILTER)

Note: This parameter is for advanced users
+ +

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

+ + + +

Use first IMU for attitude, velocity and position estimates (INS_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Use second IMU for attitude, velocity and position estimates (INS_USE2)

Note: This parameter is for advanced users
+ +

Use second IMU for attitude, velocity and position estimates

+ + + +

Use third IMU for attitude, velocity and position estimates (INS_USE3)

Note: This parameter is for advanced users
+ +

Use third IMU for attitude, velocity and position estimates

+ + + +

Stillness threshold for detecting if we are moving (INS_STILL_THRESH)

Note: This parameter is for advanced users
+ +

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

+ + + +

Gyro Calibration scheme (INS_GYR_CAL)

Note: This parameter is for advanced users
+ +

Conrols when automatic gyro calibration is performed

+ + + +

Accel cal trim option (INS_TRIM_OPTION)

Note: This parameter is for advanced users
+ +

Specifies how the accel cal routine determines the trims

+ + + +

Body-fixed accelerometer (INS_ACC_BODYFIX)

Note: This parameter is for advanced users
+ +

The body-fixed accelerometer to be used for trim calculation

+ + + +

IMU accelerometer X position (INS_POS1_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS1_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS1_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS2_X)

Note: This parameter is for advanced users
+ +

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS2_Y)

Note: This parameter is for advanced users
+ +

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS2_Z)

Note: This parameter is for advanced users
+ +

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer X position (INS_POS3_X)

Note: This parameter is for advanced users
+ +

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS_POS3_Y)

Note: This parameter is for advanced users
+ +

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS_POS3_Z)

Note: This parameter is for advanced users
+ +

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Gyro ID (INS_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro2 ID (INS_GYR2_ID)

Note: This parameter is for advanced users
+ +

Gyro2 sensor ID, taking into account its type, bus and instance

+ + + +

Gyro3 ID (INS_GYR3_ID)

Note: This parameter is for advanced users
+ +

Gyro3 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer ID (INS_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer2 ID (INS_ACC2_ID)

Note: This parameter is for advanced users
+ +

Accelerometer2 sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer3 ID (INS_ACC3_ID)

Note: This parameter is for advanced users
+ +

Accelerometer3 sensor ID, taking into account its type, bus and instance

+ + + +

Fast sampling mask (INS_FAST_SAMPLE)

Note: This parameter is for advanced users
+ +

Mask of IMUs to enable fast sampling on, if available

+ + + +

IMU enable mask (INS_ENABLE_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

+ + + +

Gyro rate for IMUs with Fast Sampling enabled (INS_GYRO_RATE)

Note: This parameter is for advanced users
+ +

Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

+ + + +

Calibration temperature for 1st accelerometer (INS_ACC1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st accelerometer was calibrated at

+ + + +

Calibration temperature for 1st gyroscope (INS_GYR1_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 1st gyroscope was calibrated at

+ + + +

Calibration temperature for 2nd accelerometer (INS_ACC2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd accelerometer was calibrated at

+ + + +

Calibration temperature for 2nd gyroscope (INS_GYR2_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 2nd gyroscope was calibrated at

+ + + +

Calibration temperature for 3rd accelerometer (INS_ACC3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd accelerometer was calibrated at

+ + + +

Calibration temperature for 3rd gyroscope (INS_GYR3_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the 3rd gyroscope was calibrated at

+ + + +

Options for temperature calibration (INS_TCAL_OPTIONS)

Note: This parameter is for advanced users
+ +

This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

+ + + +

Raw logging options (INS_RAW_LOG_OPT)

Note: This parameter is for advanced users
+ +

Raw logging options bitmask

+ + + +

INS4_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS4_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS4_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS4_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS4_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS4_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS4_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS4_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS4_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS4_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS4_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS4_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS4_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS4_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS4_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS4_TCAL_ Parameters

+ + +

Enable temperature calibration (INS4_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS4_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS4_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS4_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS4_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS4_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS4_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS4_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS4_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS4_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS4_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS4_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS4_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS4_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS4_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS4_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS4_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS4_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS4_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS4_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS4_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS5_ Parameters

+ + +

Use first IMU for attitude, velocity and position estimates (INS5_USE)

Note: This parameter is for advanced users
+ +

Use first IMU for attitude, velocity and position estimates

+ + + +

Accelerometer ID (INS5_ACC_ID)

Note: This parameter is for advanced users
+ +

Accelerometer sensor ID, taking into account its type, bus and instance

+ + + +

Accelerometer scaling of X axis (INS5_ACCSCAL_X)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Y axis (INS5_ACCSCAL_Y)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

+ + + +

Accelerometer scaling of Z axis (INS5_ACCSCAL_Z)

Note: This parameter is for advanced users
+ +

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

+ + + +

Accelerometer offsets of X axis (INS5_ACCOFFS_X)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Y axis (INS5_ACCOFFS_Y)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

+ + + +

Accelerometer offsets of Z axis (INS5_ACCOFFS_Z)

Note: This parameter is for advanced users
+ +

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

+ + + +

IMU accelerometer X position (INS5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Y position (INS5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

IMU accelerometer Z position (INS5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

+ + + +

Calibration temperature for accelerometer (INS5_ACC_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the accelerometer was calibrated at

+ + + +

Gyro ID (INS5_GYR_ID)

Note: This parameter is for advanced users
+ +

Gyro sensor ID, taking into account its type, bus and instance

+ + + +

Gyro offsets of X axis (INS5_GYROFFS_X)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Y axis (INS5_GYROFFS_Y)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

+ + + +

Gyro offsets of Z axis (INS5_GYROFFS_Z)

Note: This parameter is for advanced users
+ +

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

+ + + +

Calibration temperature for gyroscope (INS5_GYR_CALTEMP)

Note: This parameter is for advanced users
+ +

Temperature that the gyroscope was calibrated at

+ + + +

INS5_TCAL_ Parameters

+ + +

Enable temperature calibration (INS5_TCAL_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS5_TCAL_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS5_TCAL_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS5_TCAL_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS5_TCAL_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS5_TCAL_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS5_TCAL_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS5_TCAL_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS5_TCAL_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS5_TCAL_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS5_TCAL_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS5_TCAL_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS5_TCAL_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS5_TCAL_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS5_TCAL_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS5_TCAL_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS5_TCAL_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS5_TCAL_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS5_TCAL_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS5_TCAL_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS5_TCAL_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_HNTC2_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTC2_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTC2_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTC2_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTC2_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTC2_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTC2_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTC2_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTC2_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTC2_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_HNTCH_ Parameters

+ + +

Harmonic Notch Filter enable (INS_HNTCH_ENABLE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter enable

+ + + +

Harmonic Notch Filter base frequency (INS_HNTCH_FREQ)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

+ + + +

Harmonic Notch Filter bandwidth (INS_HNTCH_BW)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

+ + + +

Harmonic Notch Filter attenuation (INS_HNTCH_ATT)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

+ + + +

Harmonic Notch Filter harmonics (INS_HNTCH_HMNCS)

Note: This parameter is for advanced users
+ +

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

+ + + +

Harmonic Notch Filter reference value (INS_HNTCH_REF)

Note: This parameter is for advanced users
+ +

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

+ + + +

Harmonic Notch Filter dynamic frequency tracking mode (INS_HNTCH_MODE)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

+ + + +

Harmonic Notch Filter options (INS_HNTCH_OPTS)

Note: This parameter is for advanced users
+ +

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

+ + + +

Throttle notch min freqency ratio (INS_HNTCH_FM_RAT)

Note: This parameter is for advanced users
+ +

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

+ + + +

INS_LOG_ Parameters

+ + +

sample count per batch (INS_LOG_BAT_CNT)

Note: This parameter is for advanced users
+ +

Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.

+ + + +

Sensor Bitmask (INS_LOG_BAT_MASK)

Note: This parameter is for advanced users
+ +

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

+ + + +

Batch Logging Options Mask (INS_LOG_BAT_OPT)

Note: This parameter is for advanced users
+ +

Options for the BatchSampler.

+ + + +

logging interval (INS_LOG_BAT_LGIN)

+ +

Interval between pushing samples to the AP_Logger log

+ + + +

logging count (INS_LOG_BAT_LGCT)

+ +

Number of samples to push to count every INS_LOG_BAT_LGIN

+ + + +

INS_TCAL1_ Parameters

+ + +

Enable temperature calibration (INS_TCAL1_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL1_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL1_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL1_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL1_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL1_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL1_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL1_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL1_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL1_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL1_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL1_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL1_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL1_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL1_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL1_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL1_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL1_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL1_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL1_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL1_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL2_ Parameters

+ + +

Enable temperature calibration (INS_TCAL2_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL2_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL2_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL2_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL2_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL2_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL2_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL2_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL2_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL2_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL2_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL2_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL2_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL2_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL2_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL2_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL2_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL2_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL2_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL2_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL2_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

INS_TCAL3_ Parameters

+ + +

Enable temperature calibration (INS_TCAL3_ENABLE)

Note: This parameter is for advanced users
+ +

Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot

+ + + +

Temperature calibration min (INS_TCAL3_TMIN)

Note: This parameter is for advanced users
+ +

The minimum temperature that the calibration is valid for

+ + + +

Temperature calibration max (INS_TCAL3_TMAX)

Note: This parameter is for advanced users
+ +

The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration

+ + + +

Accelerometer 1st order temperature coefficient X axis (INS_TCAL3_ACC1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Y axis (INS_TCAL3_ACC1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 1st order temperature coefficient Z axis (INS_TCAL3_ACC1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient X axis (INS_TCAL3_ACC2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Y axis (INS_TCAL3_ACC2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 2nd order temperature coefficient Z axis (INS_TCAL3_ACC2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient X axis (INS_TCAL3_ACC3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Y axis (INS_TCAL3_ACC3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Accelerometer 3rd order temperature coefficient Z axis (INS_TCAL3_ACC3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient X axis (INS_TCAL3_GYR1_X)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Y axis (INS_TCAL3_GYR1_Y)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 1st order temperature coefficient Z axis (INS_TCAL3_GYR1_Z)

Note: This parameter is for advanced users
+ +

This is the 1st order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient X axis (INS_TCAL3_GYR2_X)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Y axis (INS_TCAL3_GYR2_Y)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 2nd order temperature coefficient Z axis (INS_TCAL3_GYR2_Z)

Note: This parameter is for advanced users
+ +

This is the 2nd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient X axis (INS_TCAL3_GYR3_X)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Y axis (INS_TCAL3_GYR3_Y)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

Gyroscope 3rd order temperature coefficient Z axis (INS_TCAL3_GYR3_Z)

Note: This parameter is for advanced users
+ +

This is the 3rd order temperature coefficient from a temperature calibration

+ + + +

KDE_ Parameters

+ + +

Number of motor poles (KDE_NPOLE)

+ +

Sets the number of motor poles to calculate the correct RPM value

+ + + +

LOG Parameters

+ + +

AP_Logger Backend Storage type (LOG_BACKEND_TYPE)

+ +

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

+ + + +

Maximum AP_Logger File and Block Backend buffer size (in kilobytes) (LOG_FILE_BUFSIZE)

+ +

The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

+ + + +

Enable logging while disarmed (LOG_DISARMED)

+ +

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

+ + + +

Enable logging of information needed for Replay (LOG_REPLAY)

+ +

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

+ + + +

Stop logging to current file on disarm (LOG_FILE_DSRMROT)

+ +

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

+ + + +

Maximum AP_Logger MAVLink Backend buffer size (LOG_MAV_BUFSIZE)

Note: This parameter is for advanced users
+ +

Maximum amount of memory to allocate to AP_Logger-over-mavlink

+ + + +

Timeout before giving up on file writes (LOG_FILE_TIMEOUT)

+ +

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

+ + + +

Old logs on the SD card will be deleted to maintain this amount of free space (LOG_FILE_MB_FREE)

+ +

Set this such that the free space is larger than your largest typical flight log

+ + + +

Maximum logging rate for file backend (LOG_FILE_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for mavlink backend (LOG_MAV_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate for block backend (LOG_BLK_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.

+ + + +

Maximum logging rate when disarmed (LOG_DARM_RATEMAX)

+ +

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

+ + + +

Maximum number of log files (LOG_MAX_FILES)

Note: This parameter is for advanced users
+ +

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

+ + + +

MIS_ Parameters

+ + +

Total mission commands (MIS_TOTAL)

Note: This parameter is for advanced users
+ +

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

+ + + +

Mission Restart when entering Auto mode (MIS_RESTART)

Note: This parameter is for advanced users
+ +

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

+ + + +

Mission options bitmask (MIS_OPTIONS)

Note: This parameter is for advanced users
+ +

Bitmask of what options to use in missions.

+ + + +

MNT1 Parameters

+ + +

Mount Type (MNT1_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT1_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT1_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT1_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT1_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT1_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT1_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT1_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT1_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT1_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT1_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT1_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT1_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT1_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT1_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT1_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT1_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT1_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT1_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT1_OPTIONS)

+ +

Mount options bitmask

+ + + +

MNT2 Parameters

+ + +

Mount Type (MNT2_TYPE)

+ +

Mount Type

+ + + +

Mount default operating mode (MNT2_DEFLT_MODE)

+ +

Mount default operating mode on startup and after control is returned from autopilot

+ + + +

Mount RC Rate (MNT2_RC_RATE)

+ +

Pilot rate control's maximum rate. Set to zero to use angle control

+ + + +

Mount Roll angle minimum (MNT2_ROLL_MIN)

+ +

Mount Roll angle minimum

+ + + +

Mount Roll angle maximum (MNT2_ROLL_MAX)

+ +

Mount Roll angle maximum

+ + + +

Mount Pitch angle minimum (MNT2_PITCH_MIN)

+ +

Mount Pitch angle minimum

+ + + +

Mount Pitch angle maximum (MNT2_PITCH_MAX)

+ +

Mount Pitch angle maximum

+ + + +

Mount Yaw angle minimum (MNT2_YAW_MIN)

+ +

Mount Yaw angle minimum

+ + + +

Mount Yaw angle maximum (MNT2_YAW_MAX)

+ +

Mount Yaw angle maximum

+ + + +

Mount roll angle when in retracted position (MNT2_RETRACT_X)

+ +

Mount roll angle when in retracted position

+ + + +

Mount pitch angle when in retracted position (MNT2_RETRACT_Y)

+ +

Mount pitch angle when in retracted position

+ + + +

Mount yaw angle when in retracted position (MNT2_RETRACT_Z)

+ +

Mount yaw angle when in retracted position

+ + + +

Mount roll angle when in neutral position (MNT2_NEUTRAL_X)

+ +

Mount roll angle when in neutral position

+ + + +

Mount pitch angle when in neutral position (MNT2_NEUTRAL_Y)

+ +

Mount pitch angle when in neutral position

+ + + +

Mount yaw angle when in neutral position (MNT2_NEUTRAL_Z)

+ +

Mount yaw angle when in neutral position

+ + + +

Mount Roll stabilization lead time (MNT2_LEAD_RLL)

+ +

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Pitch stabilization lead time (MNT2_LEAD_PTCH)

+ +

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

+ + + +

Mount Target sysID (MNT2_SYSID_DFLT)

+ +

Default Target sysID for the mount to point to

+ + + +

Mount Device ID (MNT2_DEVID)

Note: This parameter is for advanced users
+ +

Mount device ID, taking into account its type, bus and instance

+ + + +

Mount options (MNT2_OPTIONS)

+ +

Mount options bitmask

+ + + +

MOT_ Parameters

+ + +

Motor Output PWM type (MOT_PWM_TYPE)

Note: This parameter is for advanced users
+ +

This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)

+ + + +

Motor Output PWM freq for brushed motors (MOT_PWM_FREQ)

Note: This parameter is for advanced users
+ +

Motor Output PWM freq for brushed motors

+ + + +

Motor PWM output disabled when disarmed (MOT_SAFE_DISARM)

Note: This parameter is for advanced users
+ +

Disables motor PWM output when disarmed

+ + + +

Throttle minimum (MOT_THR_MIN)

+ +

Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions.

+ + + +

Throttle maximum (MOT_THR_MAX)

+ +

Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover

+ + + +

Throttle slew rate (MOT_SLEWRATE)

+ +

Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.

+ + + +

Thrust Curve Expo (MOT_THST_EXPO)

Note: This parameter is for advanced users
+ +

Thrust curve exponent (-1 to +1 with 0 being linear)

+ + + +

Motor speed scaling base speed (MOT_SPD_SCA_BASE)

Note: This parameter is for advanced users
+ +

Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling

+ + + +

Motor steering vs throttle prioritisation (MOT_STR_THR_MIX)

Note: This parameter is for advanced users
+ +

Steering vs Throttle priorisation. Higher numbers prioritise steering, lower numbers prioritise throttle. Only valid for Skid Steering vehicles

+ + + +

Vector thrust angle max (MOT_VEC_ANGLEMAX)

+ +

The angle between steering's middle position and maximum position when using vectored thrust (boats only)

+ + + +

Motor Thrust Asymmetry (MOT_THST_ASYM)

Note: This parameter is for advanced users
+ +

Thrust Asymetry. Used for skid-steering. 2.0 means your motors move twice as fast forward than they do backwards.

+ + + +

MSP Parameters

+ + +

Cell count override (MSP_OSD_NCELLS)

+ +

Used for average cell voltage calculation

+ + + +

MSP OSD Options (MSP_OPTIONS)

+ +

A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.

+ + + +

NET_ Parameters

+ + +

Networking Enable (NET_ENABLE)

Note: This parameter is for advanced users
+ +

Networking Enable

+ + + +

IP Subnet mask (NET_NETMASK)

Note: This parameter is for advanced users
+ +

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

+ + + +

DHCP client (NET_DHCP)

Note: This parameter is for advanced users
+ +

Enable/Disable DHCP client

+ + + +

Test enable flags (NET_TESTS)

Note: This parameter is for advanced users
+ +

Enable/Disable networking tests

+ + + +

Networking options (NET_OPTIONS)

Note: This parameter is for advanced users
+ +

Networking options

+ + + +

NET_GWADDR Parameters

+ + +

IPv4 Address 1st byte (NET_GWADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_GWADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_GWADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_GWADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_IPADDR Parameters

+ + +

IPv4 Address 1st byte (NET_IPADDR0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_IPADDR1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_IPADDR2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_IPADDR3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_MACADDR Parameters

+ + +

MAC Address 1st byte (NET_MACADDR0)

Note: This parameter is for advanced users
+ +

MAC address 1st byte

+ + + +

MAC Address 2nd byte (NET_MACADDR1)

Note: This parameter is for advanced users
+ +

MAC address 2nd byte

+ + + +

MAC Address 3rd byte (NET_MACADDR2)

Note: This parameter is for advanced users
+ +

MAC address 3rd byte

+ + + +

MAC Address 4th byte (NET_MACADDR3)

Note: This parameter is for advanced users
+ +

MAC address 4th byte

+ + + +

MAC Address 5th byte (NET_MACADDR4)

Note: This parameter is for advanced users
+ +

MAC address 5th byte

+ + + +

MAC Address 6th byte (NET_MACADDR5)

Note: This parameter is for advanced users
+ +

MAC address 6th byte

+ + + +

NET_P1_ Parameters

+ + +

Port type (NET_P1_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P1_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P1_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P1_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P1_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P1_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P1_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P1_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P2_ Parameters

+ + +

Port type (NET_P2_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P2_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P2_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P2_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P2_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P2_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P2_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P2_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P3_ Parameters

+ + +

Port type (NET_P3_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P3_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P3_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P3_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P3_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P3_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P3_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P3_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_P4_ Parameters

+ + +

Port type (NET_P4_TYPE)

Note: This parameter is for advanced users
+ +

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

+ + + +

Protocol (NET_P4_PROTOCOL)

Note: This parameter is for advanced users
+ +

Networked serial port protocol

+ + + +

Port number (NET_P4_PORT)

Note: This parameter is for advanced users
+ +

Port number

+ + + +

NET_P4_IP Parameters

+ + +

IPv4 Address 1st byte (NET_P4_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_P4_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_P4_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_P4_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_REMPPP_IP Parameters

+ + +

IPv4 Address 1st byte (NET_REMPPP_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_REMPPP_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_REMPPP_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_REMPPP_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NET_TEST_IP Parameters

+ + +

IPv4 Address 1st byte (NET_TEST_IP0)

+ +

IPv4 address. Example: 192.xxx.xxx.xxx

+ + + +

IPv4 Address 2nd byte (NET_TEST_IP1)

+ +

IPv4 address. Example: xxx.168.xxx.xxx

+ + + +

IPv4 Address 3rd byte (NET_TEST_IP2)

+ +

IPv4 address. Example: xxx.xxx.13.xxx

+ + + +

IPv4 Address 4th byte (NET_TEST_IP3)

+ +

IPv4 address. Example: xxx.xxx.xxx.14

+ + + +

NMEA_ Parameters

+ + +

NMEA Output rate (NMEA_RATE_MS)

+ +

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

+ + + +

Messages Enable bitmask (NMEA_MSG_EN)

+ +

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

+ + + +

NTF_ Parameters

+ + +

LED Brightness (NTF_LED_BRIGHT)

Note: This parameter is for advanced users
+ +

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

+ + + +

Buzzer Driver Types (NTF_BUZZ_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of Buzzer will be enabled

+ + + +

Specifies colour source for the RGBLed (NTF_LED_OVERRIDE)

Note: This parameter is for advanced users
+ +

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

+ + + +

Type of on-board I2C display (NTF_DISPLAY_TYPE)

Note: This parameter is for advanced users
+ +

This sets up the type of on-board I2C display. Disabled by default.

+ + + +

OreoLED Theme (NTF_OREO_THEME)

Note: This parameter is for advanced users
+ +

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

+ + + +

Buzzer pin (NTF_BUZZ_PIN)

Note: This parameter is for advanced users
+ +

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

LED Driver Types (NTF_LED_TYPES)

Note: This parameter is for advanced users
+ +

Controls what types of LEDs will be enabled

+ + + +

Buzzer-on pin logic level (NTF_BUZZ_ON_LVL)

Note: This parameter is for advanced users
+ +

Specifies pin level that indicates buzzer should play

+ + + +

Buzzer volume (NTF_BUZZ_VOLUME)

+ +

Control the volume of the buzzer

+ + + +

Serial LED String Length (NTF_LED_LEN)

Note: This parameter is for advanced users
+ +

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

+ + + +

OA_ Parameters

+ + +

Object Avoidance Path Planning algorithm to use (OA_TYPE)

+ +

Enabled/disable path planning around obstacles

+ + + +

Object Avoidance wide margin distance (OA_MARGIN_MAX)

+ +

Object Avoidance will ignore objects more than this many meters from vehicle

+ + + +

Options while recovering from Object Avoidance (OA_OPTIONS)

+ +

Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).

+ + + +

OA_BR_ Parameters

+ + +

Object Avoidance look ahead distance maximum (OA_BR_LOOKAHEAD)

+ +

Object Avoidance will look this many meters ahead of vehicle

+ + + +

Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly (OA_BR_CONT_RATIO)

+ +

BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.

+ + + +

BendyRuler's bearing change resistance threshold angle (OA_BR_CONT_ANGLE)

+ +

BendyRuler will resist changing current bearing if the change in bearing is over this angle

+ + + +

OA_DB_ Parameters

+ + +

OADatabase maximum number of points (OA_DB_SIZE)

Note: This parameter is for advanced users
+ +

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

+ + + +

OADatabase item timeout (OA_DB_EXPIRE)

Note: This parameter is for advanced users
+ +

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

+ + + +

OADatabase queue maximum number of points (OA_DB_QUEUE_SIZE)

Note: This parameter is for advanced users
+ +

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

+ + + +

OADatabase output level (OA_DB_OUTPUT)

Note: This parameter is for advanced users
+ +

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

+ + + +

OADatabase beam width (OA_DB_BEAM_WIDTH)

Note: This parameter is for advanced users
+ +

Beam width of incoming lidar data

+ + + +

OADatabase Minimum radius (OA_DB_RADIUS_MIN)

Note: This parameter is for advanced users
+ +

Minimum radius of objects held in database

+ + + +

OADatabase Distance Maximum (OA_DB_DIST_MAX)

Note: This parameter is for advanced users
+ +

Maximum distance of objects held in database. Set to zero to disable the limits

+ + + +

OSD Parameters

+ + +

OSD type (OSD_TYPE)

+ +

OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

Screen switch transmitter channel (OSD_CHAN)

+ +

This sets the channel used to switch different OSD screens.

+ + + +

Screen switch method (OSD_SW_METHOD)

+ +

This sets the method used to switch different OSD screens.

+ + + +

OSD Options (OSD_OPTIONS)

+ +

This sets options that change the display

+ + + +

OSD Font (OSD_FONT)

+ +

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

+ + + +

OSD vertical offset (OSD_V_OFFSET)

+ +

Sets vertical offset of the osd inside image

+ + + +

OSD horizontal offset (OSD_H_OFFSET)

+ +

Sets horizontal offset of the osd inside image

+ + + +

RSSI warn level (in %) (OSD_W_RSSI)

+ +

Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.

+ + + +

NSAT warn level (OSD_W_NSAT)

+ +

Set level at which NSAT item will flash

+ + + +

BAT_VOLT warn level (OSD_W_BATVOLT)

+ +

Set level at which BAT_VOLT item will flash

+ + + +

Display Units (OSD_UNITS)

+ +

Sets the units to use in displaying items

+ + + +

Message display duration in seconds (OSD_MSG_TIME)

+ +

Sets message duration seconds

+ + + +

Arm screen (OSD_ARM_SCR)

+ +

Screen to be shown on Arm event. Zero to disable the feature.

+ + + +

Disarm screen (OSD_DSARM_SCR)

+ +

Screen to be shown on disarm event. Zero to disable the feature.

+ + + +

Failsafe screen (OSD_FS_SCR)

+ +

Screen to be shown on failsafe event. Zero to disable the feature.

+ + + +

Button delay (OSD_BTN_DELAY)

Note: This parameter is for advanced users
+ +

Debounce time in ms for stick commanded parameter navigation.

+ + + +

Terrain warn level (OSD_W_TERR)

+ +

Set level below which TER_HGT item will flash. -1 disables.

+ + + +

AVGCELLV warn level (OSD_W_AVGCELLV)

+ +

Set level at which AVGCELLV item will flash

+ + + +

Battery cell count (OSD_CELL_COUNT)

Note: This parameter is for advanced users
+ +

Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.

+ + + +

RESTVOLT warn level (OSD_W_RESTVOLT)

+ +

Set level at which RESTVOLT item will flash

+ + + +

Avg Cell Resting Volt warn level (OSD_W_ACRVOLT)

+ +

Set level at which ACRVOLT item will flash

+ + + +

RC link quality warn level (in %) (OSD_W_LQ)

+ +

Set level at which RC_LQ item will flash (%)

+ + + +

RC link SNR warn level (in %) (OSD_W_SNR)

+ +

Set level at which RC_SNR item will flash (in db)

+ + + +

Sidebar horizontal offset (OSD_SB_H_OFS)

+ +

Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.

+ + + +

Sidebar vertical extension (OSD_SB_V_EXT)

+ +

Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.

+ + + +

OSD type 2 (OSD_TYPE2)

+ +

OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.

+ + + +

OSD1_ Parameters

+ + +

Enable screen (OSD1_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD1_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD1_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD1_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD1_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD1_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD1_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD1_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD1_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD1_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD1_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD1_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD1_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD1_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD1_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD1_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD1_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD1_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD1_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD1_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD1_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD1_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD1_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD1_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD1_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD1_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD1_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD1_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD1_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD1_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD1_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD1_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD1_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD1_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD1_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD1_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD1_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD1_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD1_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD1_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD1_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD1_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD1_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD1_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD1_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD1_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD1_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD1_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD1_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD1_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD1_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD1_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD1_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD1_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD1_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD1_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD1_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD1_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD1_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD1_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD1_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD1_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD1_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD1_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD1_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD1_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD1_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD1_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD1_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD1_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD1_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD1_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD1_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD1_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD1_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD1_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD1_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD1_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD1_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD1_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD1_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD1_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD1_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD1_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD1_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD1_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD1_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD1_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD1_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD1_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD1_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD1_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD1_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD1_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD1_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD1_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD1_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD1_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD1_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD1_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD1_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD1_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD1_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD1_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD1_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD1_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD1_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD1_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD1_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD1_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD1_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD1_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD1_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD1_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD1_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD1_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD1_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD1_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD1_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD1_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD1_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD1_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD1_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD1_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD1_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD1_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD1_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD1_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD1_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD1_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD1_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD1_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD1_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD1_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD1_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD1_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD1_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD1_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD1_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD1_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD1_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD1_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD1_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD1_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD1_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD1_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD1_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD1_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD1_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD1_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD1_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD1_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD1_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD1_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD1_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD1_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD1_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD1_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD1_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD1_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD1_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD1_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD1_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD1_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD1_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD1_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD1_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD1_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD1_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD1_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD1_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD1_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD1_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD1_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD1_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD1_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD1_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD1_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD1_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD1_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD1_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD1_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD1_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD1_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD1_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD1_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD1_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD1_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD1_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD1_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD1_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD1_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD1_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD1_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD1_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD1_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD1_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD1_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD1_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD1_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD1_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD2_ Parameters

+ + +

Enable screen (OSD2_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD2_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD2_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD2_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD2_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD2_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD2_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD2_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD2_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD2_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD2_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD2_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD2_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD2_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD2_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD2_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD2_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD2_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD2_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD2_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD2_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD2_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD2_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD2_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD2_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD2_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD2_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD2_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD2_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD2_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD2_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD2_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD2_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD2_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD2_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD2_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD2_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD2_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD2_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD2_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD2_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD2_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD2_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD2_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD2_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD2_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD2_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD2_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD2_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD2_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD2_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD2_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD2_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD2_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD2_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD2_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD2_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD2_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD2_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD2_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD2_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD2_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD2_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD2_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD2_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD2_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD2_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD2_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD2_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD2_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD2_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD2_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD2_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD2_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD2_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD2_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD2_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD2_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD2_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD2_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD2_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD2_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD2_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD2_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD2_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD2_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD2_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD2_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD2_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD2_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD2_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD2_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD2_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD2_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD2_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD2_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD2_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD2_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD2_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD2_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD2_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD2_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD2_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD2_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD2_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD2_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD2_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD2_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD2_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD2_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD2_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD2_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD2_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD2_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD2_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD2_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD2_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD2_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD2_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD2_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD2_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD2_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD2_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD2_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD2_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD2_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD2_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD2_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD2_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD2_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD2_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD2_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD2_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD2_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD2_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD2_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD2_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD2_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD2_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD2_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD2_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD2_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD2_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD2_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD2_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD2_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD2_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD2_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD2_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD2_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD2_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD2_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD2_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD2_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD2_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD2_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD2_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD2_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD2_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD2_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD2_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD2_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD2_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD2_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD2_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD2_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD2_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD2_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD2_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD2_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD2_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD2_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD2_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD2_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD2_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD2_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD2_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD2_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD2_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD2_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD2_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD2_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD2_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD2_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD2_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD2_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD2_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD2_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD2_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD2_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD2_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD2_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD2_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD2_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD2_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD2_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD2_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD2_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD2_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD2_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD2_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD3_ Parameters

+ + +

Enable screen (OSD3_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD3_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD3_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD3_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD3_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD3_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD3_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD3_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD3_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD3_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD3_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD3_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD3_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD3_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD3_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD3_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD3_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD3_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD3_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD3_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD3_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD3_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD3_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD3_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD3_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD3_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD3_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD3_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD3_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD3_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD3_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD3_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD3_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD3_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD3_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD3_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD3_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD3_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD3_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD3_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD3_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD3_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD3_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD3_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD3_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD3_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD3_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD3_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD3_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD3_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD3_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD3_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD3_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD3_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD3_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD3_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD3_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD3_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD3_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD3_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD3_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD3_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD3_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD3_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD3_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD3_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD3_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD3_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD3_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD3_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD3_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD3_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD3_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD3_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD3_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD3_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD3_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD3_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD3_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD3_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD3_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD3_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD3_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD3_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD3_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD3_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD3_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD3_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD3_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD3_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD3_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD3_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD3_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD3_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD3_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD3_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD3_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD3_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD3_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD3_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD3_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD3_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD3_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD3_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD3_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD3_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD3_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD3_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD3_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD3_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD3_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD3_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD3_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD3_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD3_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD3_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD3_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD3_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD3_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD3_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD3_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD3_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD3_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD3_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD3_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD3_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD3_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD3_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD3_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD3_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD3_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD3_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD3_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD3_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD3_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD3_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD3_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD3_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD3_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD3_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD3_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD3_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD3_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD3_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD3_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD3_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD3_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD3_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD3_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD3_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD3_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD3_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD3_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD3_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD3_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD3_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD3_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD3_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD3_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD3_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD3_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD3_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD3_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD3_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD3_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD3_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD3_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD3_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD3_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD3_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD3_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD3_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD3_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD3_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD3_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD3_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD3_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD3_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD3_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD3_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD3_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD3_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD3_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD3_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD3_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD3_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD3_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD3_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD3_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD3_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD3_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD3_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD3_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD3_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD3_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD3_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD3_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD3_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD3_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD3_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD3_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD4_ Parameters

+ + +

Enable screen (OSD4_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD4_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD4_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

ALTITUDE_EN (OSD4_ALTITUDE_EN)

+ +

Enables display of altitude AGL

+ + + +

ALTITUDE_X (OSD4_ALTITUDE_X)

+ +

Horizontal position on screen

+ + + +

ALTITUDE_Y (OSD4_ALTITUDE_Y)

+ +

Vertical position on screen

+ + + +

BATVOLT_EN (OSD4_BAT_VOLT_EN)

+ +

Displays main battery voltage

+ + + +

BATVOLT_X (OSD4_BAT_VOLT_X)

+ +

Horizontal position on screen

+ + + +

BATVOLT_Y (OSD4_BAT_VOLT_Y)

+ +

Vertical position on screen

+ + + +

RSSI_EN (OSD4_RSSI_EN)

+ +

Displays RC signal strength

+ + + +

RSSI_X (OSD4_RSSI_X)

+ +

Horizontal position on screen

+ + + +

RSSI_Y (OSD4_RSSI_Y)

+ +

Vertical position on screen

+ + + +

CURRENT_EN (OSD4_CURRENT_EN)

+ +

Displays main battery current

+ + + +

CURRENT_X (OSD4_CURRENT_X)

+ +

Horizontal position on screen

+ + + +

CURRENT_Y (OSD4_CURRENT_Y)

+ +

Vertical position on screen

+ + + +

BATUSED_EN (OSD4_BATUSED_EN)

+ +

Displays primary battery mAh consumed

+ + + +

BATUSED_X (OSD4_BATUSED_X)

+ +

Horizontal position on screen

+ + + +

BATUSED_Y (OSD4_BATUSED_Y)

+ +

Vertical position on screen

+ + + +

SATS_EN (OSD4_SATS_EN)

+ +

Displays number of acquired satellites

+ + + +

SATS_X (OSD4_SATS_X)

+ +

Horizontal position on screen

+ + + +

SATS_Y (OSD4_SATS_Y)

+ +

Vertical position on screen

+ + + +

FLTMODE_EN (OSD4_FLTMODE_EN)

+ +

Displays flight mode

+ + + +

FLTMODE_X (OSD4_FLTMODE_X)

+ +

Horizontal position on screen

+ + + +

FLTMODE_Y (OSD4_FLTMODE_Y)

+ +

Vertical position on screen

+ + + +

MESSAGE_EN (OSD4_MESSAGE_EN)

+ +

Displays Mavlink messages

+ + + +

MESSAGE_X (OSD4_MESSAGE_X)

+ +

Horizontal position on screen

+ + + +

MESSAGE_Y (OSD4_MESSAGE_Y)

+ +

Vertical position on screen

+ + + +

GSPEED_EN (OSD4_GSPEED_EN)

+ +

Displays GPS ground speed

+ + + +

GSPEED_X (OSD4_GSPEED_X)

+ +

Horizontal position on screen

+ + + +

GSPEED_Y (OSD4_GSPEED_Y)

+ +

Vertical position on screen

+ + + +

HORIZON_EN (OSD4_HORIZON_EN)

+ +

Displays artificial horizon

+ + + +

HORIZON_X (OSD4_HORIZON_X)

+ +

Horizontal position on screen

+ + + +

HORIZON_Y (OSD4_HORIZON_Y)

+ +

Vertical position on screen

+ + + +

HOME_EN (OSD4_HOME_EN)

+ +

Displays distance and relative direction to HOME

+ + + +

HOME_X (OSD4_HOME_X)

+ +

Horizontal position on screen

+ + + +

HOME_Y (OSD4_HOME_Y)

+ +

Vertical position on screen

+ + + +

HEADING_EN (OSD4_HEADING_EN)

+ +

Displays heading

+ + + +

HEADING_X (OSD4_HEADING_X)

+ +

Horizontal position on screen

+ + + +

HEADING_Y (OSD4_HEADING_Y)

+ +

Vertical position on screen

+ + + +

THROTTLE_EN (OSD4_THROTTLE_EN)

+ +

Displays actual throttle percentage being sent to motor(s)

+ + + +

THROTTLE_X (OSD4_THROTTLE_X)

+ +

Horizontal position on screen

+ + + +

THROTTLE_Y (OSD4_THROTTLE_Y)

+ +

Vertical position on screen

+ + + +

COMPASS_EN (OSD4_COMPASS_EN)

+ +

Enables display of compass rose

+ + + +

COMPASS_X (OSD4_COMPASS_X)

+ +

Horizontal position on screen

+ + + +

COMPASS_Y (OSD4_COMPASS_Y)

+ +

Vertical position on screen

+ + + +

WIND_EN (OSD4_WIND_EN)

+ +

Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted

+ + + +

WIND_X (OSD4_WIND_X)

+ +

Horizontal position on screen

+ + + +

WIND_Y (OSD4_WIND_Y)

+ +

Vertical position on screen

+ + + +

ASPEED_EN (OSD4_ASPEED_EN)

+ +

Displays airspeed value being used by TECS (fused value)

+ + + +

ASPEED_X (OSD4_ASPEED_X)

+ +

Horizontal position on screen

+ + + +

ASPEED_Y (OSD4_ASPEED_Y)

+ +

Vertical position on screen

+ + + +

VSPEED_EN (OSD4_VSPEED_EN)

+ +

Displays climb rate

+ + + +

VSPEED_X (OSD4_VSPEED_X)

+ +

Horizontal position on screen

+ + + +

VSPEED_Y (OSD4_VSPEED_Y)

+ +

Vertical position on screen

+ + + +

ESCTEMP_EN (OSD4_ESCTEMP_EN)

+ +

Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set

+ + + +

ESCTEMP_X (OSD4_ESCTEMP_X)

+ +

Horizontal position on screen

+ + + +

ESCTEMP_Y (OSD4_ESCTEMP_Y)

+ +

Vertical position on screen

+ + + +

ESCRPM_EN (OSD4_ESCRPM_EN)

+ +

Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCRPM_X (OSD4_ESCRPM_X)

+ +

Horizontal position on screen

+ + + +

ESCRPM_Y (OSD4_ESCRPM_Y)

+ +

Vertical position on screen

+ + + +

ESCAMPS_EN (OSD4_ESCAMPS_EN)

+ +

Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set

+ + + +

ESCAMPS_X (OSD4_ESCAMPS_X)

+ +

Horizontal position on screen

+ + + +

ESCAMPS_Y (OSD4_ESCAMPS_Y)

+ +

Vertical position on screen

+ + + +

GPSLAT_EN (OSD4_GPSLAT_EN)

+ +

Displays GPS latitude

+ + + +

GPSLAT_X (OSD4_GPSLAT_X)

+ +

Horizontal position on screen

+ + + +

GPSLAT_Y (OSD4_GPSLAT_Y)

+ +

Vertical position on screen

+ + + +

GPSLONG_EN (OSD4_GPSLONG_EN)

+ +

Displays GPS longitude

+ + + +

GPSLONG_X (OSD4_GPSLONG_X)

+ +

Horizontal position on screen

+ + + +

GPSLONG_Y (OSD4_GPSLONG_Y)

+ +

Vertical position on screen

+ + + +

ROLL_EN (OSD4_ROLL_EN)

+ +

Displays degrees of roll from level

+ + + +

ROLL_X (OSD4_ROLL_X)

+ +

Horizontal position on screen

+ + + +

ROLL_Y (OSD4_ROLL_Y)

+ +

Vertical position on screen

+ + + +

PITCH_EN (OSD4_PITCH_EN)

+ +

Displays degrees of pitch from level

+ + + +

PITCH_X (OSD4_PITCH_X)

+ +

Horizontal position on screen

+ + + +

PITCH_Y (OSD4_PITCH_Y)

+ +

Vertical position on screen

+ + + +

TEMP_EN (OSD4_TEMP_EN)

+ +

Displays temperature reported by primary barometer

+ + + +

TEMP_X (OSD4_TEMP_X)

+ +

Horizontal position on screen

+ + + +

TEMP_Y (OSD4_TEMP_Y)

+ +

Vertical position on screen

+ + + +

HDOP_EN (OSD4_HDOP_EN)

+ +

Displays Horizontal Dilution Of Position

+ + + +

HDOP_X (OSD4_HDOP_X)

+ +

Horizontal position on screen

+ + + +

HDOP_Y (OSD4_HDOP_Y)

+ +

Vertical position on screen

+ + + +

WAYPOINT_EN (OSD4_WAYPOINT_EN)

+ +

Displays bearing and distance to next waypoint

+ + + +

WAYPOINT_X (OSD4_WAYPOINT_X)

+ +

Horizontal position on screen

+ + + +

WAYPOINT_Y (OSD4_WAYPOINT_Y)

+ +

Vertical position on screen

+ + + +

XTRACK_EN (OSD4_XTRACK_EN)

+ +

Displays crosstrack error

+ + + +

XTRACK_X (OSD4_XTRACK_X)

+ +

Horizontal position on screen

+ + + +

XTRACK_Y (OSD4_XTRACK_Y)

+ +

Vertical position on screen

+ + + +

DIST_EN (OSD4_DIST_EN)

+ +

Displays total distance flown

+ + + +

DIST_X (OSD4_DIST_X)

+ +

Horizontal position on screen

+ + + +

DIST_Y (OSD4_DIST_Y)

+ +

Vertical position on screen

+ + + +

STATS_EN (OSD4_STATS_EN)

+ +

Displays flight stats

+ + + +

STATS_X (OSD4_STATS_X)

+ +

Horizontal position on screen

+ + + +

STATS_Y (OSD4_STATS_Y)

+ +

Vertical position on screen

+ + + +

FLTIME_EN (OSD4_FLTIME_EN)

+ +

Displays total flight time

+ + + +

FLTIME_X (OSD4_FLTIME_X)

+ +

Horizontal position on screen

+ + + +

FLTIME_Y (OSD4_FLTIME_Y)

+ +

Vertical position on screen

+ + + +

CLIMBEFF_EN (OSD4_CLIMBEFF_EN)

+ +

Displays climb efficiency (climb rate/current)

+ + + +

CLIMBEFF_X (OSD4_CLIMBEFF_X)

+ +

Horizontal position on screen

+ + + +

CLIMBEFF_Y (OSD4_CLIMBEFF_Y)

+ +

Vertical position on screen

+ + + +

EFF_EN (OSD4_EFF_EN)

+ +

Displays flight efficiency (mAh/km or /mi)

+ + + +

EFF_X (OSD4_EFF_X)

+ +

Horizontal position on screen

+ + + +

EFF_Y (OSD4_EFF_Y)

+ +

Vertical position on screen

+ + + +

BTEMP_EN (OSD4_BTEMP_EN)

+ +

Displays temperature reported by secondary barometer

+ + + +

BTEMP_X (OSD4_BTEMP_X)

+ +

Horizontal position on screen

+ + + +

BTEMP_Y (OSD4_BTEMP_Y)

+ +

Vertical position on screen

+ + + +

ATEMP_EN (OSD4_ATEMP_EN)

+ +

Displays temperature reported by primary airspeed sensor

+ + + +

ATEMP_X (OSD4_ATEMP_X)

+ +

Horizontal position on screen

+ + + +

ATEMP_Y (OSD4_ATEMP_Y)

+ +

Vertical position on screen

+ + + +

BAT2VLT_EN (OSD4_BAT2_VLT_EN)

+ +

Displays battery2 voltage

+ + + +

BAT2VLT_X (OSD4_BAT2_VLT_X)

+ +

Horizontal position on screen

+ + + +

BAT2VLT_Y (OSD4_BAT2_VLT_Y)

+ +

Vertical position on screen

+ + + +

BAT2USED_EN (OSD4_BAT2USED_EN)

+ +

Displays secondary battery mAh consumed

+ + + +

BAT2USED_X (OSD4_BAT2USED_X)

+ +

Horizontal position on screen

+ + + +

BAT2USED_Y (OSD4_BAT2USED_Y)

+ +

Vertical position on screen

+ + + +

ASPD2_EN (OSD4_ASPD2_EN)

+ +

Displays airspeed reported directly from secondary airspeed sensor

+ + + +

ASPD2_X (OSD4_ASPD2_X)

+ +

Horizontal position on screen

+ + + +

ASPD2_Y (OSD4_ASPD2_Y)

+ +

Vertical position on screen

+ + + +

ASPD1_EN (OSD4_ASPD1_EN)

+ +

Displays airspeed reported directly from primary airspeed sensor

+ + + +

ASPD1_X (OSD4_ASPD1_X)

+ +

Horizontal position on screen

+ + + +

ASPD1_Y (OSD4_ASPD1_Y)

+ +

Vertical position on screen

+ + + +

CLK_EN (OSD4_CLK_EN)

+ +

Displays a clock panel based on AP_RTC local time

+ + + +

CLK_X (OSD4_CLK_X)

+ +

Horizontal position on screen

+ + + +

CLK_Y (OSD4_CLK_Y)

+ +

Vertical position on screen

+ + + +

SIDEBARS_EN (OSD4_SIDEBARS_EN)

+ +

Displays artificial horizon side bars

+ + + +

SIDEBARS_X (OSD4_SIDEBARS_X)

+ +

Horizontal position on screen

+ + + +

SIDEBARS_Y (OSD4_SIDEBARS_Y)

+ +

Vertical position on screen

+ + + +

CRSSHAIR_EN (OSD4_CRSSHAIR_EN)

+ +

Displays artificial horizon crosshair (MSP OSD only)

+ + + +

CRSSHAIR_X (OSD4_CRSSHAIR_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

CRSSHAIR_Y (OSD4_CRSSHAIR_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIST_EN (OSD4_HOMEDIST_EN)

+ +

Displays distance from HOME (MSP OSD only)

+ + + +

HOMEDIST_X (OSD4_HOMEDIST_X)

+ +

Horizontal position on screen (MSP OSD only)

+ + + +

HOMEDIST_Y (OSD4_HOMEDIST_Y)

+ +

Vertical position on screen (MSP OSD only)

+ + + +

HOMEDIR_EN (OSD4_HOMEDIR_EN)

+ +

Displays relative direction to HOME (MSP OSD only)

+ + + +

HOMEDIR_X (OSD4_HOMEDIR_X)

+ +

Horizontal position on screen

+ + + +

HOMEDIR_Y (OSD4_HOMEDIR_Y)

+ +

Vertical position on screen

+ + + +

POWER_EN (OSD4_POWER_EN)

+ +

Displays power (MSP OSD only)

+ + + +

POWER_X (OSD4_POWER_X)

+ +

Horizontal position on screen

+ + + +

POWER_Y (OSD4_POWER_Y)

+ +

Vertical position on screen

+ + + +

CELL_VOLT_EN (OSD4_CELLVOLT_EN)

+ +

Displays average cell voltage (MSP OSD only)

+ + + +

CELL_VOLT_X (OSD4_CELLVOLT_X)

+ +

Horizontal position on screen

+ + + +

CELL_VOLT_Y (OSD4_CELLVOLT_Y)

+ +

Vertical position on screen

+ + + +

BATT_BAR_EN (OSD4_BATTBAR_EN)

+ +

Displays battery usage bar (MSP OSD only)

+ + + +

BATT_BAR_X (OSD4_BATTBAR_X)

+ +

Horizontal position on screen

+ + + +

BATT_BAR_Y (OSD4_BATTBAR_Y)

+ +

Vertical position on screen

+ + + +

ARMING_EN (OSD4_ARMING_EN)

+ +

Displays arming status (MSP OSD only)

+ + + +

ARMING_X (OSD4_ARMING_X)

+ +

Horizontal position on screen

+ + + +

ARMING_Y (OSD4_ARMING_Y)

+ +

Vertical position on screen

+ + + +

PLUSCODE_EN (OSD4_PLUSCODE_EN)

+ +

Displays pluscode (OLC) element

+ + + +

PLUSCODE_X (OSD4_PLUSCODE_X)

+ +

Horizontal position on screen

+ + + +

PLUSCODE_Y (OSD4_PLUSCODE_Y)

+ +

Vertical position on screen

+ + + +

CALLSIGN_EN (OSD4_CALLSIGN_EN)

+ +

Displays callsign from callsign.txt on microSD card

+ + + +

CALLSIGN_X (OSD4_CALLSIGN_X)

+ +

Horizontal position on screen

+ + + +

CALLSIGN_Y (OSD4_CALLSIGN_Y)

+ +

Vertical position on screen

+ + + +

CURRENT2_EN (OSD4_CURRENT2_EN)

+ +

Displays 2nd battery current

+ + + +

CURRENT2_X (OSD4_CURRENT2_X)

+ +

Horizontal position on screen

+ + + +

CURRENT2_Y (OSD4_CURRENT2_Y)

+ +

Vertical position on screen

+ + + +

VTX_PWR_EN (OSD4_VTX_PWR_EN)

+ +

Displays VTX Power

+ + + +

VTX_PWR_X (OSD4_VTX_PWR_X)

+ +

Horizontal position on screen

+ + + +

VTX_PWR_Y (OSD4_VTX_PWR_Y)

+ +

Vertical position on screen

+ + + +

TER_HGT_EN (OSD4_TER_HGT_EN)

+ +

Displays Height above terrain

+ + + +

TER_HGT_X (OSD4_TER_HGT_X)

+ +

Horizontal position on screen

+ + + +

TER_HGT_Y (OSD4_TER_HGT_Y)

+ +

Vertical position on screen

+ + + +

AVGCELLV_EN (OSD4_AVGCELLV_EN)

+ +

Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

AVGCELLV_X (OSD4_AVGCELLV_X)

+ +

Horizontal position on screen

+ + + +

AVGCELLV_Y (OSD4_AVGCELLV_Y)

+ +

Vertical position on screen

+ + + +

RESTVOLT_EN (OSD4_RESTVOLT_EN)

+ +

Displays main battery resting voltage

+ + + +

RESTVOLT_X (OSD4_RESTVOLT_X)

+ +

Horizontal position on screen

+ + + +

RESTVOLT_Y (OSD4_RESTVOLT_Y)

+ +

Vertical position on screen

+ + + +

FENCE_EN (OSD4_FENCE_EN)

+ +

Displays indication of fence enable and breach

+ + + +

FENCE_X (OSD4_FENCE_X)

+ +

Horizontal position on screen

+ + + +

FENCE_Y (OSD4_FENCE_Y)

+ +

Vertical position on screen

+ + + +

RNGF_EN (OSD4_RNGF_EN)

+ +

Displays a rangefinder's distance in cm

+ + + +

RNGF_X (OSD4_RNGF_X)

+ +

Horizontal position on screen

+ + + +

RNGF_Y (OSD4_RNGF_Y)

+ +

Vertical position on screen

+ + + +

ACRVOLT_EN (OSD4_ACRVOLT_EN)

+ +

Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).

+ + + +

ACRVOLT_X (OSD4_ACRVOLT_X)

+ +

Horizontal position on screen

+ + + +

ACRVOLT_Y (OSD4_ACRVOLT_Y)

+ +

Vertical position on screen

+ + + +

RPM_EN (OSD4_RPM_EN)

+ +

Displays main rotor revs/min

+ + + +

RPM_X (OSD4_RPM_X)

+ +

Horizontal position on screen

+ + + +

RPM_Y (OSD4_RPM_Y)

+ +

Vertical position on screen

+ + + +

LINK_Q_EN (OSD4_LINK_Q_EN)

+ +

Displays Receiver link quality

+ + + +

LINK_Q_X (OSD4_LINK_Q_X)

+ +

Horizontal position on screen

+ + + +

LINK_Q_Y (OSD4_LINK_Q_Y)

+ +

Vertical position on screen

+ + + +

Sets the overlay text resolution (MSP DisplayPort only) (OSD4_TXT_RES)

+ +

Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)

+ + + +

Sets the font index for this screen (MSP DisplayPort only) (OSD4_FONT)

+ +

Sets the font index for this screen (MSP DisplayPort only)

+ + + +

RC_PWR_EN (OSD4_RC_PWR_EN)

+ +

Displays the RC link transmit (TX) power in mW or W, depending on level

+ + + +

RC_PWR_X (OSD4_RC_PWR_X)

+ +

Horizontal position on screen

+ + + +

RC_PWR_Y (OSD4_RC_PWR_Y)

+ +

Vertical position on screen

+ + + +

RSSIDBM_EN (OSD4_RSSIDBM_EN)

+ +

Displays RC link signal strength in dBm

+ + + +

RSSIDBM_X (OSD4_RSSIDBM_X)

+ +

Horizontal position on screen

+ + + +

RSSIDBM_Y (OSD4_RSSIDBM_Y)

+ +

Vertical position on screen

+ + + +

RC_SNR_EN (OSD4_RC_SNR_EN)

+ +

Displays RC link signal to noise ratio in dB

+ + + +

RC_SNR_X (OSD4_RC_SNR_X)

+ +

Horizontal position on screen

+ + + +

RC_SNR_Y (OSD4_RC_SNR_Y)

+ +

Vertical position on screen

+ + + +

RC_ANT_EN (OSD4_RC_ANT_EN)

+ +

Displays the current RC link active antenna

+ + + +

RC_ANT_X (OSD4_RC_ANT_X)

+ +

Horizontal position on screen

+ + + +

RC_ANT_Y (OSD4_RC_ANT_Y)

+ +

Vertical position on screen

+ + + +

RC_LQ_EN (OSD4_RC_LQ_EN)

+ +

Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set

+ + + +

RC_LQ_X (OSD4_RC_LQ_X)

+ +

Horizontal position on screen

+ + + +

RC_LQ_Y (OSD4_RC_LQ_Y)

+ +

Vertical position on screen

+ + + +

ESC_IDX (OSD4_ESC_IDX)

+ +

Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.

+ + + +

OSD5_ Parameters

+ + +

Enable screen (OSD5_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD5_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD5_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD5_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD5_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD5_PARAM1 Parameters

+ + +

Enable (OSD5_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM2 Parameters

+ + +

Enable (OSD5_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM3 Parameters

+ + +

Enable (OSD5_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM4 Parameters

+ + +

Enable (OSD5_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM5 Parameters

+ + +

Enable (OSD5_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM6 Parameters

+ + +

Enable (OSD5_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM7 Parameters

+ + +

Enable (OSD5_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM8 Parameters

+ + +

Enable (OSD5_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD5_PARAM9 Parameters

+ + +

Enable (OSD5_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD5_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD5_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD5_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD5_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD5_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD5_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD5_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD5_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD5_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_ Parameters

+ + +

Enable screen (OSD6_ENABLE)

+ +

Enable this screen

+ + + +

Transmitter switch screen minimum pwm (OSD6_CHAN_MIN)

+ +

This sets the PWM lower limit for this screen

+ + + +

Transmitter switch screen maximum pwm (OSD6_CHAN_MAX)

+ +

This sets the PWM upper limit for this screen

+ + + +

SAVE_X (OSD6_SAVE_X)

Note: This parameter is for advanced users
+ +

Horizontal position of Save button on screen

+ + + +

SAVE_Y (OSD6_SAVE_Y)

Note: This parameter is for advanced users
+ +

Vertical position of Save button on screen

+ + + +

OSD6_PARAM1 Parameters

+ + +

Enable (OSD6_PARAM1_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM1_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM1_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM1_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM1_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM1_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM1_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM1_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM1_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM1_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM2 Parameters

+ + +

Enable (OSD6_PARAM2_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM2_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM2_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM2_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM2_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM2_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM2_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM2_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM2_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM2_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM3 Parameters

+ + +

Enable (OSD6_PARAM3_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM3_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM3_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM3_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM3_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM3_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM3_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM3_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM3_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM3_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM4 Parameters

+ + +

Enable (OSD6_PARAM4_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM4_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM4_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM4_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM4_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM4_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM4_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM4_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM4_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM4_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM5 Parameters

+ + +

Enable (OSD6_PARAM5_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM5_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM5_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM5_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM5_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM5_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM5_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM5_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM5_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM5_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM6 Parameters

+ + +

Enable (OSD6_PARAM6_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM6_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM6_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM6_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM6_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM6_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM6_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM6_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM6_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM6_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM7 Parameters

+ + +

Enable (OSD6_PARAM7_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM7_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM7_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM7_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM7_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM7_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM7_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM7_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM7_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM7_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM8 Parameters

+ + +

Enable (OSD6_PARAM8_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM8_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM8_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM8_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM8_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM8_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM8_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM8_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM8_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM8_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

OSD6_PARAM9 Parameters

+ + +

Enable (OSD6_PARAM9_EN)

+ +

Enable setting

+ + + +

X position (OSD6_PARAM9_X)

+ +

Horizontal position on screen

+ + + +

Y position (OSD6_PARAM9_Y)

+ +

Vertical position on screen

+ + + +

Parameter key (OSD6_PARAM9_KEY)

+ +

Key of the parameter to be displayed and modified

+ + + +

Parameter index (OSD6_PARAM9_IDX)

+ +

Index of the parameter to be displayed and modified

+ + + +

Parameter group (OSD6_PARAM9_GRP)

+ +

Group of the parameter to be displayed and modified

+ + + +

Parameter minimum (OSD6_PARAM9_MIN)

+ +

Minimum value of the parameter to be displayed and modified

+ + + +

Parameter maximum (OSD6_PARAM9_MAX)

+ +

Maximum of the parameter to be displayed and modified

+ + + +

Parameter increment (OSD6_PARAM9_INCR)

+ +

Increment of the parameter to be displayed and modified

+ + + +

Parameter type (OSD6_PARAM9_TYPE)

+ +

Type of the parameter to be displayed and modified

+ + + +

PLND_ Parameters

+ + +

Precision Land enabled/disabled (PLND_ENABLED)

Note: This parameter is for advanced users
+ +

Precision Land enabled/disabled

+ + + +

Precision Land Type (PLND_TYPE)

Note: This parameter is for advanced users
+ +

Precision Land Type

+ + + +

Sensor yaw alignment (PLND_YAW_ALIGN)

Note: This parameter is for advanced users
+ +

Yaw angle from body x-axis to sensor x-axis.

+ + + +

Land offset forward (PLND_LAND_OFS_X)

Note: This parameter is for advanced users
+ +

Desired landing position of the camera forward of the target in vehicle body frame

+ + + +

Land offset right (PLND_LAND_OFS_Y)

Note: This parameter is for advanced users
+ +

desired landing position of the camera right of the target in vehicle body frame

+ + + +

Precision Land Estimator Type (PLND_EST_TYPE)

Note: This parameter is for advanced users
+ +

Specifies the estimation method to be used

+ + + +

Kalman Filter Accelerometer Noise (PLND_ACC_P_NSE)

Note: This parameter is for advanced users
+ +

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

+ + + +

Camera X position offset (PLND_CAM_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Camera Y position offset (PLND_CAM_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Camera Z position offset (PLND_CAM_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Sensor Bus (PLND_BUS)

Note: This parameter is for advanced users
+ +

Precland sensor bus for I2C sensors.

+ + + +

Precision Landing sensor lag (PLND_LAG)

Note: This parameter is for advanced users
+ +

Precision Landing sensor lag, to cope with variable landing_target latency

+ + + +

Precision Landing maximum distance to target before descending (PLND_XY_DIST_MAX)

Note: This parameter is for advanced users
+ +

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

+ + + +

PrecLand strictness (PLND_STRICT)

+ +

How strictly should the vehicle land on the target if target is lost

+ + + +

PrecLand Maximum number of retires for a failed landing (PLND_RET_MAX)

+ +

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

+ + + +

PrecLand retry timeout (PLND_TIMEOUT)

+ +

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

+ + + +

PrecLand retry behaviour (PLND_RET_BEHAVE)

+ +

Prec Land will do the action selected by this parameter if a retry to a landing is needed

+ + + +

PrecLand minimum alt for retry (PLND_ALT_MIN)

+ +

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

PrecLand maximum alt for retry (PLND_ALT_MAX)

+ +

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

+ + + +

Precision Landing Extra Options (PLND_OPTIONS)

Note: This parameter is for advanced users
+ +

Precision Landing Extra Options

+ + + +

Camera Orientation (PLND_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of camera/sensor on body

+ + + +

PRX Parameters

+ + +

Proximity raw distances log (PRX_LOG_RAW)

Note: This parameter is for advanced users
+ +

Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled

+ + + +

Proximity filter cutoff frequency (PRX_FILT)

Note: This parameter is for advanced users
+ +

Cutoff frequency for low pass filter applied to each face in the proximity boundary

+ + + +

PRX1 Parameters

+ + +

Proximity type (PRX1_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX1_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX1_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX1_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX1_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX1_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX1_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX1_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX1_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX1_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX1_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX1_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX1_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX1_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX1_ Parameters

+ + +

CAN receive ID (PRX1_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX2 Parameters

+ + +

Proximity type (PRX2_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX2_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX2_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX2_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX2_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX2_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX2_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX2_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX2_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX2_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX2_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX2_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX2_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX2_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX2_ Parameters

+ + +

CAN receive ID (PRX2_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX3 Parameters

+ + +

Proximity type (PRX3_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX3_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX3_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX3_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX3_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX3_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX3_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX3_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX3_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX3_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX3_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX3_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX3_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX3_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX3_ Parameters

+ + +

CAN receive ID (PRX3_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PRX4 Parameters

+ + +

Proximity type (PRX4_TYPE)

+ +

What type of proximity sensor is connected

+ + + +

Proximity sensor orientation (PRX4_ORIENT)

+ +

Proximity sensor orientation

+ + + +

Proximity sensor yaw correction (PRX4_YAW_CORR)

+ +

Proximity sensor yaw correction

+ + + +

Proximity sensor ignore angle 1 (PRX4_IGN_ANG1)

+ +

Proximity sensor ignore angle 1

+ + + +

Proximity sensor ignore width 1 (PRX4_IGN_WID1)

+ +

Proximity sensor ignore width 1

+ + + +

Proximity sensor ignore angle 2 (PRX4_IGN_ANG2)

+ +

Proximity sensor ignore angle 2

+ + + +

Proximity sensor ignore width 2 (PRX4_IGN_WID2)

+ +

Proximity sensor ignore width 2

+ + + +

Proximity sensor ignore angle 3 (PRX4_IGN_ANG3)

+ +

Proximity sensor ignore angle 3

+ + + +

Proximity sensor ignore width 3 (PRX4_IGN_WID3)

+ +

Proximity sensor ignore width 3

+ + + +

Proximity sensor ignore angle 4 (PRX4_IGN_ANG4)

+ +

Proximity sensor ignore angle 4

+ + + +

Proximity sensor ignore width 4 (PRX4_IGN_WID4)

+ +

Proximity sensor ignore width 4

+ + + +

Proximity minimum range (PRX4_MIN)

Note: This parameter is for advanced users
+ +

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Proximity maximum range (PRX4_MAX)

Note: This parameter is for advanced users
+ +

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

+ + + +

Bus address of sensor (PRX4_ADDR)

+ +

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

PRX4_ Parameters

+ + +

CAN receive ID (PRX4_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

PSC Parameters

+ + +

Position controller P gain (PSC_POS_P)

+ +

Position controller P gain. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller

+ + + +

Velocity (horizontal) P gain (PSC_VEL_P)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) I gain (PSC_VEL_I)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

+ + + +

Velocity (horizontal) D gain (PSC_VEL_D)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) D gain. Corrects short-term changes in velocity

+ + + +

Velocity (horizontal) integrator maximum (PSC_VEL_IMAX)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

+ + + +

Velocity (horizontal) input filter (PSC_VEL_FLTE)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

+ + + +

Velocity (horizontal) input filter (PSC_VEL_FLTD)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

+ + + +

Velocity (horizontal) feed forward gain (PSC_VEL_FF)

Note: This parameter is for advanced users
+ +

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

+ + + +

RALLY_ Parameters

+ + +

Rally Total (RALLY_TOTAL)

Note: This parameter is for advanced users
+ +

Number of rally points currently loaded

+ + + +

Rally Limit (RALLY_LIMIT_KM)

Note: This parameter is for advanced users
+ +

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

+ + + +

Rally Include Home (RALLY_INCL_HOME)

+ +

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

+ + + +

RC Parameters

+ + +

RC override timeout (RC_OVERRIDE_TIME)

Note: This parameter is for advanced users
+ +

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

+ + + +

RC options (RC_OPTIONS)

Note: This parameter is for advanced users
+ +

RC input options

+ + + +

RC protocols enabled (RC_PROTOCOLS)

Note: This parameter is for advanced users
+ +

Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.

+ + + +

RC Failsafe timeout (RC_FS_TIMEOUT)

+ +

RC failsafe will trigger this many seconds after loss of RC

+ + + +

RC10_ Parameters

+ + +

RC min PWM (RC10_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC10_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC10_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC10_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC10_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC10_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC11_ Parameters

+ + +

RC min PWM (RC11_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC11_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC11_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC11_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC11_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC11_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC12_ Parameters

+ + +

RC min PWM (RC12_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC12_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC12_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC12_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC12_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC12_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC13_ Parameters

+ + +

RC min PWM (RC13_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC13_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC13_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC13_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC13_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC13_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC14_ Parameters

+ + +

RC min PWM (RC14_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC14_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC14_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC14_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC14_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC14_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC15_ Parameters

+ + +

RC min PWM (RC15_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC15_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC15_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC15_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC15_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC15_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC16_ Parameters

+ + +

RC min PWM (RC16_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC16_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC16_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC16_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC16_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC16_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC1_ Parameters

+ + +

RC min PWM (RC1_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC1_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC1_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC1_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC1_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC1_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC2_ Parameters

+ + +

RC min PWM (RC2_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC2_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC2_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC2_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC2_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC2_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC3_ Parameters

+ + +

RC min PWM (RC3_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC3_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC3_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC3_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC3_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC3_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC4_ Parameters

+ + +

RC min PWM (RC4_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC4_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC4_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC4_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC4_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC4_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC5_ Parameters

+ + +

RC min PWM (RC5_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC5_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC5_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC5_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC5_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC5_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC6_ Parameters

+ + +

RC min PWM (RC6_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC6_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC6_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC6_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC6_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC6_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC7_ Parameters

+ + +

RC min PWM (RC7_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC7_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC7_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC7_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC7_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC7_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC8_ Parameters

+ + +

RC min PWM (RC8_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC8_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC8_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC8_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC8_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC8_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RC9_ Parameters

+ + +

RC min PWM (RC9_MIN)

Note: This parameter is for advanced users
+ +

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC trim PWM (RC9_TRIM)

Note: This parameter is for advanced users
+ +

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC max PWM (RC9_MAX)

Note: This parameter is for advanced users
+ +

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

RC reversed (RC9_REVERSED)

Note: This parameter is for advanced users
+ +

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

+ + + +

RC dead-zone (RC9_DZ)

Note: This parameter is for advanced users
+ +

PWM dead zone in microseconds around trim or bottom

+ + + +

RC input option (RC9_OPTION)

+ +

Function assigned to this RC channel

+ + + +

RCMAP_ Parameters

+ + +

Roll channel (RCMAP_ROLL)

Note: This parameter is for advanced users
+ +

Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Pitch channel (RCMAP_PITCH)

Note: This parameter is for advanced users
+ +

Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Throttle channel (RCMAP_THROTTLE)

Note: This parameter is for advanced users
+ +

Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

Yaw channel (RCMAP_YAW)

Note: This parameter is for advanced users
+ +

Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

+ + + +

RELAY10_ Parameters

+ + +

Relay function (RELAY10_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY10_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY10_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY10_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY11_ Parameters

+ + +

Relay function (RELAY11_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY11_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY11_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY11_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY12_ Parameters

+ + +

Relay function (RELAY12_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY12_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY12_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY12_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY13_ Parameters

+ + +

Relay function (RELAY13_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY13_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY13_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY13_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY14_ Parameters

+ + +

Relay function (RELAY14_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY14_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY14_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY14_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY15_ Parameters

+ + +

Relay function (RELAY15_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY15_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY15_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY15_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY16_ Parameters

+ + +

Relay function (RELAY16_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY16_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY16_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY16_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY1_ Parameters

+ + +

Relay function (RELAY1_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY1_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY1_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY1_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY2_ Parameters

+ + +

Relay function (RELAY2_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY2_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY2_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY2_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY3_ Parameters

+ + +

Relay function (RELAY3_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY3_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY3_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY3_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY4_ Parameters

+ + +

Relay function (RELAY4_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY4_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY4_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY4_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY5_ Parameters

+ + +

Relay function (RELAY5_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY5_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY5_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY5_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY6_ Parameters

+ + +

Relay function (RELAY6_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY6_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY6_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY6_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY7_ Parameters

+ + +

Relay function (RELAY7_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY7_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY7_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY7_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY8_ Parameters

+ + +

Relay function (RELAY8_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY8_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY8_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY8_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RELAY9_ Parameters

+ + +

Relay function (RELAY9_FUNCTION)

+ +

The function the relay channel is mapped to.

+ + + +

Relay pin (RELAY9_PIN)

+ +

Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Relay default state (RELAY9_DEFAULT)

+ +

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

+ + + +

Relay invert output signal (RELAY9_INVERTED)

+ +

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

+ + + +

RNGFND1_ Parameters

+ + +

Rangefinder type (RNGFND1_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND1_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND1_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND1_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND1_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND1_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND1_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND1_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND1_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND1_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND1_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND1_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND1_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND1_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND1_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND1_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND1_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND1_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND1_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND1_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND1_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND1_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND1_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND1_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND2_ Parameters

+ + +

Rangefinder type (RNGFND2_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND2_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND2_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND2_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND2_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND2_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND2_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND2_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND2_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND2_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND2_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND2_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND2_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND2_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND2_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND2_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND2_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND2_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND2_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND2_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND2_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND2_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND2_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND2_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND3_ Parameters

+ + +

Rangefinder type (RNGFND3_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND3_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND3_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND3_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND3_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND3_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND3_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND3_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND3_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND3_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND3_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND3_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND3_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND3_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND3_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND3_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND3_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND3_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND3_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND3_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND3_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND3_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND3_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND3_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND4_ Parameters

+ + +

Rangefinder type (RNGFND4_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND4_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND4_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND4_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND4_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND4_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND4_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND4_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND4_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND4_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND4_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND4_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND4_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND4_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND4_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND4_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND4_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND4_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND4_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND4_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND4_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND4_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND4_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND4_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND5_ Parameters

+ + +

Rangefinder type (RNGFND5_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND5_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND5_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND5_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND5_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND5_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND5_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND5_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND5_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND5_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND5_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND5_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND5_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND5_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND5_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND5_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND5_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND5_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND5_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND5_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND5_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND5_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND5_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND5_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND6_ Parameters

+ + +

Rangefinder type (RNGFND6_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND6_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND6_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND6_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND6_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND6_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND6_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND6_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND6_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND6_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND6_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND6_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND6_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND6_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND6_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND6_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND6_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND6_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND6_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND6_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND6_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND6_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND6_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND6_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND7_ Parameters

+ + +

Rangefinder type (RNGFND7_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND7_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND7_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND7_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND7_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND7_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND7_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND7_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND7_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND7_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND7_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND7_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND7_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND7_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND7_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND7_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND7_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND7_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND7_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND7_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND7_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND7_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND7_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND7_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND8_ Parameters

+ + +

Rangefinder type (RNGFND8_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND8_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND8_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND8_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND8_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND8_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND8_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND8_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND8_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND8_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND8_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND8_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND8_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND8_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND8_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND8_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND8_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND8_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND8_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND8_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND8_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND8_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND8_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND8_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFND9_ Parameters

+ + +

Rangefinder type (RNGFND9_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFND9_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFND9_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFND9_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFND9_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFND9_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFND9_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFND9_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFND9_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFND9_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFND9_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFND9_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFND9_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFND9_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFND9_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFND9_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFND9_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFND9_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFND9_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFND9_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFND9_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFND9_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFND9_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFND9_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RNGFNDA_ Parameters

+ + +

Rangefinder type (RNGFNDA_TYPE)

+ +

Type of connected rangefinder

+ + + +

Rangefinder pin (RNGFNDA_PIN)

+ +

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

Rangefinder scaling (RNGFNDA_SCALING)

+ +

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.

+ + + +

rangefinder offset (RNGFNDA_OFFSET)

+ +

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

+ + + +

Rangefinder function (RNGFNDA_FUNCTION)

+ +

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

+ + + +

Rangefinder minimum distance (RNGFNDA_MIN_CM)

+ +

Minimum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder maximum distance (RNGFNDA_MAX_CM)

+ +

Maximum distance in centimeters that rangefinder can reliably read

+ + + +

Rangefinder stop pin (RNGFNDA_STOP_PIN)

+ +

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Ratiometric (RNGFNDA_RMETRIC)

+ +

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

+ + + +

Powersave range (RNGFNDA_PWRRNG)

+ +

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

+ + + +

Distance (in cm) from the range finder to the ground (RNGFNDA_GNDCLEAR)

+ +

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

+ + + +

Bus address of sensor (RNGFNDA_ADDR)

+ +

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

+ + + +

X position offset (RNGFNDA_POS_X)

Note: This parameter is for advanced users
+ +

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

+ + + +

Y position offset (RNGFNDA_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

+ + + +

Z position offset (RNGFNDA_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

+ + + +

Rangefinder orientation (RNGFNDA_ORIENT)

Note: This parameter is for advanced users
+ +

Orientation of rangefinder

+ + + +

Moving Average Range (RNGFNDA_WSP_MAVG)

Note: This parameter is for advanced users
+ +

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

+ + + +

Moving Median Filter (RNGFNDA_WSP_MEDF)

Note: This parameter is for advanced users
+ +

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

+ + + +

Frequency (RNGFNDA_WSP_FRQ)

Note: This parameter is for advanced users
+ +

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

+ + + +

Multi-pulse averages (RNGFNDA_WSP_AVG)

Note: This parameter is for advanced users
+ +

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

+ + + +

Sensitivity threshold (RNGFNDA_WSP_THR)

Note: This parameter is for advanced users
+ +

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

+ + + +

Baud rate (RNGFNDA_WSP_BAUD)

Note: This parameter is for advanced users
+ +

Desired baud rate

+ + + +

RangeFinder CAN receive ID (RNGFNDA_RECV_ID)

Note: This parameter is for advanced users
+ +

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

+ + + +

RangeFinder Minimum signal strength (RNGFNDA_SNR_MIN)

Note: This parameter is for advanced users
+ +

RangeFinder Minimum signal strength (SNR) to accept distance

+ + + +

RPM1_ Parameters

+ + +

RPM type (RPM1_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM1_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM1_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM1_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM1_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM1_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM1_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM1_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM1_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM2_ Parameters

+ + +

RPM type (RPM2_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM2_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM2_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM2_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM2_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM2_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM2_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM2_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM2_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM3_ Parameters

+ + +

RPM type (RPM3_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM3_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM3_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM3_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM3_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM3_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM3_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM3_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM3_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RPM4_ Parameters

+ + +

RPM type (RPM4_TYPE)

+ +

What type of RPM sensor is connected

+ + + +

RPM scaling (RPM4_SCALING)

+ +

Scaling factor between sensor reading and RPM.

+ + + +

Maximum RPM (RPM4_MAX)

+ +

Maximum RPM to report. Only used on type = GPIO.

+ + + +

Minimum RPM (RPM4_MIN)

+ +

Minimum RPM to report. Only used on type = GPIO.

+ + + +

Minimum Quality (RPM4_MIN_QUAL)

Note: This parameter is for advanced users
+ +

Minimum data quality to be used

+ + + +

Input pin number (RPM4_PIN)

+ +

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

+ + + +

Bitmask of ESC telemetry channels to average (RPM4_ESC_MASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

+ + + +

ESC Telemetry Index to write RPM to (RPM4_ESC_INDEX)

Note: This parameter is for advanced users
+ +

ESC Telemetry Index to write RPM to. Use 0 to disable.

+ + + +

DroneCAN Sensor ID (RPM4_DC_ID)

Note: This parameter is for advanced users
+ +

DroneCAN sensor ID to assign to this backend

+ + + +

RSSI_ Parameters

+ + +

RSSI Type (RSSI_TYPE)

+ +

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

+ + + +

Receiver RSSI sensing pin (RSSI_ANA_PIN)

+ +

Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

+ + + +

RSSI pin's lowest voltage (RSSI_PIN_LOW)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

RSSI pin's highest voltage (RSSI_PIN_HIGH)

+ +

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

Receiver RSSI channel number (RSSI_CHANNEL)

+ +

The channel number where RSSI will be output by the radio receiver (5 and above).

+ + + +

RSSI PWM low value (RSSI_CHAN_LOW)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH

+ + + +

Receiver RSSI PWM high value (RSSI_CHAN_HIGH)

+ +

PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW

+ + + +

SAIL_ Parameters

+ + +

Enable Sailboat (SAIL_ENABLE)

+ +

This enables Sailboat functionality

+ + + +

Sail min angle (SAIL_ANGLE_MIN)

+ +

Mainsheet tight, angle between centerline and boom

+ + + +

Sail max angle (SAIL_ANGLE_MAX)

+ +

Mainsheet loose, angle between centerline and boom. For direct-control rotating masts, the rotation angle at SERVOx_MAX/_MIN; for rotating masts, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle.

+ + + +

Sail ideal angle (SAIL_ANGLE_IDEAL)

+ +

Ideal angle between sail and apparent wind

+ + + +

Sailing maximum heel angle (SAIL_HEEL_MAX)

+ +

When in auto sail trim modes the heel will be limited to this value using PID control

+ + + +

Sailing no go zone angle (SAIL_NO_GO_ANGLE)

+ +

The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind

+ + + +

Sailboat minimum wind speed to sail in (SAIL_WNDSPD_MIN)

+ +

Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted

+ + + +

Sailing vehicle max cross track error (SAIL_XTRACK_MAX)

+ +

The sail boat will tack when it reaches this cross track error, defines a corridor of 2 times this value wide, 0 disables

+ + + +

Loiter radius (SAIL_LOIT_RADIUS)

+ +

When in sailing modes the vehicle will keep moving within this loiter radius

+ + + +

SCHED_ Parameters

+ + +

Scheduler debug level (SCHED_DEBUG)

Note: This parameter is for advanced users
+ +

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

+ + + +

Scheduling main loop rate (SCHED_LOOP_RATE)

Note: This parameter is for advanced users
+ +

This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.

+ + + +

Scheduling options (SCHED_OPTIONS)

Note: This parameter is for advanced users
+ +

This controls optional aspects of the scheduler.

+ + + +

SCR_ Parameters

+ + +

Enable Scripting (SCR_ENABLE)

Note: This parameter is for advanced users
+ +

Controls if scripting is enabled

+ + + +

Scripting Virtual Machine Instruction Count (SCR_VM_I_COUNT)

Note: This parameter is for advanced users
+ +

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

+ + + +

Scripting Heap Size (SCR_HEAP_SIZE)

Note: This parameter is for advanced users
+ +

Amount of memory available for scripting

+ + + +

Scripting Debug Level (SCR_DEBUG_OPTS)

Note: This parameter is for advanced users
+ +

Debugging options

+ + + +

Scripting User Parameter1 (SCR_USER1)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter2 (SCR_USER2)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter3 (SCR_USER3)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter4 (SCR_USER4)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter5 (SCR_USER5)

+ +

General purpose user variable input for scripts

+ + + +

Scripting User Parameter6 (SCR_USER6)

+ +

General purpose user variable input for scripts

+ + + +

Directory disable (SCR_DIR_DISABLE)

Note: This parameter is for advanced users
+ +

This will stop scripts being loaded from the given locations

+ + + +

Loaded script checksum (SCR_LD_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

+ + + +

Running script checksum (SCR_RUN_CHECKSUM)

Note: This parameter is for advanced users
+ +

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

+ + + +

Scripting thread priority (SCR_THD_PRIORITY)

Note: This parameter is for advanced users
+ +

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

+ + + +

Scripting serial device enable (SCR_SDEV_EN)

Note: This parameter is for advanced users
+ +

Enable scripting serial devices

+ + + +

Serial protocol of scripting serial device (SCR_SDEV1_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV2_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

Serial protocol of scripting serial device (SCR_SDEV3_PROTO)

Note: This parameter is for advanced users
+ +

Serial protocol of scripting serial device

+ + + +

SERIAL Parameters

+ + +

Serial0 baud rate (SERIAL0_BAUD)

+ +

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Console protocol selection (SERIAL0_PROTOCOL)

+ +

Control what protocol to use on the console.

+ + + +

Telem1 protocol selection (SERIAL1_PROTOCOL)

+ +

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telem1 Baud Rate (SERIAL1_BAUD)

+ +

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telemetry 2 protocol selection (SERIAL2_PROTOCOL)

+ +

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Telemetry 2 Baud Rate (SERIAL2_BAUD)

+ +

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial 3 (GPS) protocol selection (SERIAL3_PROTOCOL)

+ +

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 3 (GPS) Baud Rate (SERIAL3_BAUD)

+ +

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial4 protocol selection (SERIAL4_PROTOCOL)

+ +

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 4 Baud Rate (SERIAL4_BAUD)

+ +

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial5 protocol selection (SERIAL5_PROTOCOL)

+ +

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 5 Baud Rate (SERIAL5_BAUD)

+ +

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial6 protocol selection (SERIAL6_PROTOCOL)

+ +

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 6 Baud Rate (SERIAL6_BAUD)

+ +

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Telem1 options (SERIAL1_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Telem2 options (SERIAL2_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial3 options (SERIAL3_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial4 options (SERIAL4_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial5 options (SERIAL5_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial6 options (SERIAL6_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial passthru first port (SERIAL_PASS1)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru second port (SERIAL_PASS2)

Note: This parameter is for advanced users
+ +

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

+ + + +

Serial passthru timeout (SERIAL_PASSTIMO)

Note: This parameter is for advanced users
+ +

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

+ + + +

Serial7 protocol selection (SERIAL7_PROTOCOL)

+ +

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 7 Baud Rate (SERIAL7_BAUD)

+ +

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial7 options (SERIAL7_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial8 protocol selection (SERIAL8_PROTOCOL)

+ +

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 8 Baud Rate (SERIAL8_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial8 options (SERIAL8_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

Serial9 protocol selection (SERIAL9_PROTOCOL)

+ +

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

+ + + +

Serial 9 Baud Rate (SERIAL9_BAUD)

+ +

The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

+ + + +

Serial9 options (SERIAL9_OPTIONS)

Note: This parameter is for advanced users
+ +

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

+ + + +

SERVO Parameters

+ + +

Servo default output rate (SERVO_RATE)

Note: This parameter is for advanced users
+ +

Default output rate in Hz for all PWM outputs.

+ + + +

Servo DShot output rate (SERVO_DSHOT_RATE)

Note: This parameter is for advanced users
+ +

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

+ + + +

Servo DShot ESC type (SERVO_DSHOT_ESC)

Note: This parameter is for advanced users
+ +

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

+ + + +

Servo GPIO mask (SERVO_GPIO_MASK)

Note: This parameter is for advanced users
+ +

Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

+ + + +

Servo RC Failsafe Mask (SERVO_RC_FS_MSK)

Note: This parameter is for advanced users
+ +

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

+ + + +

Enable outputs 17 to 31 (SERVO_32_ENABLE)

Note: This parameter is for advanced users
+ +

This allows for up to 32 outputs, enabling parameters for outputs above 16

+ + + +

SERVO10_ Parameters

+ + +

Minimum PWM (SERVO10_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO10_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO10_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO10_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO10_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO11_ Parameters

+ + +

Minimum PWM (SERVO11_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO11_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO11_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO11_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO11_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO12_ Parameters

+ + +

Minimum PWM (SERVO12_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO12_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO12_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO12_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO12_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO13_ Parameters

+ + +

Minimum PWM (SERVO13_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO13_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO13_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO13_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO13_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO14_ Parameters

+ + +

Minimum PWM (SERVO14_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO14_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO14_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO14_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO14_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO15_ Parameters

+ + +

Minimum PWM (SERVO15_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO15_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO15_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO15_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO15_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO16_ Parameters

+ + +

Minimum PWM (SERVO16_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO16_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO16_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO16_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO16_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO17_ Parameters

+ + +

Minimum PWM (SERVO17_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO17_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO17_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO17_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO17_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO18_ Parameters

+ + +

Minimum PWM (SERVO18_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO18_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO18_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO18_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO18_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO19_ Parameters

+ + +

Minimum PWM (SERVO19_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO19_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO19_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO19_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO19_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO1_ Parameters

+ + +

Minimum PWM (SERVO1_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO1_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO1_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO1_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO1_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO20_ Parameters

+ + +

Minimum PWM (SERVO20_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO20_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO20_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO20_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO20_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO21_ Parameters

+ + +

Minimum PWM (SERVO21_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO21_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO21_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO21_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO21_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO22_ Parameters

+ + +

Minimum PWM (SERVO22_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO22_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO22_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO22_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO22_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO23_ Parameters

+ + +

Minimum PWM (SERVO23_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO23_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO23_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO23_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO23_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO24_ Parameters

+ + +

Minimum PWM (SERVO24_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO24_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO24_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO24_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO24_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO25_ Parameters

+ + +

Minimum PWM (SERVO25_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO25_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO25_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO25_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO25_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO26_ Parameters

+ + +

Minimum PWM (SERVO26_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO26_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO26_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO26_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO26_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO27_ Parameters

+ + +

Minimum PWM (SERVO27_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO27_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO27_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO27_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO27_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO28_ Parameters

+ + +

Minimum PWM (SERVO28_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO28_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO28_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO28_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO28_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO29_ Parameters

+ + +

Minimum PWM (SERVO29_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO29_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO29_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO29_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO29_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO2_ Parameters

+ + +

Minimum PWM (SERVO2_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO2_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO2_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO2_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO2_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO30_ Parameters

+ + +

Minimum PWM (SERVO30_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO30_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO30_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO30_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO30_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO31_ Parameters

+ + +

Minimum PWM (SERVO31_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO31_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO31_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO31_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO31_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO32_ Parameters

+ + +

Minimum PWM (SERVO32_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO32_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO32_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO32_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO32_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO3_ Parameters

+ + +

Minimum PWM (SERVO3_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO3_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO3_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO3_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO3_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO4_ Parameters

+ + +

Minimum PWM (SERVO4_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO4_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO4_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO4_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO4_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO5_ Parameters

+ + +

Minimum PWM (SERVO5_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO5_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO5_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO5_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO5_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO6_ Parameters

+ + +

Minimum PWM (SERVO6_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO6_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO6_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO6_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO6_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO7_ Parameters

+ + +

Minimum PWM (SERVO7_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO7_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO7_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO7_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO7_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO8_ Parameters

+ + +

Minimum PWM (SERVO8_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO8_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO8_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO8_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO8_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO9_ Parameters

+ + +

Minimum PWM (SERVO9_MIN)

+ +

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Maximum PWM (SERVO9_MAX)

+ +

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Trim PWM (SERVO9_TRIM)

+ +

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

+ + + +

Servo reverse (SERVO9_REVERSED)

+ +

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

+ + + +

Servo output function (SERVO9_FUNCTION)

+ +

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

+ + + +

SERVO_BLH_ Parameters

+ + +

BLHeli Channel Bitmask (SERVO_BLH_MASK)

Note: This parameter is for advanced users
+ +

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

+ + + +

BLHeli pass-thru auto-enable for multicopter motors (SERVO_BLH_AUTO)

+ +

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

+ + + +

BLHeli internal interface test (SERVO_BLH_TEST)

Note: This parameter is for advanced users
+ +

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

+ + + +

BLHeli protocol timeout (SERVO_BLH_TMOUT)

+ +

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

+ + + +

BLHeli telemetry rate (SERVO_BLH_TRATE)

+ +

This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests

+ + + +

BLHeli debug level (SERVO_BLH_DEBUG)

+ +

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

+ + + +

BLHeli output type override (SERVO_BLH_OTYPE)

Note: This parameter is for advanced users
+ +

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

+ + + +

Control port (SERVO_BLH_PORT)

Note: This parameter is for advanced users
+ +

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

+ + + +

BLHeli Motor Poles (SERVO_BLH_POLES)

Note: This parameter is for advanced users
+ +

This allows calculation of true RPM from ESC's eRPM. The default is 14.

+ + + +

BLHeli bitmask of 3D channels (SERVO_BLH_3DMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.

+ + + +

BLHeli bitmask of bi-directional dshot channels (SERVO_BLH_BDMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

+ + + +

BLHeli bitmask of reversed channels (SERVO_BLH_RVMASK)

Note: This parameter is for advanced users
+ +

Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.

+ + + +

SERVO_FTW_ Parameters

+ + +

Servo channel output bitmask (SERVO_FTW_MASK)

+ +

Servo channel mask specifying FETtec ESC output.

+ + + +

Servo channel reverse rotation bitmask (SERVO_FTW_RVMASK)

+ +

Servo channel mask to reverse rotation of FETtec ESC outputs.

+ + + +

Nr. electrical poles (SERVO_FTW_POLES)

+ +

Number of motor electrical poles

+ + + +

SERVO_ROB_ Parameters

+ + +

Robotis servo position min (SERVO_ROB_POSMIN)

+ +

Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

Robotis servo position max (SERVO_ROB_POSMAX)

+ +

Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095

+ + + +

SERVO_SBUS_ Parameters

+ + +

SBUS default output rate (SERVO_SBUS_RATE)

Note: This parameter is for advanced users
+ +

This sets the SBUS output frame rate in Hz.

+ + + +

SERVO_VOLZ_ Parameters

+ + +

Channel Bitmask (SERVO_VOLZ_MASK)

+ +

Enable of volz servo protocol to specific channels

+ + + +

Range of travel (SERVO_VOLZ_RANGE)

+ +

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

+ + + +

SIM_ Parameters

+ + +

Gyro drift speed (SIM_DRIFT_SPEED)

+ +

Gyro drift rate of change in degrees/second/minute

+ + + +

Gyro drift time (SIM_DRIFT_TIME)

+ +

Gyro drift duration of one full drift cycle (period in minutes)

+ + + +

Engine failure thrust scaler (SIM_ENGINE_MUL)

+ +

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

+ + + +

Simulated Wind speed (SIM_WIND_SPD)

Note: This parameter is for advanced users
+ +

Allows you to emulate wind in sim

+ + + +

Direction simulated wind is coming from (SIM_WIND_DIR)

Note: This parameter is for advanced users
+ +

Allows you to set wind direction (true deg) in sim

+ + + +

Simulated Wind variation (SIM_WIND_TURB)

Note: This parameter is for advanced users
+ +

Allows you to emulate random wind variations in sim

+ + + +

Wind variation time constant (SIM_WIND_TC)

Note: This parameter is for advanced users
+ +

this controls the time over which wind changes take effect

+ + + +

Sonar rotation (SIM_SONAR_ROT)

+ +

Sonar rotation from rotations enumeration

+ + + +

Simulated battery voltage (SIM_BATT_VOLTAGE)

Note: This parameter is for advanced users
+ +

Simulated battery (constant) voltage

+ + + +

Simulated battery capacity (SIM_BATT_CAP_AH)

Note: This parameter is for advanced users
+ +

Simulated battery capacity

+ + + +

Sonar glitch probablility (SIM_SONAR_GLITCH)

Note: This parameter is for advanced users
+ +

Probablility a sonar glitch would happen

+ + + +

Sonar noise factor (SIM_SONAR_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated sonar noise

+ + + +

Simulated RC signal failure (SIM_RC_FAIL)

Note: This parameter is for advanced users
+ +

Allows you to emulate rc failures in sim

+ + + +

Generate floating point exceptions (SIM_FLOAT_EXCEPT)

Note: This parameter is for advanced users
+ +

If set, if a numerical error occurs SITL will die with a floating point exception.

+ + + +

Mask of CAN servos/ESCs (SIM_CAN_SRV_MSK)

Note: This parameter is for advanced users
+ +

The set of actuators controlled externally by CAN SITL AP_Periph

+ + + +

transport type for first CAN interface (SIM_CAN_TYPE1)

Note: This parameter is for advanced users
+ +

transport type for first CAN interface

+ + + +

transport type for second CAN interface (SIM_CAN_TYPE2)

Note: This parameter is for advanced users
+ +

transport type for second CAN interface

+ + + +

Sonar conversion scale (SIM_SONAR_SCALE)

+ +

Sonar conversion scale from distance to voltage

+ + + +

Opflow Enable (SIM_FLOW_ENABLE)

+ +

Enable simulated Optical Flow sensor

+ + + +

Terrain Enable (SIM_TERRAIN)

+ +

Enable using terrain for height

+ + + +

Opflow Rate (SIM_FLOW_RATE)

+ +

Opflow Data Rate

+ + + +

Opflow Delay (SIM_FLOW_DELAY)

+ +

Opflow data delay

+ + + +

Number of ADSB aircrafts (SIM_ADSB_COUNT)

+ +

Total number of ADSB simulated aircraft

+ + + +

ADSB radius stddev of another aircraft (SIM_ADSB_RADIUS)

+ +

Simulated standard deviation of radius in ADSB of another aircraft

+ + + +

ADSB altitude of another aircraft (SIM_ADSB_ALT)

+ +

Simulated ADSB altitude of another aircraft

+ + + +

GPIO emulation (SIM_PIN_MASK)

+ +

SITL GPIO emulation

+ + + +

ADSB transmit enable (SIM_ADSB_TX)

+ +

ADSB transceiever enable and disable

+ + + +

Sim Speedup (SIM_SPEEDUP)

+ +

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

+ + + +

IMU Offsets (SIM_IMU_POS_X)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Y)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

+ + + +

IMU Offsets (SIM_IMU_POS_Z)

+ +

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_X)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Y)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

+ + + +

Opflow Pos (SIM_FLOW_POS_Z)

+ +

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

+ + + +

Engine Fail Mask (SIM_ENGINE_FAIL)

+ +

mask of motors which SIM_ENGINE_MUL will be applied to

+ + + +

Start temperature (SIM_TEMP_START)

Note: This parameter is for advanced users
+ +

Baro start temperature

+ + + +

Baro temperature offset (SIM_TEMP_BRD_OFF)

Note: This parameter is for advanced users
+ +

Barometer board temperature offset from atmospheric temperature

+ + + +

Warmup time constant (SIM_TEMP_TCONST)

Note: This parameter is for advanced users
+ +

Barometer warmup temperature time constant

+ + + +

Baro temperature factor (SIM_TEMP_BFACTOR)

Note: This parameter is for advanced users
+ +

A pressure change with temperature that closely matches what has been observed with a ICM-20789

+ + + +

Simulated wind vertical direction (SIM_WIND_DIR_Z)

Note: This parameter is for advanced users
+ +

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

+ + + +

Wind Profile Type (SIM_WIND_T)

+ +

Selects how wind varies from surface to WIND_T_ALT

+ + + +

Full Wind Altitude (SIM_WIND_T_ALT)

Note: This parameter is for advanced users
+ +

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

+ + + +

Linear Wind Curve Coeff (SIM_WIND_T_COEF)

Note: This parameter is for advanced users
+ +

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

+ + + +

RC channel count (SIM_RC_CHANCOUNT)

+ +

SITL RC channel count

+ + + +

Weight on Wheels Pin (SIM_WOW_PIN)

Note: This parameter is for advanced users
+ +

SITL set this simulated pin to true if vehicle is on ground

+ + + +

Telemetry bandwidth limitting (SIM_BAUDLIMIT_EN)

+ +

SITL enable bandwidth limitting on telemetry ports with non-zero values

+ + + +

Acceleration of shove x (SIM_SHOVE_X)

+ +

Acceleration of shove to vehicle in x axis

+ + + +

Acceleration of shove y (SIM_SHOVE_Y)

+ +

Acceleration of shove to vehicle in y axis

+ + + +

Acceleration of shove z (SIM_SHOVE_Z)

+ +

Acceleration of shove to vehicle in z axis

+ + + +

Time length for shove (SIM_SHOVE_TIME)

+ +

Force to the vehicle over a period of time

+ + + +

Opflow noise (SIM_FLOW_RND)

+ +

Optical Flow sensor measurement noise

+ + + +

Twist x (SIM_TWIST_X)

+ +

Rotational acceleration of twist x axis

+ + + +

Twist y (SIM_TWIST_Y)

+ +

Rotational acceleration of twist y axis

+ + + +

Twist z (SIM_TWIST_Z)

+ +

Rotational acceleration of twist z axis

+ + + +

Twist time (SIM_TWIST_TIME)

+ +

Time that twist is applied on the vehicle

+ + + +

Ground behavior (SIM_GND_BEHAV)

+ +

Ground behavior of aircraft (tailsitter, no movement, forward only)

+ + + +

Wave enable (SIM_WAVE_ENABLE)

+ +

Wave enable and modes

+ + + +

Wave length (SIM_WAVE_LENGTH)

+ +

Wave length in SITL

+ + + +

Wave amplitude (SIM_WAVE_AMP)

+ +

Wave amplitude in SITL

+ + + +

Wave direction (SIM_WAVE_DIR)

+ +

Direction wave is coming from

+ + + +

Wave speed (SIM_WAVE_SPEED)

+ +

Wave speed in SITL

+ + + +

Tide direction (SIM_TIDE_DIR)

+ +

Tide direction wave is coming from

+ + + +

Tide speed (SIM_TIDE_SPEED)

+ +

Tide speed in simulation

+ + + +

Original Position (Latitude) (SIM_OPOS_LAT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup latitude

+ + + +

Original Position (Longitude) (SIM_OPOS_LNG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup longitude

+ + + +

Original Position (Altitude) (SIM_OPOS_ALT)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup altitude (AMSL)

+ + + +

Original Position (Heading) (SIM_OPOS_HDG)

Note: This parameter is for advanced users
+ +

Specifies vehicle's startup heading (0-360)

+ + + +

Extra delay per main loop (SIM_LOOP_DELAY)

+ +

Extra time delay per main loop

+ + + +

Type of Electronic Fuel Injection (SIM_EFI_TYPE)

+ +

Different types of Electronic Fuel Injection (EFI) systems

+ + + +

Motor harmonics (SIM_VIB_MOT_HMNC)

+ +

Motor harmonics generated in SITL

+ + + +

Motor mask (SIM_VIB_MOT_MASK)

+ +

Motor mask, allowing external simulators to mark motors

+ + + +

Max motor vibration frequency (SIM_VIB_MOT_MAX)

+ +

Max frequency to use as baseline for adding motor noise for the gyros and accels

+ + + +

Minimum throttle INS noise (SIM_INS_THR_MIN)

+ +

Minimum throttle for simulated ins noise

+ + + +

Vibration motor scale (SIM_VIB_MOT_MULT)

+ +

Amplitude scaling of motor noise relative to gyro/accel noise

+ + + +

Odometry enable (SIM_ODOM_ENABLE)

+ +

SITL odometry enabl

+ + + +

LED layout (SIM_LED_LAYOUT)

+ +

LED layout config value

+ + + +

Thermal scenarios (SIM_THML_SCENARI)

+ +

Scenario for thermalling simulation, for soaring

+ + + +

SITL vicon position on vehicle in Forward direction (SIM_VICON_POS_X)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Forward direction

+ + + +

SITL vicon position on vehicle in Right direction (SIM_VICON_POS_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position on vehicle in Right direction

+ + + +

SITL vicon position on vehicle in Down direction (SIM_VICON_POS_Z)

+ +

SITL vicon position on vehicle in Down direction

+ + + +

SITL vicon position glitch North (SIM_VICON_GLIT_X)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch North

+ + + +

SITL vicon position glitch East (SIM_VICON_GLIT_Y)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch East

+ + + +

SITL vicon position glitch Down (SIM_VICON_GLIT_Z)

Note: This parameter is for advanced users
+ +

SITL vicon position glitch Down

+ + + +

SITL vicon failure (SIM_VICON_FAIL)

Note: This parameter is for advanced users
+ +

SITL vicon failure

+ + + +

SITL vicon yaw angle in earth frame (SIM_VICON_YAW)

Note: This parameter is for advanced users
+ +

SITL vicon yaw angle in earth frame

+ + + +

SITL vicon yaw error (SIM_VICON_YAWERR)

Note: This parameter is for advanced users
+ +

SITL vicon yaw added to reported yaw sent to vehicle

+ + + +

SITL vicon type mask (SIM_VICON_TMASK)

Note: This parameter is for advanced users
+ +

SITL vicon messages sent

+ + + +

SITL vicon velocity glitch North (SIM_VICON_VGLI_X)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch North

+ + + +

SITL vicon velocity glitch East (SIM_VICON_VGLI_Y)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch East

+ + + +

SITL vicon velocity glitch Down (SIM_VICON_VGLI_Z)

Note: This parameter is for advanced users
+ +

SITL vicon velocity glitch Down

+ + + +

Loop rate (SIM_RATE_HZ)

+ +

SITL Loop rate

+ + + +

IMU count (SIM_IMU_COUNT)

+ +

Number of simulated IMUs to create

+ + + +

Baro count (SIM_BARO_COUNT)

+ +

Number of simulated baros to create in SITL

+ + + +

Loop time jitter (SIM_TIME_JITTER)

Note: This parameter is for advanced users
+ +

Upper limit of random jitter in loop time

+ + + +

Simulated ESC Telemetry (SIM_ESC_TELEM)

Note: This parameter is for advanced users
+ +

enable perfect simulated ESC telemetry

+ + + +

ESC RPM when armed (SIM_ESC_ARM_RPM)

Note: This parameter is for advanced users
+ +

Simulated RPM when motors are armed

+ + + +

UART byte loss percentage (SIM_UART_LOSS)

Note: This parameter is for advanced users
+ +

Sets percentage of outgoing byte loss on UARTs

+ + + +

Simulated ADSB Type mask (SIM_ADSB_TYPES)

Note: This parameter is for advanced users
+ +

specifies which simulated ADSB types are active

+ + + +

Simulated OSD number of text columns (SIM_OSD_COLUMNS)

+ +

Simulated OSD number of text columns

+ + + +

Simulated OSD number of text rows (SIM_OSD_ROWS)

+ +

Simulated OSD number of text rows

+ + + +

GPS 1 disable (SIM_GPS_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 1

+ + + +

GPS 1 Lag (SIM_GPS_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 1 lag

+ + + +

GPS 1 type (SIM_GPS_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 1

+ + + +

GPS Byteloss (SIM_GPS_BYTELOSS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 1

+ + + +

GPS 1 Num Satellites (SIM_GPS_NUMSATS)

+ +

Number of satellites GPS 1 has in view

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (X-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Y-axis)

+ + + +

GPS 1 Glitch (SIM_GPS_GLITCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 1 sensor (Z-axis)

+ + + +

GPS 1 Hz (SIM_GPS_HZ)

+ +

GPS 1 Update rate

+ + + +

GPS 1 Altitude Drift (SIM_GPS_DRIFTALT)

Note: This parameter is for advanced users
+ +

GPS 1 altitude drift error

+ + + +

GPS 1 Position (SIM_GPS_POS_X)

+ +

GPS 1 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Y)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 1 Position (SIM_GPS_POS_Z)

+ +

GPS 1 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 1 Noise (SIM_GPS_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS1 altitude error

+ + + +

GPS 1 Lock Time (SIM_GPS_LOCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS1 acquires lock

+ + + +

GPS 1 Altitude Offset (SIM_GPS_ALT_OFS)

+ +

GPS 1 Altitude Error

+ + + +

GPS 1 Heading (SIM_GPS_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 1 Accuracy (SIM_GPS_ACC)

Note: This parameter is for advanced users
+ +

GPS 1 Accuracy

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 1 Velocity Error (SIM_GPS_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 1 Velocity Error Offsets in NED (Z-axis)

+ + + +

GPS jamming enable (SIM_GPS_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

GPS 2 disable (SIM_GPS2_DISABLE)

Note: This parameter is for advanced users
+ +

Disables GPS 2

+ + + +

GPS 2 Lag (SIM_GPS2_LAG_MS)

Note: This parameter is for advanced users
+ +

GPS 2 lag in ms

+ + + +

GPS 2 type (SIM_GPS2_TYPE)

Note: This parameter is for advanced users
+ +

Sets the type of simulation used for GPS 2

+ + + +

GPS 2 Byteloss (SIM_GPS2_BYTELOS)

Note: This parameter is for advanced users
+ +

Percent of bytes lost from GPS 2

+ + + +

GPS 2 Num Satellites (SIM_GPS2_NUMSATS)

+ +

Number of satellites GPS 2 has in view

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_X)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (X-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Y)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Y-axis)

+ + + +

GPS 2 Glitch (SIM_GPS2_GLTCH_Z)

Note: This parameter is for advanced users
+ +

Glitch offsets of simulated GPS 2 sensor (Z-axis)

+ + + +

GPS 2 Hz (SIM_GPS2_HZ)

+ +

GPS 2 Update rate

+ + + +

GPS 2 Altitude Drift (SIM_GPS2_DRFTALT)

Note: This parameter is for advanced users
+ +

GPS 2 altitude drift error

+ + + +

GPS 2 Position (SIM_GPS2_POS_X)

+ +

GPS 2 antenna phase center position relative to the body frame origin (X-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Y)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Y-axis)

+ + + +

GPS 2 Position (SIM_GPS2_POS_Z)

+ +

GPS 2 antenna phase center position relative to the body frame origin (Z-axis)

+ + + +

GPS 2 Noise (SIM_GPS2_NOISE)

Note: This parameter is for advanced users
+ +

Amplitude of the GPS2 altitude error

+ + + +

GPS 2 Lock Time (SIM_GPS2_LCKTIME)

Note: This parameter is for advanced users
+ +

Delay in seconds before GPS2 acquires lock

+ + + +

GPS 2 Altitude Offset (SIM_GPS2_ALT_OFS)

+ +

GPS 2 Altitude Error

+ + + +

GPS 2 Heading (SIM_GPS2_HDG)

Note: This parameter is for advanced users
+ +

Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED

+ + + +

GPS 2 Accuracy (SIM_GPS2_ACC)

Note: This parameter is for advanced users
+ +

GPS 2 Accuracy

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_X)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (X-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Y)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Y-axis)

+ + + +

GPS 2 Velocity Error (SIM_GPS2_VERR_Z)

Note: This parameter is for advanced users
+ +

GPS 2 Velocity Error Offsets in NED (Z-axis)

+ + + +

Initial Latitude Offset (SIM_INIT_LAT_OFS)

+ +

GPS initial lat offset from origin

+ + + +

Initial Longitude Offset (SIM_INIT_LON_OFS)

+ +

GPS initial lon offset from origin

+ + + +

Initial Altitude Offset (SIM_INIT_ALT_OFS)

+ +

GPS initial alt offset from origin

+ + + +

GPS Log Number (SIM_GPS_LOG_NUM)

+ +

Log number for GPS:update_file()

+ + + +

GPS jamming enable (SIM_GPS2_JAM)

Note: This parameter is for advanced users
+ +

Enable simulated GPS jamming

+ + + +

Mag motor noise factor (SIM_MAG_RND)

Note: This parameter is for advanced users
+ +

Scaling factor for simulated vibration from motors

+ + + +

Mag measurement delay (SIM_MAG_DELAY)

Note: This parameter is for advanced users
+ +

Magnetometer measurement delay

+ + + +

Magnetic anomaly height (SIM_MAG_ALY_HGT)

Note: This parameter is for advanced users
+ +

Height above ground where anomally strength has decayed to 1/8 of the ground level value

+ + + +

MAG1 Orientation (SIM_MAG1_ORIENT)

Note: This parameter is for advanced users
+ +

MAG1 external compass orientation

+ + + +

MAG1 Scaling factor (SIM_MAG1_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 1 to simulate sensor scale factor errors

+ + + +

MAG1 Device ID (SIM_MAG1_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 1

+ + + +

MAG2 Device ID (SIM_MAG2_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 2

+ + + +

MAG3 Device ID (SIM_MAG3_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 3

+ + + +

MAG2 Device ID (SIM_MAG4_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 4

+ + + +

MAG5 Device ID (SIM_MAG5_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 5

+ + + +

MAG6 Device ID (SIM_MAG6_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 6

+ + + +

MAG7 Device ID (SIM_MAG7_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 7

+ + + +

MAG8 Device ID (SIM_MAG8_DEVID)

Note: This parameter is for advanced users
+ +

Device ID of simulated compass 8

+ + + +

MAG1 Failure (SIM_MAG1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG1

+ + + +

MAG2 Orientation (SIM_MAG2_ORIENT)

Note: This parameter is for advanced users
+ +

MAG2 external compass orientation

+ + + +

MAG2 Failure (SIM_MAG2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG2

+ + + +

MAG2 Scaling factor (SIM_MAG2_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 2 to simulate sensor scale factor errors

+ + + +

MAG3 Failure (SIM_MAG3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of MAG3

+ + + +

MAG3 Scaling factor (SIM_MAG3_SCALING)

Note: This parameter is for advanced users
+ +

Scale the compass 3 to simulate sensor scale factor errors

+ + + +

MAG3 Orientation (SIM_MAG3_ORIENT)

Note: This parameter is for advanced users
+ +

MAG3 external compass orientation

+ + + +

Save MAG devids on startup (SIM_MAG_SAVE_IDS)

Note: This parameter is for advanced users
+ +

This forces saving of compass devids on startup so that simulated compasses start as calibrated

+ + + +

IMU temperature start (SIM_IMUT_START)

+ +

Starting IMU temperature of a curve

+ + + +

IMU temperature end (SIM_IMUT_END)

+ +

Ending IMU temperature of a curve

+ + + +

IMU temperature time constant (SIM_IMUT_TCONST)

+ +

IMU temperature time constant of the curve

+ + + +

IMU fixed temperature (SIM_IMUT_FIXED)

+ +

IMU fixed temperature by user

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 1 bias (SIM_ACC1_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 2 bias (SIM_ACC2_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 3 bias (SIM_ACC3_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Gyro 1 motor noise factor (SIM_GYR1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 2 motor noise factor (SIM_GYR2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 3 motor noise factor (SIM_GYR3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 1 motor noise factor (SIM_ACC1_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 2 motor noise factor (SIM_ACC2_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 3 motor noise factor (SIM_ACC3_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 1 scaling factor (SIM_GYR1_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 2 scaling factor (SIM_GYR2_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 3 scaling factor (SIM_GYR3_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

ACCEL1 Failure (SIM_ACCEL1_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL1

+ + + +

ACCEL2 Failure (SIM_ACCEL2_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL2

+ + + +

ACCEL3 Failure (SIM_ACCEL3_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL3

+ + + +

Gyro Failure Mask (SIM_GYR_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accelerometer Failure Mask (SIM_ACC_FAIL_MSK)

Note: This parameter is for advanced users
+ +

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 1 scaling factor (SIM_ACC1_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 2 scaling factor (SIM_ACC2_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 3 scaling factor (SIM_ACC3_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

Sailboat simulation sail type (SIM_SAIL_TYPE)

+ +

0: mainsail with sheet, 1: directly actuated wing

+ + + +

JSON master instance (SIM_JSON_MASTER)

+ +

the instance number to take servos from

+ + + +

SIM-on_hardware Output Enable Mask (SIM_OH_MASK)

+ +

channels which are passed through to actual hardware when running sim on actual hardware

+ + + +

Gyro data to/from files (SIM_GYR_FILE_RW)

+ +

Read and write gyro data to/from files

+ + + +

Accelerometer data to/from files (SIM_ACC_FILE_RW)

+ +

Read and write accelerometer data to/from files

+ + + +

First Gyro bias on X axis (SIM_GYR1_BIAS_X)

Note: This parameter is for advanced users
+ +

First Gyro bias on X axis

+ + + +

First Gyro bias on Y axis (SIM_GYR1_BIAS_Y)

Note: This parameter is for advanced users
+ +

First Gyro bias on Y axis

+ + + +

First Gyro bias on Z axis (SIM_GYR1_BIAS_Z)

Note: This parameter is for advanced users
+ +

First Gyro bias on Z axis

+ + + +

Second Gyro bias on X axis (SIM_GYR2_BIAS_X)

Note: This parameter is for advanced users
+ +

Second Gyro bias on X axis

+ + + +

Second Gyro bias on Y axis (SIM_GYR2_BIAS_Y)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Y axis

+ + + +

Second Gyro bias on Z axis (SIM_GYR2_BIAS_Z)

Note: This parameter is for advanced users
+ +

Second Gyro bias on Z axis

+ + + +

Third Gyro bias on X axis (SIM_GYR3_BIAS_X)

Note: This parameter is for advanced users
+ +

Third Gyro bias on X axis

+ + + +

Third Gyro bias on Y axis (SIM_GYR3_BIAS_Y)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Y axis

+ + + +

Third Gyro bias on Z axis (SIM_GYR3_BIAS_Z)

Note: This parameter is for advanced users
+ +

Third Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC4_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL4 Failure (SIM_ACCEL4_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL4

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 4 scaling factor (SIM_GYR4_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 4 motor noise factor (SIM_ACC4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 4 motor noise factor (SIM_GYR4_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 4 bias (SIM_ACC4_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fourth Gyro bias on X axis (SIM_GYR4_BIAS_X)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on X axis

+ + + +

Fourth Gyro bias on Y axis (SIM_GYR4_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Y axis

+ + + +

Fourth Gyro bias on Z axis (SIM_GYR4_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fourth Gyro bias on Z axis

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (X-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Y-axis)

+ + + +

Accel 4 scaling factor (SIM_ACC5_SCAL_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated accelerometer (Z-axis)

+ + + +

ACCEL5 Failure (SIM_ACCEL5_FAIL)

Note: This parameter is for advanced users
+ +

Simulated failure of ACCEL5

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_X)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (X-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Y)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Y-axis)

+ + + +

Gyro 5 scaling factor (SIM_GYR5_SCALE_Z)

Note: This parameter is for advanced users
+ +

scaling factors applied to simulated gyroscope (Z-axis)

+ + + +

Accel 5 motor noise factor (SIM_ACC5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Gyro 5 motor noise factor (SIM_GYR5_RND)

Note: This parameter is for advanced users
+ +

scaling factor for simulated vibration from motors

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_X)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (X-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Y)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Y-axis)

+ + + +

Accel 5 bias (SIM_ACC5_BIAS_Z)

Note: This parameter is for advanced users
+ +

bias of simulated accelerometer sensor (Z-axis)

+ + + +

Fifth Gyro bias on X axis (SIM_GYR5_BIAS_X)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on X axis

+ + + +

Fifth Gyro bias on Y axis (SIM_GYR5_BIAS_Y)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Y axis

+ + + +

Fifth Gyro bias on Z axis (SIM_GYR5_BIAS_Z)

Note: This parameter is for advanced users
+ +

Fifth Gyro bias on Z axis

+ + + +

SIM-on_hardware Relay Enable Mask (SIM_OH_RELAY_MSK)

+ +

Allow relay output operation when running SIM-on-hardware

+ + + +

Simulated Clamp Channel (SIM_CLAMP_CH)

+ +

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

+ + + +

SIM_ARSPD2_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD2_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD2_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD2_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD2_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD2_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_ARSPD_ Parameters

+ + +

Airspeed sensor failure (SIM_ARSPD_FAIL)

Note: This parameter is for advanced users
+ +

Simulates Airspeed sensor 1 failure

+ + + +

Airspeed sensor failure pressure (SIM_ARSPD_FAILP)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor failure pressure

+ + + +

Airspeed pitot tube failure pressure (SIM_ARSPD_PITOT)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor pitot tube failure pressure

+ + + +

Airspeed signflip (SIM_ARSPD_SIGN)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor with reversed pitot/static connections

+ + + +

Airspeed ratios (SIM_ARSPD_RATIO)

Note: This parameter is for advanced users
+ +

Simulated airspeed sensor ratio

+ + + +

SIM_BAR2_ Parameters

+ + +

Barometer noise (SIM_BAR2_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR2_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR2_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR2_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR2_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR2_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR2_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR2_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR2_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR2_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR2_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR2_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BAR3_ Parameters

+ + +

Barometer noise (SIM_BAR3_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BAR3_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BAR3_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BAR3_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BAR3_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BAR3_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BAR3_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BAR3_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BAR3_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BAR3_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BAR3_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BAR3_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_BARO_ Parameters

+ + +

Barometer noise (SIM_BARO_RND)

Note: This parameter is for advanced users
+ +

Barometer noise in height

+ + + +

Barometer altitude drift (SIM_BARO_DRIFT)

Note: This parameter is for advanced users
+ +

Barometer altitude drifts at this rate

+ + + +

Barometer disable (SIM_BARO_DISABLE)

Note: This parameter is for advanced users
+ +

Disable barometer in SITL

+ + + +

Barometer glitch (SIM_BARO_GLITCH)

Note: This parameter is for advanced users
+ +

Barometer glitch height in SITL

+ + + +

Barometer freeze (SIM_BARO_FREEZE)

Note: This parameter is for advanced users
+ +

Freeze barometer to last recorded altitude

+ + + +

Barometer delay (SIM_BARO_DELAY)

Note: This parameter is for advanced users
+ +

Barometer data time delay

+ + + +

Wind coefficient forward (SIM_BARO_WCF_FWD)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction forward in SITL

+ + + +

Wind coefficient backward (SIM_BARO_WCF_BAK)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction backward in SITL

+ + + +

Wind coefficient right (SIM_BARO_WCF_RGT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction right in SITL

+ + + +

Wind coefficient left (SIM_BARO_WCF_LFT)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction left in SITL

+ + + +

Wind coefficient up (SIM_BARO_WCF_UP)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction up in SITL

+ + + +

Wind coefficient down (SIM_BARO_WCF_DN)

Note: This parameter is for advanced users
+ +

Barometer wind coefficient direction down in SITL

+ + + +

SIM_GLD_ Parameters

+ + +

balloon burst height (SIM_GLD_BLN_BRST)

+ +

balloon burst height

+ + + +

balloon climb rate (SIM_GLD_BLN_RATE)

+ +

balloon climb rate

+ + + +

SIM_GRPE_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPE_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper emp pin (SIM_GRPE_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper emp is connected to. (start at 1)

+ + + +

SIM_GRPS_ Parameters

+ + +

Gripper servo Sim enable/disable (SIM_GRPS_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the gripper servo simulation

+ + + +

Gripper servo pin (SIM_GRPS_PIN)

Note: This parameter is for advanced users
+ +

The pin number that the gripper servo is connected to. (start at 1)

+ + + +

Gripper Grab PWM (SIM_GRPS_GRAB)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

+ + + +

Gripper Release PWM (SIM_GRPS_RELEASE)

Note: This parameter is for advanced users
+ +

PWM value in microseconds sent to Gripper to release the cargo

+ + + +

Gripper close direction (SIM_GRPS_REVERSE)

Note: This parameter is for advanced users
+ +

Reverse the closing direction.

+ + + +

SIM_PLD_ Parameters

+ + +

Preland device Sim enable/disable (SIM_PLD_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Preland simulation

+ + + +

Precland device center's latitude (SIM_PLD_LAT)

Note: This parameter is for advanced users
+ +

Precland device center's latitude

+ + + +

Precland device center's longitude (SIM_PLD_LON)

Note: This parameter is for advanced users
+ +

Precland device center's longitude

+ + + +

Precland device center's height SITL origin (SIM_PLD_HEIGHT)

Note: This parameter is for advanced users
+ +

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

+ + + +

Precland device systems rotation from north (SIM_PLD_YAW)

Note: This parameter is for advanced users
+ +

Precland device systems rotation from north

+ + + +

Precland device update rate (SIM_PLD_RATE)

Note: This parameter is for advanced users
+ +

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

+ + + +

Precland device radiance type (SIM_PLD_TYPE)

Note: This parameter is for advanced users
+ +

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

+ + + +

Precland device alt range (SIM_PLD_ALT_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum range altitude

+ + + +

Precland device lateral range (SIM_PLD_DIST_LIMIT)

Note: This parameter is for advanced users
+ +

Precland device maximum lateral range

+ + + +

Precland device orientation (SIM_PLD_ORIENT)

Note: This parameter is for advanced users
+ +

Precland device orientation vector

+ + + +

SIM_Precland extra options (SIM_PLD_OPTIONS)

Note: This parameter is for advanced users
+ +

SIM_Precland extra options

+ + + +

SIM_Precland follow ship (SIM_PLD_SHIP)

Note: This parameter is for advanced users
+ +

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

+ + + +

SIM_RFL_ Parameters

+ + +

FlightAxis options (SIM_RFL_OPTS)

Note: This parameter is for advanced users
+ +

Bitmask of FlightAxis options

+ + + +

SIM_SB_ Parameters

+ + +

mass (SIM_SB_MASS)

+ +

mass of blimp not including lifting gas

+ + + +

helium mass (SIM_SB_HMASS)

+ +

mass of lifting gas

+ + + +

arm length (SIM_SB_ARM_LEN)

+ +

distance from center of mass to one motor

+ + + +

motor thrust (SIM_SB_MOT_THST)

+ +

thrust at max throttle for one motor

+ + + +

drag in forward direction (SIM_SB_DRAG_FWD)

+ +

drag on X axis

+ + + +

drag in sidewards direction (SIM_SB_DRAG_SIDE)

+ +

drag on Y axis

+ + + +

drag in upward direction (SIM_SB_DRAG_UP)

+ +

drag on Z axis

+ + + +

moment of inertia in yaw (SIM_SB_MOI_YAW)

+ +

moment of inertia in yaw

+ + + +

moment of inertia in roll (SIM_SB_MOI_ROLL)

+ +

moment of inertia in roll

+ + + +

moment of inertia in pitch (SIM_SB_MOI_PITCH)

+ +

moment of inertia in pitch

+ + + +

altitude target (SIM_SB_ALT_TARG)

+ +

altitude target

+ + + +

target climb rate (SIM_SB_CLMB_RT)

+ +

target climb rate

+ + + +

yaw rate (SIM_SB_YAW_RT)

+ +

maximum yaw rate with full left throttle at target altitude

+ + + +

motor angle (SIM_SB_MOT_ANG)

+ +

maximum motor tilt angle

+ + + +

center of lift (SIM_SB_COL)

+ +

center of lift position above CoG

+ + + +

weathervaning offset (SIM_SB_WVANE)

+ +

center of drag for weathervaning

+ + + +

free lift rate (SIM_SB_FLR)

+ +

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

+ + + +

SIM_SERVO_ Parameters

+ + +

servo speed (SIM_SERVO_SPEED)

+ +

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

+ + + +

servo delay (SIM_SERVO_DELAY)

+ +

servo delay

+ + + +

servo filter (SIM_SERVO_FILTER)

+ +

servo filter

+ + + +

SIM_SLUP_ Parameters

+ + +

Slung Payload Sim enable/disable (SIM_SLUP_ENABLE)

Note: This parameter is for advanced users
+ +

Slung Payload Sim enable/disable

+ + + +

Slung Payload weight (SIM_SLUP_WEIGHT)

Note: This parameter is for advanced users
+ +

Slung Payload weight in kg

+ + + +

Slung Payload line length (SIM_SLUP_LINELEN)

Note: This parameter is for advanced users
+ +

Slung Payload line length in meters

+ + + +

Slung Payload drag coefficient (SIM_SLUP_DRAG)

Note: This parameter is for advanced users
+ +

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

+ + + +

Slung Payload MAVLink system ID (SIM_SLUP_SYSID)

Note: This parameter is for advanced users
+ +

Slung Payload MAVLink system id to distinguish it from others on the same network

+ + + +

SIM_SPR_ Parameters

+ + +

Sprayer Sim enable/disable (SIM_SPR_ENABLE)

Note: This parameter is for advanced users
+ +

Allows you to enable (1) or disable (0) the Sprayer simulation

+ + + +

Sprayer pump pin (SIM_SPR_PUMP)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer pump is connected to. (start at 1)

+ + + +

Sprayer spinner servo pin (SIM_SPR_SPIN)

Note: This parameter is for advanced users
+ +

The pin number that the Sprayer spinner servo is connected to. (start at 1)

+ + + +

SPRAY_ Parameters

+ + +

Sprayer enable/disable (SPRAY_ENABLE)

+ +

Allows you to enable (1) or disable (0) the sprayer

+ + + +

Pump speed (SPRAY_PUMP_RATE)

+ +

Desired pump speed when travelling 1m/s expressed as a percentage

+ + + +

Spinner rotation speed (SPRAY_SPINNER)

+ +

Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

+ + + +

Speed minimum (SPRAY_SPEED_MIN)

+ +

Speed minimum at which we will begin spraying

+ + + +

Pump speed minimum (SPRAY_PUMP_MIN)

+ +

Minimum pump speed expressed as a percentage

+ + + +

SR0_ Parameters

+ + +

Raw sensor stream rate (SR0_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR0_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR0_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR0_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR0_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR0_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR0_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR0_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR0_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR0_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR1_ Parameters

+ + +

Raw sensor stream rate (SR1_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR1_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR1_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR1_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR1_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR1_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR1_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR1_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR1_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR1_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR2_ Parameters

+ + +

Raw sensor stream rate (SR2_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR2_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR2_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR2_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR2_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR2_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR2_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR2_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR2_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR2_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR3_ Parameters

+ + +

Raw sensor stream rate (SR3_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR3_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR3_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR3_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR3_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR3_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR3_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR3_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR3_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR3_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR4_ Parameters

+ + +

Raw sensor stream rate (SR4_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR4_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR4_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR4_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR4_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR4_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR4_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR4_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR4_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR4_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR5_ Parameters

+ + +

Raw sensor stream rate (SR5_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR5_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR5_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR5_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR5_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR5_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR5_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR5_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR5_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR5_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SR6_ Parameters

+ + +

Raw sensor stream rate (SR6_RAW_SENS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

+ + + +

Extended status stream rate (SR6_EXT_STAT)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

+ + + +

RC Channel stream rate (SR6_RC_CHAN)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

+ + + +

Raw Control stream rate (SR6_RAW_CTRL)

Note: This parameter is for advanced users
+ +

MAVLink Raw Control stream rate of SERVO_OUT

+ + + +

Position stream rate (SR6_POSITION)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

+ + + +

Extra data type 1 stream rate to ground station (SR6_EXTRA1)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

+ + + +

Extra data type 2 stream rate (SR6_EXTRA2)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of VFR_HUD

+ + + +

Extra data type 3 stream rate (SR6_EXTRA3)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE

+ + + +

Parameter stream rate (SR6_PARAMS)

Note: This parameter is for advanced users
+ +

MAVLink Stream rate of PARAM_VALUE

+ + + +

ADSB stream rate (SR6_ADSB)

Note: This parameter is for advanced users
+ +

MAVLink ADSB (AIS) stream rate

+ + + +

SRTL_ Parameters

+ + +

SmartRTL accuracy (SRTL_ACCURACY)

Note: This parameter is for advanced users
+ +

SmartRTL accuracy. The minimum distance between points.

+ + + +

SmartRTL maximum number of points on path (SRTL_POINTS)

Note: This parameter is for advanced users
+ +

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

+ + + +

SmartRTL options (SRTL_OPTIONS)

+ +

Bitmask of SmartRTL options.

+ + + +

STAT Parameters

+ + +

Boot Count (STAT_BOOTCNT)

+ +

Number of times board has been booted

+ + + +

Total FlightTime (STAT_FLTTIME)

+ +

Total FlightTime (seconds)

+ + + +

Total RunTime (STAT_RUNTIME)

+ +

Total time autopilot has run

+ + + +

Statistics Reset Time (STAT_RESET)

+ +

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

+ + + +

TEMP Parameters

+ + +

Logging (TEMP_LOG)

+ +

Enables temperature sensor logging

+ + + +

TEMP1_ Parameters

+ + +

Temperature Sensor Type (TEMP1_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP1_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP1_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP1_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP1_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP1_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP1_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP1_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP1_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP1_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP1_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP1_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP2_ Parameters

+ + +

Temperature Sensor Type (TEMP2_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP2_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP2_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP2_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP2_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP2_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP2_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP2_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP2_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP2_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP2_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP2_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP3_ Parameters

+ + +

Temperature Sensor Type (TEMP3_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP3_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP3_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP3_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP3_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP3_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP3_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP3_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP3_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP3_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP3_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP3_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP4_ Parameters

+ + +

Temperature Sensor Type (TEMP4_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP4_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP4_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP4_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP4_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP4_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP4_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP4_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP4_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP4_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP4_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP4_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP5_ Parameters

+ + +

Temperature Sensor Type (TEMP5_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP5_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP5_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP5_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP5_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP5_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP5_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP5_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP5_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP5_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP5_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP5_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP6_ Parameters

+ + +

Temperature Sensor Type (TEMP6_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP6_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP6_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP6_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP6_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP6_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP6_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP6_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP6_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP6_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP6_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP6_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP7_ Parameters

+ + +

Temperature Sensor Type (TEMP7_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP7_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP7_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP7_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP7_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP7_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP7_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP7_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP7_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP7_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP7_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP7_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP8_ Parameters

+ + +

Temperature Sensor Type (TEMP8_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP8_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP8_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP8_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP8_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP8_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP8_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP8_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP8_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP8_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP8_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP8_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TEMP9_ Parameters

+ + +

Temperature Sensor Type (TEMP9_TYPE)

+ +

Enables temperature sensors

+ + + +

Temperature sensor bus (TEMP9_BUS)

Note: This parameter is for advanced users
+ +

Temperature sensor bus number, typically used to select from multiple I2C buses

+ + + +

Temperature sensor address (TEMP9_ADDR)

Note: This parameter is for advanced users
+ +

Temperature sensor address, typically used for I2C address

+ + + +

Sensor Source (TEMP9_SRC)

+ +

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

+ + + +

Sensor Source Identification (TEMP9_SRC_ID)

+ +

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

+ + + +

Temperature sensor analog voltage sensing pin (TEMP9_PIN)

+ +

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

+ + + +

Temperature sensor analog 0th polynomial coefficient (TEMP9_A0)

+ +

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 1st polynomial coefficient (TEMP9_A1)

+ +

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 2nd polynomial coefficient (TEMP9_A2)

+ +

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 3rd polynomial coefficient (TEMP9_A3)

+ +

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 4th polynomial coefficient (TEMP9_A4)

+ +

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

Temperature sensor analog 5th polynomial coefficient (TEMP9_A5)

+ +

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

+ + + +

TRQ1_ Parameters

+ + +

Torqeedo connection type (TRQ1_TYPE)

+ +

Torqeedo connection type

+ + + +

Torqeedo ON/Off pin (TRQ1_ONOFF_PIN)

+ +

Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available

+ + + +

Torqeedo DE pin (TRQ1_DE_PIN)

+ +

Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available

+ + + +

Torqeedo Options (TRQ1_OPTIONS)

Note: This parameter is for advanced users
+ +

Torqeedo Options Bitmask

+ + + +

Torqeedo Motor Power (TRQ1_POWER)

Note: This parameter is for advanced users
+ +

Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)

+ + + +

Torqeedo Throttle Slew Time (TRQ1_SLEW_TIME)

Note: This parameter is for advanced users
+ +

Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit

+ + + +

Torqeedo Direction Change Delay (TRQ1_DIR_DELAY)

Note: This parameter is for advanced users
+ +

Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation

+ + + +

Torqeedo Servo Output Function (TRQ1_SERVO_FN)

Note: This parameter is for advanced users
+ +

Torqeedo Servo Output Function

+ + + +

TRQ2_ Parameters

+ + +

Torqeedo connection type (TRQ2_TYPE)

+ +

Torqeedo connection type

+ + + +

Torqeedo ON/Off pin (TRQ2_ONOFF_PIN)

+ +

Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available

+ + + +

Torqeedo DE pin (TRQ2_DE_PIN)

+ +

Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available

+ + + +

Torqeedo Options (TRQ2_OPTIONS)

Note: This parameter is for advanced users
+ +

Torqeedo Options Bitmask

+ + + +

Torqeedo Motor Power (TRQ2_POWER)

Note: This parameter is for advanced users
+ +

Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)

+ + + +

Torqeedo Throttle Slew Time (TRQ2_SLEW_TIME)

Note: This parameter is for advanced users
+ +

Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit

+ + + +

Torqeedo Direction Change Delay (TRQ2_DIR_DELAY)

Note: This parameter is for advanced users
+ +

Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation

+ + + +

Torqeedo Servo Output Function (TRQ2_SERVO_FN)

Note: This parameter is for advanced users
+ +

Torqeedo Servo Output Function

+ + + +

VISO Parameters

+ + +

Visual odometry camera connection type (VISO_TYPE)

Note: This parameter is for advanced users
+ +

Visual odometry camera connection type

+ + + +

Visual odometry camera X position offset (VISO_POS_X)

Note: This parameter is for advanced users
+ +

X position of the camera in body frame. Positive X is forward of the origin.

+ + + +

Visual odometry camera Y position offset (VISO_POS_Y)

Note: This parameter is for advanced users
+ +

Y position of the camera in body frame. Positive Y is to the right of the origin.

+ + + +

Visual odometry camera Z position offset (VISO_POS_Z)

Note: This parameter is for advanced users
+ +

Z position of the camera in body frame. Positive Z is down from the origin.

+ + + +

Visual odometery camera orientation (VISO_ORIENT)

Note: This parameter is for advanced users
+ +

Visual odometery camera orientation

+ + + +

Visual odometry scaling factor (VISO_SCALE)

Note: This parameter is for advanced users
+ +

Visual odometry scaling factor applied to position estimates from sensor

+ + + +

Visual odometry sensor delay (VISO_DELAY_MS)

Note: This parameter is for advanced users
+ +

Visual odometry sensor delay relative to inertial measurements

+ + + +

Visual odometry velocity measurement noise (VISO_VEL_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry velocity measurement noise in m/s

+ + + +

Visual odometry position measurement noise (VISO_POS_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry yaw measurement noise (VISO_YAW_M_NSE)

Note: This parameter is for advanced users
+ +

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

+ + + +

Visual odometry minimum quality (VISO_QUAL_MIN)

Note: This parameter is for advanced users
+ +

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

+ + + +

VTX_ Parameters

+ + +

Is the Video Transmitter enabled or not (VTX_ENABLE)

+ +

Toggles the Video Transmitter on and off

+ + + +

Video Transmitter Power Level (VTX_POWER)

+ +

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

+ + + +

Video Transmitter Channel (VTX_CHANNEL)

+ +

Video Transmitter Channel

+ + + +

Video Transmitter Band (VTX_BAND)

+ +

Video Transmitter Band

+ + + +

Video Transmitter Frequency (VTX_FREQ)

+ +

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

+ + + +

Video Transmitter Options (VTX_OPTIONS)

Note: This parameter is for advanced users
+ +

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

+ + + +

Video Transmitter Max Power Level (VTX_MAX_POWER)

+ +

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

+ + + +

WENC Parameters

+ + +

WheelEncoder type (WENC_TYPE)

+ +

What type of WheelEncoder is connected

+ + + +

WheelEncoder counts per revolution (WENC_CPR)

+ +

WheelEncoder counts per full revolution of the wheel

+ + + +

Wheel radius (WENC_RADIUS)

+ +

Wheel radius

+ + + +

Wheel's X position offset (WENC_POS_X)

+ +

X position of the center of the wheel in body frame. Positive X is forward of the origin.

+ + + +

Wheel's Y position offset (WENC_POS_Y)

+ +

Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.

+ + + +

Wheel's Z position offset (WENC_POS_Z)

+ +

Z position of the center of the wheel in body frame. Positive Z is down from the origin.

+ + + +

Input Pin A (WENC_PINA)

+ +

Input Pin A

+ + + +

Input Pin B (WENC_PINB)

+ +

Input Pin B

+ + + +

Second WheelEncoder type (WENC2_TYPE)

+ +

What type of WheelEncoder sensor is connected

+ + + +

WheelEncoder 2 counts per revolution (WENC2_CPR)

+ +

WheelEncoder 2 counts per full revolution of the wheel

+ + + +

Wheel2's radius (WENC2_RADIUS)

+ +

Wheel2's radius

+ + + +

Wheel2's X position offset (WENC2_POS_X)

+ +

X position of the center of the second wheel in body frame. Positive X is forward of the origin.

+ + + +

Wheel2's Y position offset (WENC2_POS_Y)

+ +

Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.

+ + + +

Wheel2's Z position offset (WENC2_POS_Z)

+ +

Z position of the center of the second wheel in body frame. Positive Z is down from the origin.

+ + + +

Second Encoder Input Pin A (WENC2_PINA)

+ +

Second Encoder Input Pin A

+ + + +

Second Encoder Input Pin B (WENC2_PINB)

+ +

Second Encoder Input Pin B

+ + + +

WNDVN_ Parameters

+ + +

Wind Vane Type (WNDVN_TYPE)

+ +

Wind Vane type

+ + + +

Wind vane analog voltage pin for direction (WNDVN_DIR_PIN)

+ +

Analog input pin to read as wind vane direction

+ + + +

Wind vane voltage minimum (WNDVN_DIR_V_MIN)

+ +

Minimum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

Wind vane voltage maximum (WNDVN_DIR_V_MAX)

+ +

Maximum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.

+ + + +

Wind vane headwind offset (WNDVN_DIR_OFS)

+ +

Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle

+ + + +

apparent Wind vane direction low pass filter frequency (WNDVN_DIR_FILT)

+ +

apparent Wind vane direction low pass filter frequency, a value of -1 disables filter

+ + + +

Wind vane calibration start (WNDVN_CAL)

+ +

Start wind vane calibration by setting this to 1 or 2

+ + + +

Wind vane deadzone when using analog sensor (WNDVN_DIR_DZ)

+ +

Wind vane deadzone when using analog sensor

+ + + +

Wind vane cut off wind speed (WNDVN_SPEED_MIN)

+ +

Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work

+ + + +

Wind speed sensor Type (WNDVN_SPEED_TYPE)

+ +

Wind speed sensor type

+ + + +

Wind vane speed sensor analog pin (WNDVN_SPEED_PIN)

+ +

Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p

+ + + +

Wind vane speed sensor analog temp pin (WNDVN_TEMP_PIN)

+ +

Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings

+ + + +

Wind speed sensor analog voltage offset (WNDVN_SPEED_OFS)

+ +

Wind sensor analog voltage offset at zero wind speed

+ + + +

apparent wind speed low pass filter frequency (WNDVN_SPEED_FILT)

+ +

apparent Wind speed low pass filter frequency, a value of -1 disables filter

+ + + +

True speed and direction low pass filter frequency (WNDVN_TRUE_FILT)

+ +

True speed and direction low pass filter frequency, a value of -1 disables filter

+ + + +

WP_ Parameters

+ + +

Waypoint speed default (WP_SPEED)

+ +

Waypoint speed default

+ + + +

Waypoint radius (WP_RADIUS)

+ +

The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint.

+ + + +

Waypoint acceleration (WP_ACCEL)

+ +

Waypoint acceleration. If zero then ATC_ACCEL_MAX is used

+ + + +

Waypoint jerk (WP_JERK)

+ +

Waypoint jerk (change in acceleration). If zero then jerk is same as acceleration

+ + + +

WP_PIVOT_ Parameters

+ + +

Pivot Angle (WP_PIVOT_ANGLE)

+ +

Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. This parameter should be greater than 5 degrees for pivot turns to work.

+ + + +

Pivot Turn Rate (WP_PIVOT_RATE)

+ +

Turn rate during pivot turns

+ + + +

Pivot Delay (WP_PIVOT_DELAY)

+ +

Vehicle waits this many seconds after completing a pivot turn before proceeding

+ + + +

WRC Parameters

+ + +

Wheel rate control enable/disable (WRC_ENABLE)

+ +

Enable or disable wheel rate control

+ + + +

Wheel max rotation rate (WRC_RATE_MAX)

+ +

Wheel max rotation rate

+ + + +

Wheel rate control feed forward gain (WRC_RATE_FF)

+ +

Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)

+ + + +

Wheel rate control P gain (WRC_RATE_P)

+ +

Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)

+ + + +

Wheel rate control I gain (WRC_RATE_I)

+ +

Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual

+ + + +

Wheel rate control I gain maximum (WRC_RATE_IMAX)

+ +

Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate

+ + + +

Wheel rate control D gain (WRC_RATE_D)

+ +

Wheel rate control D gain. Compensates for short-term change in desired rate vs actual

+ + + +

Wheel rate control filter frequency (WRC_RATE_FILT)

+ +

Wheel rate control input filter. Lower values reduce noise but add delay.

+ + + +

Wheel rate control target frequency in Hz (WRC_RATE_FLTT)

+ +

Wheel rate control target frequency in Hz

+ + + +

Wheel rate control error frequency in Hz (WRC_RATE_FLTE)

+ +

Wheel rate control error frequency in Hz

+ + + +

Wheel rate control derivative frequency in Hz (WRC_RATE_FLTD)

+ +

Wheel rate control derivative frequency in Hz

+ + + +

Wheel rate slew rate limit (WRC_RATE_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Wheel rate control PD sum maximum (WRC_RATE_PDMX)

+ +

Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Wheel rate Derivative FeedForward Gain (WRC_RATE_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the error

+ + + +

Wheel rate Target notch filter index (WRC_RATE_NTF)

Note: This parameter is for advanced users
+ +

Wheel rate Target notch filter index

+ + + +

Wheel rate Error notch filter index (WRC_RATE_NEF)

Note: This parameter is for advanced users
+ +

Wheel rate Error notch filter index

+ + + +

Wheel rate control feed forward gain (WRC2_RATE_FF)

+ +

Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)

+ + + +

Wheel rate control P gain (WRC2_RATE_P)

+ +

Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)

+ + + +

Wheel rate control I gain (WRC2_RATE_I)

+ +

Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual

+ + + +

Wheel rate control I gain maximum (WRC2_RATE_IMAX)

+ +

Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate

+ + + +

Wheel rate control D gain (WRC2_RATE_D)

+ +

Wheel rate control D gain. Compensates for short-term change in desired rate vs actual

+ + + +

Wheel rate control filter frequency (WRC2_RATE_FILT)

+ +

Wheel rate control input filter. Lower values reduce noise but add delay.

+ + + +

Wheel rate control target frequency in Hz (WRC2_RATE_FLTT)

+ +

Wheel rate control target frequency in Hz

+ + + +

Wheel rate control error frequency in Hz (WRC2_RATE_FLTE)

+ +

Wheel rate control error frequency in Hz

+ + + +

Wheel rate control derivative frequency in Hz (WRC2_RATE_FLTD)

+ +

Wheel rate control derivative frequency in Hz

+ + + +

Wheel rate slew rate limit (WRC2_RATE_SMAX)

Note: This parameter is for advanced users
+ +

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

+ + + +

Wheel rate control PD sum maximum (WRC2_RATE_PDMX)

+ +

Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

+ + + +

Wheel rate Derivative FeedForward Gain (WRC2_RATE_D_FF)

Note: This parameter is for advanced users
+ +

FF D Gain which produces an output that is proportional to the rate of change of the target

+ + + +

Wheel rate Target notch filter index (WRC2_RATE_NTF)

Note: This parameter is for advanced users
+ +

Wheel rate Target notch filter index

+ + + +

Wheel rate Error notch filter index (WRC2_RATE_NEF)

Note: This parameter is for advanced users
+ +

Wheel rate Error notch filter index

+ diff --git a/Rover-4.6/Parameters.md b/Rover-4.6/Parameters.md new file mode 100644 index 0000000..b572791 --- /dev/null +++ b/Rover-4.6/Parameters.md @@ -0,0 +1,41130 @@ + +This is a complete list of the parameters which can be set via the MAVLink protocol in the EEPROM of your autopilot to control vehicle behaviour. This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code. Some parameters may only be available for developers, and are enabled at compile-time. + +# Rover Parameters + +## FORMAT_VERSION: Eeprom format version number + +*Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + +## LOG_BITMASK: Log bitmask + +*Note: This parameter is for advanced users* + +Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535. + +- Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Throttle,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Rangefinder,11:Compass,12:Camera,13:Steering,14:RC Input-Output,19:Raw IMU,20:Video Stabilization,21:Optical Flow + +## RST_SWITCH_CH: Reset Switch Channel + +*Note: This parameter is for advanced users* + +RC channel to use to reset to last flight mode after geofence takeover. + +## INITIAL_MODE: Initial driving mode + +*Note: This parameter is for advanced users* + +This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART. + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## SYSID_THISMAV: MAVLink system ID of this vehicle + +*Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + +- Range: 1 255 + +## SYSID_MYGCS: MAVLink ground station ID + +*Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match. + +- Range: 1 255 + +- Increment: 1 + +## TELEM_DELAY: Telemetry startup delay + +The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up + +- Units: s + +- Range: 0 30 + +- Increment: 1 + +## GCS_PID_MASK: GCS PID tuning mask + +*Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID_TUNING messages for + +- Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel,6:Velocity North,7:Velocity East + +## AUTO_TRIGGER_PIN: Auto mode trigger pin + +pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|APM TriggerPin0| +|1|APM TriggerPin1| +|2|APM TriggerPin2| +|3|APM TriggerPin3| +|4|APM TriggerPin4| +|5|APM TriggerPin5| +|6|APM TriggerPin6| +|7|APM TriggerPin7| +|8|APM TriggerPin8| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## AUTO_KICKSTART: Auto mode trigger kickstart acceleration + +X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor + +- Units: m/s/s + +- Range: 0 20 + +- Increment: 0.1 + +## CRUISE_SPEED: Target cruise speed in auto modes + +The target speed in auto missions. + +- Units: m/s + +- Range: 0 100 + +- Increment: 0.1 + +## CRUISE_THROTTLE: Base throttle percentage in auto + +The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## PILOT_STEER_TYPE: Pilot input steering type + +Pilot RC input interpretation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Two Paddles Input| +|2|Direction reversed when backing up| +|3|Direction unchanged when backing up| + +## FS_ACTION: Failsafe Action + +What to do on a failsafe event + +|Value|Meaning| +|:---:|:---:| +|0|Nothing| +|1|RTL| +|2|Hold| +|3|SmartRTL or RTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## FS_TIMEOUT: Failsafe timeout + +The time in seconds that a failsafe condition must persist before the failsafe action is triggered + +- Units: s + +- Range: 1 100 + +- Increment: 0.5 + +## FS_THR_ENABLE: Throttle Failsafe Enable + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled Continue with Mission in Auto| + +## FS_THR_VALUE: Throttle Failsafe Value + +The PWM level on the throttle channel below which throttle failsafe triggers. + +- Range: 910 1100 + +- Increment: 1 + +## FS_GCS_ENABLE: GCS failsafe enable + +Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled Continue with Mission in Auto| + +## FS_CRASH_CHECK: Crash check action + +What to do on a crash event. When enabled the rover will go to hold if a crash is detected. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Hold| +|2|HoldAndDisarm| + +## FS_EKF_ACTION: EKF Failsafe Action + +*Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Hold| +|2|ReportOnly| + +## FS_EKF_THRESH: EKF failsafe variance threshold + +*Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance + +|Value|Meaning| +|:---:|:---:| +|0.6|Strict| +|0.8|Default| +|1.0|Relaxed| + +## MODE_CH: Mode channel + +*Note: This parameter is for advanced users* + +RC Channel to use for driving mode control + +## MODE1: Mode1 + +Driving mode for switch position 1 (910 to 1230 and above 2049) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## MODE2: Mode2 + +Driving mode for switch position 2 (1231 to 1360) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## MODE3: Mode3 + +Driving mode for switch position 3 (1361 to 1490) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## MODE4: Mode4 + +Driving mode for switch position 4 (1491 to 1620) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## MODE5: Mode5 + +Driving mode for switch position 5 (1621 to 1749) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## MODE6: Mode6 + +Driving mode for switch position 6 (1750 to 2049) + +|Value|Meaning| +|:---:|:---:| +|0|Manual| +|1|Acro| +|3|Steering| +|4|Hold| +|5|Loiter| +|6|Follow| +|7|Simple| +|8|Dock| +|9|Circle| +|10|Auto| +|11|RTL| +|12|SmartRTL| +|15|Guided| + +## SYSID_ENFORCE: GCS sysid enforcement + +*Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + +|Value|Meaning| +|:---:|:---:| +|0|NotEnforced| +|1|Enforced| + +## TURN_RADIUS: Turn radius of vehicle + +Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode + +- Units: m + +- Range: 0 10 + +- Increment: 0.1 + +## ACRO_TURN_RATE: Acro mode turn rate maximum + +Acro mode turn rate maximum + +- Units: deg/s + +- Range: 0 360 + +- Increment: 1 + +## RTL_SPEED: Return-to-Launch speed default + +Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED. + +- Units: m/s + +- Range: 0 100 + +- Increment: 0.1 + +## FRAME_CLASS: Frame Class + +Frame Class + +|Value|Meaning| +|:---:|:---:| +|0|Undefined| +|1|Rover| +|2|Boat| +|3|BalanceBot| + +## BAL_PITCH_MAX: BalanceBot Maximum Pitch + +Pitch angle in degrees at 100% throttle + +- Units: deg + +- Range: 0 15 + +- Increment: 0.1 + +## CRASH_ANGLE: Crash Angle + +Pitch/Roll angle limit in degrees for crash check. Zero disables check + +- Units: deg + +- Range: 0 60 + +- Increment: 1 + +## FRAME_TYPE: Frame Type + +Frame Type + +|Value|Meaning| +|:---:|:---:| +|0|Undefined| +|1|Omni3| +|2|OmniX| +|3|OmniPlus| +|4|Omni3Mecanum| + +- RebootRequired: True + +## LOIT_TYPE: Loiter type + +Loiter behaviour when moving to the target point + +|Value|Meaning| +|:---:|:---:| +|0|Forward or reverse to target point| +|1|Always face bow towards target point| +|2|Always face stern towards target point| + +## SIMPLE_TYPE: Simple_Type + +Simple mode types + +|Value|Meaning| +|:---:|:---:| +|0|InitialHeading| +|1|CardinalDirections| + +- RebootRequired: True + +## LOIT_RADIUS: Loiter radius + +Vehicle will drift when within this distance of the target position + +- Units: m + +- Range: 0 20 + +- Increment: 1 + +## MIS_DONE_BEHAVE: Mission done behave + +Behaviour after mission completes + +|Value|Meaning| +|:---:|:---:| +|0|Hold in Auto Mode| +|1|Loiter in Auto Mode| +|2|Acro Mode| +|3|Manual Mode| + +## BAL_PITCH_TRIM: Balance Bot pitch trim angle + +Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass. + +- Units: deg + +- Range: -2 2 + +- Increment: 0.1 + +## STICK_MIXING: Stick Mixing + +*Note: This parameter is for advanced users* + +When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SPEED_MAX: Speed maximum + +*Note: This parameter is for advanced users* + +Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE. + +- Units: m/s + +- Range: 0 30 + +- Increment: 0.1 + +## LOIT_SPEED_GAIN: Loiter speed gain + +*Note: This parameter is for advanced users* + +Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable. + +- Range: 0 5 + +- Increment: 0.01 + +## FS_OPTIONS: Failsafe Options + +*Note: This parameter is for advanced users* + +Bitmask to enable failsafe options + +- Bitmask: 0:Failsafe enabled in Hold mode + +## GUID_OPTIONS: Guided mode options + +*Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + +- Bitmask: 6:SCurves used for navigation + +## MANUAL_OPTIONS: Manual mode options + +*Note: This parameter is for advanced users* + +Manual mode specific options + +- Bitmask: 0:Enable steering speed scaling + +## MANUAL_STR_EXPO: Manual Steering Expo + +*Note: This parameter is for advanced users* + +Manual steering expo to allow faster steering when stick at edges + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|0.1|Very Low| +|0.2|Low| +|0.3|Medium| +|0.4|High| +|0.5|Very High| + +- Range: -0.5 0.95 + +## FS_GCS_TIMEOUT: GCS failsafe timeout + +Timeout before triggering the GCS failsafe + +- Units: s + +- Range: 2 120 + +- Increment: 1 + +## CH7_OPTION: Channel 7 option + +What to do use channel 7 for + +|Value|Meaning| +|:---:|:---:| +|0|Nothing| +|1|SaveWaypoint| +|2|LearnCruiseSpeed| +|3|ArmDisarm| +|4|Manual| +|5|Acro| +|6|Steering| +|7|Hold| +|8|Auto| +|9|RTL| +|10|SmartRTL| +|11|Guided| +|12|Loiter| + +## AUX_CH: Auxiliary switch channel + +*Note: This parameter is for advanced users* + +RC Channel to use for auxiliary functions including saving waypoints + +## PIVOT_TURN_ANGLE: Pivot turn angle + +Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns. + +- Units: deg + +- Range: 0 360 + +- Increment: 1 + +## PIVOT_TURN_RATE: Pivot turn rate + +Desired pivot turn rate in deg/s. + +- Units: deg/s + +- Range: 0 360 + +- Increment: 1 + +# VEHICLE Parameters + +## FLTMODE_GCSBLOCK: Flight mode block from GCS + +Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe. + +- Bitmask: 0:Manual,1:Acro,2:Steering,3:Loiter,4:Follow,5:Simple,6:Circle,7:Auto,8:RTL,9:SmartRTL,10:Guided,11:Dock + +# Lua Script Parameters + +## RCK_FORCEHL: Force enable High Latency mode + +Automatically enables High Latency mode if not already enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_PERIOD: Update rate + +When in High Latency mode, send Rockblock updates every N seconds + +- Range: 0 600 + +- Units: s + +## RCK_DEBUG: Display Rockblock debugging text + +Sends Rockblock debug text to GCS via statustexts + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RCK_ENABLE: Enable Message transmission + +Enables the Rockblock sending and recieving + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_ENABLE: parameter reversion enable + +Enable parameter reversion system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PREV_RC_FUNC: param reversion RC function + +RCn_OPTION number to used to trigger parameter reversion + +## PLND_ALT_CUTOFF: Precland altitude cutoff + +The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing + +- Range: 0 20 + +- Units: m + +## DIST_CUTOFF: Precland distance cutoff + +The distance from target beyond which the target is ignored + +- Range: 0 100 + +- Units: m + +## POI_DIST_MAX: Mount POI distance max + +POI's max distance (in meters) from the vehicle + +- Range: 0 10000 + +## CAM1_THERM_PAL: Camera1 Thermal Palette + +thermal image colour palette + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|WhiteHot| +|2|Sepia| +|3|IronBow| +|4|Rainbow| +|5|Night| +|6|Aurora| +|7|RedHot| +|8|Jungle| +|9|Medical| +|10|BlackHot| +|11|GloryHot| + +## CAM1_THERM_GAIN: Camera1 Thermal Gain + +thermal image temperature range + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|LowGain (50C to 550C)| +|1|HighGain (-20C to 150C)| + +## CAM1_THERM_RAW: Camera1 Thermal Raw Data + +save images with raw temperatures + +|Value|Meaning| +|:---:|:---:| +|-1|Leave Unchanged| +|0|Disabled (30fps)| +|1|Enabled (25 fps)| + +- Units: m + +## TERR_BRK_ENABLE: terrain brake enable + +terrain brake enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## TERR_BRK_ALT: terrain brake altitude + +terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode. + +- Range: 1 100 + +- Units: m + +## TERR_BRK_HDIST: terrain brake home distance + +terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate + +- Range: 0 1000 + +- Units: m + +## TERR_BRK_SPD: terrain brake speed threshold + +terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change. + +- Range: 0 5 + +- Units: m/s + +## QUIK_ENABLE: Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AXES: Quicktune axes + +axes to tune + +- Bitmask: 0:Roll,1:Pitch,2:Yaw + +## QUIK_DOUBLE_TIME: Quicktune doubling time + +Time to double a tuning parameter. Raise this for a slower tune. + +- Range: 5 20 + +- Units: s + +## QUIK_GAIN_MARGIN: Quicktune gain margin + +Reduction in gain after oscillation detected. Raise this number to get a more conservative tune + +- Range: 20 80 + +- Units: % + +## QUIK_OSC_SMAX: Quicktune oscillation rate threshold + +Threshold for oscillation detection. A lower value will lead to a more conservative tune. + +- Range: 1 10 + +## QUIK_YAW_P_MAX: Quicktune Yaw P max + +Maximum value for yaw P gain + +- Range: 0.1 3 + +## QUIK_YAW_D_MAX: Quicktune Yaw D max + +Maximum value for yaw D gain + +- Range: 0.001 1 + +## QUIK_RP_PI_RATIO: Quicktune roll/pitch PI ratio + +Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain + +- Range: 0.5 1.0 + +## QUIK_Y_PI_RATIO: Quicktune Yaw PI ratio + +Ratio between P and I gains for yaw. Raise this to get a lower I gain + +- Range: 0.5 20 + +## QUIK_AUTO_FILTER: Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## QUIK_AUTO_SAVE: Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## QUIK_RC_FUNC: Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +## QUIK_MAX_REDUCE: Quicktune maximum gain reduction + +This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation. + +- Units: % + +- Range: 0 100 + +## QUIK_OPTIONS: Quicktune options + +Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune. + +- Bitmask: 0:UseTwoPositionSwitch + +## SHIP_ENABLE: Ship landing enable + +Enable ship landing system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SHIP_LAND_ANGLE: Ship landing angle + +Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used. + +- Range: -180 180 + +- Units: deg + +## SHIP_AUTO_OFS: Ship automatic offset trigger + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Trigger| + +## CGA_RATIO: CoG adjustment ratio + +*Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder). + +- Range: 0.5 2 + +## WEB_ENABLE: enable web server + +enable web server + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BIND_PORT: web server TCP port + +web server TCP port + +- Range: 1 65535 + +## WEB_DEBUG: web server debugging + +*Note: This parameter is for advanced users* + +web server debugging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WEB_BLOCK_SIZE: web server block size + +*Note: This parameter is for advanced users* + +web server block size for download + +- Range: 1 65535 + +## WEB_TIMEOUT: web server timeout + +*Note: This parameter is for advanced users* + +timeout for inactive connections + +- Units: s + +- Range: 0.1 60 + +## WEB_SENDFILE_MIN: web server minimum file size for sendfile + +*Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download + +- Range: 0 10000000 + +## SLUP_ENABLE: Slung Payload enable + +Slung Payload enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SLUP_VEL_P: Slung Payload Velocity P gain + +Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload + +- Range: 0 0.8 + +## SLUP_DIST_MAX: Slung Payload horizontal distance max + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress + +- Range: 0 30 + +## SLUP_SYSID: Slung Payload mavlink system id + +Slung Payload mavlink system id. 0 to use any/all system ids + +- Range: 0 255 + +## SLUP_WP_POS_P: Slung Payload return to WP position P gain + +WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint + +- Range: 0 1 + +## SLUP_RESTOFS_TC: Slung Payload resting offset estimate filter time constant + +payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response + +- Range: 1 20 + +## SLUP_DEBUG: Slung Payload debug output + +Slung payload debug output, set to 1 to enable debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_ENABLE: Rover Quicktune enable + +Enable quicktune system + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AXES: Rover Quicktune axes + +axes to tune + +- Bitmask: 0:Steering,1:Speed + +## RTUN_STR_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio + +Ratio between measured response and FF gain. Raise this to get a higher FF gain + +- Range: 0 1.0 + +## RTUN_STR_P_RATIO: Rover Quicktune Steering FF to P ratio + +Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_STR_I_RATIO: Rover Quicktune Steering FF to I ratio + +Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_SPD_FFRATIO: Rover Quicktune Speed FeedForward (equivalent) ratio + +Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value + +- Range: 0 1.0 + +## RTUN_SPD_P_RATIO: Rover Quicktune Speed FF to P ratio + +Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged + +- Range: 0 2.0 + +## RTUN_SPD_I_RATIO: Rover Quicktune Speed FF to I ratio + +Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged + +- Range: 0 2.0 + +## RTUN_AUTO_FILTER: Rover Quicktune auto filter enable + +When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## RTUN_AUTO_SAVE: Rover Quicktune auto save + +Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune + +- Units: s + +## RTUN_RC_FUNC: Rover Quicktune RC function + +RCn_OPTION number to use to control tuning stop/start/save + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## WINCH_RATE_UP: WinchControl Rate Up + +Maximum rate when retracting line + +- Range: 0.1 5.0 + +## WINCH_RATE_DN: WinchControl Rate Down + +Maximum rate when releasing line + +- Range: 0.1 5.0 + +## WINCH_RC_FUNC: Winch Rate Control RC function + +RCn_OPTION number to use to control winch rate + +|Value|Meaning| +|:---:|:---:| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## ESRC_EXTN_THRESH: EKF Source ExternalNav Innovation Threshold + +ExternalNav may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_EXTN_QUAL: EKF Source ExternalNav Quality Threshold + +ExternalNav may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_FLOW_THRESH: EKF Source OpticalFlow Innovation Threshold + +OpticalFlow may be used if innovations are below this threshold + +- Range: 0 1 + +## ESRC_FLOW_QUAL: EKF Source OpticalFlow Quality Threshold + +OpticalFlow may be used if quality is above this threshold + +- Range: 0 100 + +- Units: % + +## ESRC_RNGFND_MAX: EKF Source Rangefinder Max + +OpticalFlow may be used if rangefinder distance is below this threshold + +- Range: 0 50 + +- Units: m + +## BATT_SOC_COUNT: Count of SOC estimators + +Number of battery SOC estimators + +- Range: 0 4 + +## BATT_SOC1_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC1_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC1_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC1_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC1_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC2_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC2_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC2_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC2_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC2_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC3_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC3_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC3_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC3_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC3_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## BATT_SOC4_IDX: Battery estimator index + +Battery estimator index + +- Range: 0 4 + +## BATT_SOC4_NCELL: Battery estimator cell count + +Battery estimator cell count + +- Range: 0 48 + +## BATT_SOC4_C1: Battery estimator coefficient1 + +Battery estimator coefficient1 + +- Range: 100 200 + +## BATT_SOC4_C2: Battery estimator coefficient2 + +Battery estimator coefficient2 + +- Range: 2 5 + +## BATT_SOC4_C3: Battery estimator coefficient3 + +Battery estimator coefficient3 + +- Range: 0.01 0.5 + +## DR_ENABLE: Deadreckoning Enable + +Deadreckoning Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DR_ENABLE_DIST: Deadreckoning Enable Distance + +Distance from home (in meters) beyond which the dead reckoning will be enabled + +- Units: m + +## DR_GPS_SACC_MAX: Deadreckoning GPS speed accuracy maximum threshold + +GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy + +- Range: 0 10 + +## DR_GPS_SAT_MIN: Deadreckoning GPS satellite count min threshold + +GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count + +- Range: 0 30 + +## DR_GPS_TRIGG_SEC: Deadreckoning GPS check trigger seconds + +GPS checks must fail for this many seconds before dead reckoning will be triggered + +- Units: s + +## DR_FLY_ANGLE: Deadreckoning Lean Angle + +lean angle (in degrees) during deadreckoning + +- Units: deg + +- Range: 0 45 + +## DR_FLY_ALT_MIN: Deadreckoning Altitude Min + +Copter will fly at at least this altitude (in meters) above home during deadreckoning + +- Units: m + +- Range: 0 1000 + +## DR_FLY_TIMEOUT: Deadreckoning flight timeout + +Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout + +- Units: s + +## DR_NEXT_MODE: Deadreckoning Next Mode + +Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered + +|Value|Meaning| +|:---:|:---:| +|2|AltHold| +|3|Auto| +|4|Guided| +|5|Loiter| +|6|RTL| +|7|Circle| +|9|Land| +|16|PosHold| +|17|Brake| +|20|Guided_NoGPS| +|21|Smart_RTL| +|27|Auto RTL| + +## AEROM_ANG_ACCEL: Angular acceleration limit + +Maximum angular acceleration in maneuvers + +- Units: deg/s/s + +## AEROM_ANG_TC: Roll control filtertime constant + +This is the time over which we filter the desired roll to smooth it + +- Units: s + +## AEROM_THR_PIT_FF: Throttle feed forward from pitch + +This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch + +- Units: % + +## AEROM_SPD_P: P gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_SPD_I: I gain for speed controller + +This controls how rapidly the throttle is raised to compensate for a speed error + +- Units: % + +## AEROM_ROL_COR_TC: Roll control time constant + +This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections + +- Units: s + +## AEROM_TIME_COR_P: Time constant for correction of our distance along the path + +This is the time constant for correcting path position errors + +- Units: s + +## AEROM_ERR_COR_P: P gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ERR_COR_D: D gain for path error corrections + +This controls how rapidly we correct back onto the desired path + +## AEROM_ENTRY_RATE: The roll rate to use when entering a roll maneuver + +This controls how rapidly we roll into a new orientation + +- Units: deg/s + +## AEROM_THR_LKAHD: The lookahead for throttle control + +This controls how far ahead we look in time along the path for the target throttle + +- Units: s + +## AEROM_DEBUG: Debug control + +This controls the printing of extra debug information on paths + +## AEROM_THR_MIN: Minimum Throttle + +Lowest throttle used during maneuvers + +- Units: % + +## AEROM_THR_BOOST: Throttle boost + +This is the extra throttle added in schedule elements marked as needing a throttle boost + +- Units: % + +## AEROM_YAW_ACCEL: Yaw acceleration + +This is maximum yaw acceleration to use + +- Units: deg/s/s + +## AEROM_LKAHD: Lookahead + +This is how much time to look ahead in the path for calculating path rates + +- Units: s + +## AEROM_PATH_SCALE: Path Scale + +Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected. + +- Range: 0.1 100 + +## AEROM_BOX_WIDTH: Box Width + +Length of aerobatic "box" + +- Units: m + +## AEROM_STALL_THR: Stall turn throttle + +Amount of throttle to reduce to for a stall turn + +- Units: % + +## AEROM_STALL_PIT: Stall turn pitch threshold + +Pitch threashold for moving to final stage of stall turn + +- Units: deg + +## AEROM_KE_RUDD: KnifeEdge Rudder + +Percent of rudder normally uses to sustain knife-edge at trick speed + +- Units: % + +## AEROM_KE_RUDD_LK: KnifeEdge Rudder lookahead + +Time to look ahead in the path to calculate rudder correction for bank angle + +- Units: s + +## AEROM_ALT_ABORT: Altitude Abort + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude. + +- Units: m + +## AEROM_TS_P: Timesync P gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_I: Timesync I gain + +This controls how rapidly two aircraft are brought back into time sync + +## AEROM_TS_SPDMAX: Timesync speed max + +This sets the maximum speed adjustment for time sync between aircraft + +- Units: m/s + +## AEROM_TS_RATE: Timesync rate of send of NAMED_VALUE_FLOAT data + +This sets the rate we send data for time sync between aircraft + +- Units: Hz + +## AEROM_MIS_ANGLE: Mission angle + +When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used + +- Units: deg + +## AEROM_OPTIONS: Aerobatic options + +Options to control aerobatic behavior + +- Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised + +- Units: deg + +## TRIK_ENABLE: Tricks on Switch Enable + +Enables Tricks on Switch. TRIK params hidden until enabled + +## TRIK_SEL_FN: Trik Selection Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick selection + +- Range: 301 307 + +## TRIK_ACT_FN: Trik Action Scripting Function + +Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute) + +- Range: 301 307 + +## TRIK_COUNT: Trik Count + +Number of tricks which can be selected over the range of the trik selection RC channel + +- Range: 1 11 + +## VIEP_DEBUG: ViewPro debug + +*Note: This parameter is for advanced users* + +ViewPro debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled including attitude reporting| + +## VIEP_CAM_SWLOW: ViewPro Camera For Switch Low + +Camera selection when switch is in low position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWMID: ViewPro Camera For Switch Mid + +Camera selection when switch is in middle position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_CAM_SWHIGH: ViewPro Camera For Switch High + +Camera selection when switch is in high position + +|Value|Meaning| +|:---:|:---:| +|0|No change in camera selection| +|1|EO1| +|2|IR thermal| +|3|EO1 + IR Picture-in-picture| +|4|IR + EO1 Picture-in-picture| +|5|Fusion| +|6|IR1 13mm| +|7|IR2 52mm| + +## VIEP_ZOOM_SPEED: ViewPro Zoom Speed + +ViewPro Zoom Speed. Higher numbers result in faster zooming + +- Range: 0 7 + +## VIEP_ZOOM_MAX: ViewPro Zoom Times Max + +ViewPro Zoom Times Max + +- Range: 0 30 + +## EFI_INF_ENABLE: EFI INF-Inject enable + +Enable EFI INF-Inject driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_INF_OPTIONS: EFI INF-Inject options + +EFI INF driver options + +- Bitmask: 0:EnableLogging + +## EFI_INF_THR_HZ: EFI INF-Inject throttle rate + +EFI INF throttle output rate + +- Range: 0 50 + +- Units: Hz + +## EFI_INF_IGN_AUX: EFI INF-Inject ignition aux function + +EFI INF throttle ignition aux function + +## EFI_SVF_ENABLE: Generator SVFFI enable + +Enable SVFFI generator support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SVF_ARMCHECK: Generator SVFFI arming check + +Check for Generator ARM state before arming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_ENABLE: Enable ANX battery support + +Enable ANX battery support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BATT_ANX_CANDRV: Set ANX CAN driver + +Set ANX CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## BATT_ANX_INDEX: ANX CAN battery index + +ANX CAN battery index + +- Range: 1 10 + +## BATT_ANX_OPTIONS: ANX CAN battery options + +*Note: This parameter is for advanced users* + +ANX CAN battery options + +- Bitmask: 0:LogAllFrames + +## EFI_DLA_ENABLE: EFI DLA enable + +Enable EFI DLA driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_DLA_LPS: EFI DLA fuel scale + +EFI DLA litres of fuel per second of injection time + +- Range: 0.00001 1 + +- Units: litres + +## ESC_HW_ENABLE: Hobbywing ESC Enable + +Enable Hobbywing ESC telemetry + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## ESC_HW_POLES: Hobbywing ESC motor poles + +Number of motor poles for eRPM scaling + +- Range: 1 50 + +## ESC_HW_OFS: Hobbywing ESC motor offset + +Motor number offset of first ESC + +- Range: 0 31 + +## EFI_2K_ENABLE: Enable NMEA 2000 EFI driver + +Enable NMEA 2000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_2K_CANDRV: NMEA 2000 CAN driver + +NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_2K_OPTIONS: NMEA 2000 options + +NMEA 2000 driver options + +- Bitmask: 0:EnableLogging + +## DJIR_DEBUG: DJIRS2 debug + +*Note: This parameter is for advanced users* + +Enable DJIRS2 debug + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Enabled with attitude reporting| + +## DJIR_UPSIDEDOWN: DJIRS2 upside down + +DJIRS2 upside down + +|Value|Meaning| +|:---:|:---:| +|0|Right side up| +|1|Upside down| + +## EFI_SP_ENABLE: Enable SkyPower EFI support + +Enable SkyPower EFI support + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_CANDRV: Set SkyPower EFI CAN driver + +Set SkyPower EFI CAN driver + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|1stCANDriver| +|2|2ndCanDriver| + +## EFI_SP_UPDATE_HZ: SkyPower EFI update rate + +*Note: This parameter is for advanced users* + +SkyPower EFI update rate + +- Range: 10 200 + +- Units: Hz + +## EFI_SP_THR_FN: SkyPower EFI throttle function + +SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|70|FixedWing| +|31|HeliRSC| + +## EFI_SP_THR_RATE: SkyPower EFI throttle rate + +*Note: This parameter is for advanced users* + +SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine + +- Range: 10 100 + +- Units: Hz + +## EFI_SP_START_FN: SkyPower EFI start function + +SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_GEN_FN: SkyPower EFI generator control function + +SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_SP_MIN_RPM: SkyPower EFI minimum RPM + +*Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped + +- Range: 1 1000 + +## EFI_SP_TLM_RT: SkyPower EFI telemetry rate + +*Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS + +- Range: 1 10 + +- Units: Hz + +## EFI_SP_LOG_RT: SkyPower EFI log rate + +*Note: This parameter is for advanced users* + +SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed + +- Range: 1 50 + +- Units: Hz + +## EFI_SP_ST_DISARM: SkyPower EFI allow start disarmed + +SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_MODEL: SkyPower EFI ECU model + +SkyPower EFI ECU model + +|Value|Meaning| +|:---:|:---:| +|0|SRE_180| +|1|SP_275| + +## EFI_SP_GEN_CTRL: SkyPower EFI enable generator control + +SkyPower EFI enable generator control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_SP_RST_TIME: SkyPower EFI restart time + +SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero. + +- Range: 0 10 + +- Units: s + +## EFI_H6K_ENABLE: Enable Halo6000 EFI driver + +Enable Halo6000 EFI driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_H6K_CANDRV: Halo6000 CAN driver + +Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|FirstCAN| +|2|SecondCAN| + +## EFI_H6K_START_FN: Halo6000 start auxilliary function + +The RC auxilliary function number for start/stop of the generator. Zero to disable start function + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|300|300| +|301|301| +|302|302| +|303|303| +|304|304| +|305|305| +|306|306| +|307|307| + +## EFI_H6K_TELEM_RT: Halo6000 telemetry rate + +The rate that additional generator telemetry is sent + +- Units: Hz + +## EFI_H6K_FUELTOT: Halo6000 total fuel capacity + +The capacity of the tank in litres + +- Units: litres + +## EFI_H6K_OPTIONS: Halo6000 options + +Halo6000 options + +- Bitmask: 0:LogAllCanPackets + +## TOFSENSE_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_NO: TOFSENSE-M Connected + +Number of TOFSENSE-M CAN sensors connected + +- Range: 1 3 + +## TOFSENSE_MODE: TOFSENSE-M mode to be used + +TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode + +|Value|Meaning| +|:---:|:---:| +|0|8x8 mode| +|1|4x4 mode| + +## TOFSENSE_INST1: TOFSENSE-M First Instance + +First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID1: TOFSENSE-M First ID + +First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST2: TOFSENSE-M Second Instance + +Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID2: TOFSENSE-M Second ID + +Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_INST3: TOFSENSE-M Third Instance + +Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX) + +- Range: 1 3 + +## TOFSENSE_ID3: TOFSENSE-M Thir ID + +Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software + +- Range: 1 255 + +## TOFSENSE_S1_PRX: TOFSENSE-M to be used as Proximity sensor + +Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance) + +|Value|Meaning| +|:---:|:---:| +|0|Set as Rangefinder| +|1|Set as Proximity sensor| + +## TOFSENSE_S1_SP: TOFSENSE-M serial port config + +UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. + +- Range: 1 4 + +## TOFSENSE_S1_BR: TOFSENSE-M serial port baudrate + +Serial Port baud rate. Sensor baud rate can be changed from Nassistant software + +# AFS Parameters + +## AFS_ENABLE: Enable Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect + +## AFS_MAN_PIN: Manual Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +## AFS_HB_PIN: Heartbeat Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_WP_COMMS: Comms Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + +## AFS_WP_GPS_LOSS: GPS Loss Waypoint + +*Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + +## AFS_TERMINATE: Force Terminate + +*Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + +## AFS_TERM_ACTION: Terminate action + +*Note: This parameter is for advanced users* + +This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter + +## AFS_TERM_PIN: Terminate Pin + +*Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| + +## AFS_AMSL_LIMIT: AMSL limit + +*Note: This parameter is for advanced users* + +This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit. + +- Units: m + +## AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit + +*Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination. + +- Units: m + +## AFS_QNH_PRESSURE: QNH pressure + +*Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit. + +- Units: hPa + +## AFS_MAX_GPS_LOSS: Maximum number of GPS loss events + +*Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events. + +## AFS_MAX_COM_LOSS: Maximum number of comms loss events + +*Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events. + +## AFS_GEOFENCE: Enable geofence Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC: Enable RC Advanced Failsafe + +*Note: This parameter is for advanced users* + +This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1 + +## AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes + +*Note: This parameter is for advanced users* + +If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode. + +## AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously + +*Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination. + +## AFS_RC_FAIL_TIME: RC failure time + +*Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable. + +- Units: s + +## AFS_MAX_RANGE: Max allowed range + +*Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature. + +- Units: km + +## AFS_OPTIONS: AFS options + +See description for each bitmask bit description + +- Bitmask: 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + +## AFS_GCS_TIMEOUT: GCS timeout + +*Note: This parameter is for advanced users* + +The time (in seconds) of persistent data link loss before GCS failsafe occurs. + +- Units: s + +# AHRS Parameters + +## AHRS_GPS_GAIN: AHRS GPS gain + +*Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0. + +- Range: 0.0 1.0 + +- Increment: .01 + +## AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down + +*Note: This parameter is for advanced users* + +This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use GPS for DCM position| +|2|Use GPS for DCM position and height| + +## AHRS_YAW_P: Yaw P + +*Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly. + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_RP_P: AHRS RP_P + +*Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + +- Range: 0.1 0.4 + +- Increment: .01 + +## AHRS_WIND_MAX: Maximum wind + +*Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors. + +- Range: 0 127 + +- Units: m/s + +- Increment: 1 + +## AHRS_TRIM_X: AHRS Trim Roll + +Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Y: AHRS Trim Pitch + +Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back. + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_TRIM_Z: AHRS Trim Yaw + +*Note: This parameter is for advanced users* + +Not Used + +- Units: rad + +- Range: -0.1745 +0.1745 + +- Increment: 0.01 + +## AHRS_ORIENTATION: Board Orientation + +*Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient + +*Note: This parameter is for advanced users* + +This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less. + +- Range: 0.001 0.5 + +- Increment: .01 + +## AHRS_GPS_MINSATS: AHRS GPS Minimum satellites + +*Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers. + +- Range: 0 10 + +- Increment: 1 + +## AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation + +*Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|Enable EKF2| +|3|Enable EKF3| +|11|ExternalAHRS| + +## AHRS_CUSTOM_ROLL: Board orientation roll offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_PIT: Board orientation pitch offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_CUSTOM_YAW: Board orientation yaw offset + +*Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +## AHRS_OPTIONS: Optional AHRS behaviour + +*Note: This parameter is for advanced users* + +This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + +- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + +# AIS Parameters + +## AIS_TYPE: AIS receiver type + +AIS receiver type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|NMEA AIVDM message| + +- RebootRequired: True + +## AIS_LIST_MAX: AIS vessel list size + +*Note: This parameter is for advanced users* + +AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values. + +- Range: 1 100 + +## AIS_TIME_OUT: AIS vessel time out + +*Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + +- Units: s + +- Range: 1 2000 + +## AIS_LOGGING: AIS logging options + +*Note: This parameter is for advanced users* + +Bitmask of AIS logging options + +- Bitmask: 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + +# ARMING Parameters + +## ARMING_REQUIRE: Require Arming Motors + +*Note: This parameter is for advanced users* + +Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|minimum PWM when disarmed| +|2|0 PWM when disarmed| + +## ARMING_ACCTHRESH: Accelerometer error threshold + +*Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal. + +- Units: m/s/s + +- Range: 0.25 3.0 + +## ARMING_RUDDER: Arming with Rudder enable/disable + +*Note: This parameter is for advanced users* + +Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode! + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ArmingOnly| +|2|ArmOrDisarm| + +## ARMING_MIS_ITEMS: Required mission items + +*Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + +- Bitmask: 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + +## ARMING_CHECK: Arm Checks to Perform (bitmask) + +Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72. + +- Bitmask: 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT + +## ARMING_OPTIONS: Arming options + +*Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + +- Bitmask: 0:Disable prearm display,1:Do not send status text on state change + +## ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model + +*Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check + +- Units: mGauss + +- Range: 0 500 + +## ARMING_CRSDP_IGN: Disable CrashDump Arming check + +*Note: This parameter is for advanced users* + +Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details. + +|Value|Meaning| +|:---:|:---:| +|0|Crash Dump arming check active| +|1|Crash Dump arming check deactivated| + +# ARSPD Parameters + +## ARSPD_ENABLE: Airspeed Enable + +Enable airspeed sensor support + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_TUBE_ORDER: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_PRIMARY: Primary airspeed sensor + +*Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstSensor| +|1|2ndSensor| + +## ARSPD_OPTIONS: Airspeed options bitmask + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Bitmask: 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + +## ARSPD_WIND_MAX: Maximum airspeed and ground speed difference + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Units: m/s + +## ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. Always set to 0. + +- Units: m/s + +## ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size + +*Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle. + +- Range: 0.0 10.0 + +## ARSPD_OFF_PCNT: Maximum offset cal speed error + +*Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered. + +- Range: 0.0 10.0 + +- Units: % + +# ARSPD2 Parameters + +## ARSPD2_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD2_USE: Airspeed use + +This parameter is not used by this vehicle. Always set to 0. + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD2_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD2_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD2_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0. + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD2_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD2_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD2_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD2_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# ARSPD Parameters + +## ARSPD_TYPE: Airspeed type + +Type of airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|I2C-MS4525D0| +|2|Analog| +|3|I2C-MS5525| +|4|I2C-MS5525 (0x76)| +|5|I2C-MS5525 (0x77)| +|6|I2C-SDP3X| +|7|I2C-DLVR-5in| +|8|DroneCAN| +|9|I2C-DLVR-10in| +|10|I2C-DLVR-20in| +|11|I2C-DLVR-30in| +|12|I2C-DLVR-60in| +|13|NMEA water speed| +|14|MSP| +|15|ASP5033| +|16|ExternalAHRS| +|100|SITL| + +## ARSPD_USE: Airspeed use + +This parameter is not used by this vehicle. Always set to 0. + +|Value|Meaning| +|:---:|:---:| +|0|DoNotUse| +|1|Use| +|2|UseWhenZeroThrottle| + +## ARSPD_OFFSET: Airspeed offset + +*Note: This parameter is for advanced users* + +Airspeed calibration offset + +- Increment: 0.1 + +## ARSPD_RATIO: Airspeed ratio + +*Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure. + +- Increment: 0.1 + +## ARSPD_PIN: Airspeed pin + +*Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0. + +*Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled. + +## ARSPD_TUBE_ORDR: Control pitot tube order + +*Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Swapped| +|2|Auto Detect| + +## ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup + +*Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ARSPD_PSI_RANGE: The PSI range of the device + +*Note: This parameter is for advanced users* + +This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device + +## ARSPD_BUS: Airspeed I2C bus + +*Note: This parameter is for advanced users* + +Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize. + +|Value|Meaning| +|:---:|:---:| +|0|Bus0| +|1|Bus1| +|2|Bus2| + +- RebootRequired: True + +## ARSPD_DEVID: Airspeed ID + +*Note: This parameter is for advanced users* + +Airspeed sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +# ATC Parameters + +## ATC_STR_RAT_P: Steering control rate P gain + +Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1) + +- Range: 0.000 2.000 + +- Increment: 0.001 + +## ATC_STR_RAT_I: Steering control I gain + +Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual + +- Range: 0.000 2.000 + +- Increment: 0.001 + +## ATC_STR_RAT_IMAX: Steering control I gain maximum + +Steering control I gain maximum. Constrains the steering output (range -1 to +1) that the I term will generate + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_STR_RAT_D: Steering control D gain + +Steering control D gain. Compensates for short-term change in desired turn rate vs actual + +- Range: 0.000 0.400 + +- Increment: 0.001 + +## ATC_STR_RAT_FF: Steering control feed forward + +Steering control feed forward + +- Range: 0.000 3.000 + +- Increment: 0.001 + +## ATC_STR_RAT_FILT: Steering control filter frequency + +Steering control input filter. Lower values reduce noise but add delay. + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_STR_RAT_FLTT: Steering control Target filter frequency in Hz + +Target filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_STR_RAT_FLTE: Steering control Error filter frequency in Hz + +Error filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_STR_RAT_FLTD: Steering control Derivative term filter frequency in Hz + +Derivative filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_STR_RAT_SMAX: Steering slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_STR_RAT_PDMX: Steering control PD sum maximum + +Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_STR_RAT_D_FF: Steering control Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## ATC_STR_RAT_NTF: Steering control Target notch filter index + +*Note: This parameter is for advanced users* + +Steering control Target notch filter index + +- Range: 1 8 + +## ATC_STR_RAT_NEF: Steering control Error notch filter index + +*Note: This parameter is for advanced users* + +Steering control Error notch filter index + +- Range: 1 8 + +## ATC_SPEED_P: Speed control P gain + +Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1) + +- Range: 0.010 2.000 + +- Increment: 0.01 + +## ATC_SPEED_I: Speed control I gain + +Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed + +- Range: 0.000 2.000 + +- Increment: 0.01 + +## ATC_SPEED_IMAX: Speed control I gain maximum + +Speed control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_SPEED_D: Speed control D gain + +Speed control D gain. Compensates for short-term change in desired speed vs actual + +- Range: 0.000 0.400 + +- Increment: 0.001 + +## ATC_SPEED_FF: Speed control feed forward + +Speed control feed forward + +- Range: 0.000 0.500 + +- Increment: 0.001 + +## ATC_SPEED_FILT: Speed control filter frequency + +Speed control input filter. Lower values reduce noise but add delay. + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SPEED_FLTT: Speed control Target filter frequency in Hz + +Target filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SPEED_FLTE: Speed control Error filter frequency in Hz + +Error filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SPEED_FLTD: Speed control Derivative term filter frequency in Hz + +Derivative filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SPEED_SMAX: Speed control slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_SPEED_PDMX: Speed control PD sum maximum + +Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_SPEED_D_FF: Speed control Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## ATC_SPEED_NTF: Speed control Target notch filter index + +*Note: This parameter is for advanced users* + +Speed control Target notch filter index + +- Range: 1 8 + +## ATC_SPEED_NEF: Speed control Error notch filter index + +*Note: This parameter is for advanced users* + +Speed control Error notch filter index + +- Range: 1 8 + +## ATC_ACCEL_MAX: Speed control acceleration (and deceleration) maximum in m/s/s + +Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting + +- Range: 0.0 10.0 + +- Increment: 0.1 + +- Units: m/s/s + +## ATC_BRAKE: Speed control brake enable/disable + +Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## ATC_STOP_SPEED: Speed control stop speed + +Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value + +- Range: 0.00 0.50 + +- Increment: 0.01 + +- Units: m/s + +## ATC_STR_ANG_P: Steering control angle P gain + +Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec) + +- Range: 1.000 10.000 + +- Increment: 0.1 + +## ATC_STR_ACC_MAX: Steering control angular acceleration maximum + +Steering control angular acceleration maximum (in deg/s/s). 0 to disable acceleration limiting + +- Range: 0 1000 + +- Increment: 0.1 + +- Units: deg/s/s + +## ATC_STR_RAT_MAX: Steering control rotation rate maximum + +Steering control rotation rate maximum in deg/s. 0 to remove rate limiting + +- Range: 0 1000 + +- Increment: 0.1 + +- Units: deg/s + +## ATC_DECEL_MAX: Speed control deceleration maximum in m/s/s + +Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration + +- Range: 0.0 10.0 + +- Increment: 0.1 + +- Units: m/s/s + +## ATC_BAL_P: Pitch control P gain + +Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1) + +- Range: 0.000 2.000 + +- Increment: 0.01 + +## ATC_BAL_I: Pitch control I gain + +Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch + +- Range: 0.000 2.000 + +- Increment: 0.01 + +## ATC_BAL_IMAX: Pitch control I gain maximum + +Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_BAL_D: Pitch control D gain + +Pitch control D gain. Compensates for short-term change in desired pitch vs actual + +- Range: 0.000 0.100 + +- Increment: 0.001 + +## ATC_BAL_FF: Pitch control feed forward + +Pitch control feed forward + +- Range: 0.000 0.500 + +- Increment: 0.001 + +## ATC_BAL_FILT: Pitch control filter frequency + +Pitch control input filter. Lower values reduce noise but add delay. + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_BAL_FLTT: Pitch control Target filter frequency in Hz + +Pitch control Target filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_BAL_FLTE: Pitch control Error filter frequency in Hz + +Pitch control Error filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_BAL_FLTD: Pitch control Derivative term filter frequency in Hz + +Pitch control Derivative filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_BAL_SMAX: Pitch control slew rate limit + +*Note: This parameter is for advanced users* + +Pitch control upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_BAL_PDMX: Pitch control PD sum maximum + +Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_BAL_D_FF: Pitch control Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## ATC_BAL_NTF: Pitch control Target notch filter index + +*Note: This parameter is for advanced users* + +Pitch control Target notch filter index + +- Range: 1 8 + +## ATC_BAL_NEF: Pitch control Error notch filter index + +*Note: This parameter is for advanced users* + +Pitch control Error notch filter index + +- Range: 1 8 + +## ATC_BAL_PIT_FF: Pitch control feed forward from current pitch angle + +Pitch control feed forward from current pitch angle + +- Range: 0.0 1.0 + +- Increment: 0.01 + +## ATC_SAIL_P: Sail Heel control P gain + +Sail Heel control P gain for sailboats. Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1) + +- Range: 0.000 2.000 + +- Increment: 0.01 + +## ATC_SAIL_I: Sail Heel control I gain + +Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual + +- Range: 0.000 2.000 + +- Increment: 0.01 + +## ATC_SAIL_IMAX: Sail Heel control I gain maximum + +Sail Heel control I gain maximum. Constrains the maximum I term contribution to the main sail output (range -1 to +1) + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_SAIL_D: Sail Heel control D gain + +Sail Heel control D gain. Compensates for short-term change in desired heel angle vs actual + +- Range: 0.000 0.100 + +- Increment: 0.001 + +## ATC_SAIL_FF: Sail Heel control feed forward + +Sail Heel control feed forward + +- Range: 0.000 0.500 + +- Increment: 0.001 + +## ATC_SAIL_FILT: Sail Heel control filter frequency + +Sail Heel control input filter. Lower values reduce noise but add delay. + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SAIL_FLTT: Sail Heel Target filter frequency in Hz + +Target filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SAIL_FLTE: Sail Heel Error filter frequency in Hz + +Error filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SAIL_FLTD: Sail Heel Derivative term filter frequency in Hz + +Derivative filter frequency in Hz + +- Range: 0.000 100.000 + +- Increment: 0.1 + +- Units: Hz + +## ATC_SAIL_SMAX: Sail heel slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## ATC_SAIL_PDMX: Sail Heel control PD sum maximum + +Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +- Increment: 0.01 + +## ATC_SAIL_D_FF: Sail Heel Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0 0.03 + +- Increment: 0.001 + +## ATC_SAIL_NTF: Sail Heel Target notch filter index + +*Note: This parameter is for advanced users* + +Sail Heel Target notch filter index + +- Range: 1 8 + +## ATC_SAIL_NEF: Sail Heel Error notch filter index + +*Note: This parameter is for advanced users* + +Sail Heel Error notch filter index + +- Range: 1 8 + +## ATC_TURN_MAX_G: Turning maximum G force + +The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns + +- Units: gravities + +- Range: 0.1 10 + +- Increment: 0.01 + +## ATC_BAL_LIM_TC: Pitch control limit time constant + +Pitch control limit time constant to protect against falling. Lower values limit pitch more quickly, higher values limit more slowly. Set to 0 to disable + +- Range: 0.0 5.0 + +- Increment: 0.01 + +## ATC_BAL_LIM_THR: Pitch control limit throttle threshold + +Pitch control limit throttle threshold. Pitch angle will be limited if throttle crosses this threshold (from 0 to 1) + +- Range: 0.0 1.0 + +- Increment: 0.01 + +# AVOID Parameters + +## AVOID_ENABLE: Avoidance control enable/disable + +Enabled/disable avoidance input sources + +- Bitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence + +## AVOID_MARGIN: Avoidance distance margin in GPS modes + +Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes + +- Units: m + +- Range: 1 10 + +## AVOID_BEHAVE: Avoidance behaviour + +Avoidance behaviour (slide or stop) + +|Value|Meaning| +|:---:|:---:| +|0|Slide| +|1|Stop| + +## AVOID_BACKUP_SPD: Avoidance maximum horizontal backup speed + +Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup. + +- Units: m/s + +- Range: 0 2 + +## AVOID_ACCEL_MAX: Avoidance maximum acceleration + +Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits + +- Units: m/s/s + +- Range: 0 9 + +## AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle + +Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle. + +- Units: m + +- Range: 0 2 + +## AVOID_BACKZ_SPD: Avoidance maximum vertical backup speed + +Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup. + +- Units: m/s + +- Range: 0 2 + +# BARO Parameters + +## BARO1_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_GND_TEMP: ground temperature + +*Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature. + +- Units: degC + +- Increment: 1 + +- Volatile: True + +## BARO_ALT_OFFSET: altitude offset + +*Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed. + +- Units: m + +- Increment: 0.1 + +## BARO_PRIMARY: Primary barometer + +*Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + +|Value|Meaning| +|:---:|:---:| +|0|FirstBaro| +|1|2ndBaro| +|2|3rdBaro| + +## BARO_EXT_BUS: External baro bus + +*Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Bus0| +|1|Bus1| +|6|Bus6| + +## BARO2_GND_PRESS: Ground Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO3_GND_PRESS: Absolute Pressure + +*Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + +- Units: Pa + +- Increment: 1 + +- ReadOnly: True + +- Volatile: True + +## BARO_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## BARO_PROBE_EXT: External barometers to probe + +*Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS. + +- Bitmask: 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + +## BARO1_DEVID: Baro ID + +*Note: This parameter is for advanced users* + +Barometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO2_DEVID: Baro ID2 + +*Note: This parameter is for advanced users* + +Barometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO3_DEVID: Baro ID3 + +*Note: This parameter is for advanced users* + +Barometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## BARO_FIELD_ELV: field elevation + +*Note: This parameter is for advanced users* + +User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level. + +- Units: m + +- Increment: 0.1 + +- Volatile: True + +## BARO_ALTERR_MAX: Altitude error maximum + +*Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero. + +- Units: m + +- Increment: 1 + +- Range: 0 5000 + +## BARO_OPTIONS: Barometer options + +*Note: This parameter is for advanced users* + +Barometer options + +- Bitmask: 0:Treat MS5611 as MS5607 + +# BARO1WCF Parameters + +## BARO1_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO2WCF Parameters + +## BARO2_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BARO3WCF Parameters + +## BARO3_WCF_ENABLE: Wind coefficient enable + +*Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +## BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down) + +*Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned. + +- Range: -1.0 1.0 + +- Increment: 0.05 + +# BATT2 Parameters + +## BATT2_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT2_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT2_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT2_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT2_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT2_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT2_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT2_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT2_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT2_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT2_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT2_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT2_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT2_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT2_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT2_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT2_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT2_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT2_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT2_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT2_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT2_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT2_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT2_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT2_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT2_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT2_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT2_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT2_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT2_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT2_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT3 Parameters + +## BATT3_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT3_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT3_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT3_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT3_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT3_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT3_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT3_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT3_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT3_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT3_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT3_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT3_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT3_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT3_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT3_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT3_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT3_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT3_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT3_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT3_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT3_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT3_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT3_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT3_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT3_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT3_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT3_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT3_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT3_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT3_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT4 Parameters + +## BATT4_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT4_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT4_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT4_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT4_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT4_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT4_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT4_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT4_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT4_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT4_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT4_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT4_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT4_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT4_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT4_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT4_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT4_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT4_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT4_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT4_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT4_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT4_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT4_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT4_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT4_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT4_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT4_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT4_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT4_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT4_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT5 Parameters + +## BATT5_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT5_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT5_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT5_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT5_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT5_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT5_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT5_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT5_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT5_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT5_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT5_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT5_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT5_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT5_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT5_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT5_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT5_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT5_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT5_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT5_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT5_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT5_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT5_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT5_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT5_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT5_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT5_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT5_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT5_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT5_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT6 Parameters + +## BATT6_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT6_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT6_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT6_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT6_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT6_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT6_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT6_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT6_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT6_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT6_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT6_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT6_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT6_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT6_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT6_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT6_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT6_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT6_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT6_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT6_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT6_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT6_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT6_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT6_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT6_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT6_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT6_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT6_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT6_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT6_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT7 Parameters + +## BATT7_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT7_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT7_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT7_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT7_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT7_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT7_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT7_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT7_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT7_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT7_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT7_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT7_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT7_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT7_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT7_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT7_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT7_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT7_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT7_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT7_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT7_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT7_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT7_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT7_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT7_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT7_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT7_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT7_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT7_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT7_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT8 Parameters + +## BATT8_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT8_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT8_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT8_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT8_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT8_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT8_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT8_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT8_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT8_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT8_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT8_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT8_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT8_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT8_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT8_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT8_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT8_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT8_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT8_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT8_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT8_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT8_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT8_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT8_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT8_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT8_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT8_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT8_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT8_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT8_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT9 Parameters + +## BATT9_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT9_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT9_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT9_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT9_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT9_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT9_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT9_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT9_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT9_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT9_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT9_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT9_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT9_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT9_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT9_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT9_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT9_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT9_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT9_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT9_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT9_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT9_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT9_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT9_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT9_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT9_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT9_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT9_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT9_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT9_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTA Parameters + +## BATTA_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTA_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTA_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTA_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTA_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTA_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTA_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTA_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTA_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTA_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTA_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTA_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTA_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTA_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTA_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTA_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTA_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTA_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTA_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTA_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTA_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTA_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTA_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTA_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTA_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTA_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTA_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTA_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTA_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTA_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTA_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTB Parameters + +## BATTB_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTB_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTB_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTB_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTB_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTB_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTB_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTB_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTB_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTB_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTB_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTB_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTB_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTB_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTB_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTB_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTB_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTB_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTB_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTB_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTB_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTB_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTB_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTB_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTB_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTB_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTB_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTB_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTB_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTB_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTB_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTC Parameters + +## BATTC_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTC_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTC_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTC_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTC_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTC_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTC_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTC_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTC_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTC_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTC_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTC_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTC_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTC_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTC_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTC_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTC_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTC_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTC_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTC_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTC_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTC_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTC_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTC_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTC_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTC_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTC_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTC_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTC_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTC_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTC_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTD Parameters + +## BATTD_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTD_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTD_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTD_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTD_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTD_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTD_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTD_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTD_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTD_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTD_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTD_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTD_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTD_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTD_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTD_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTD_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTD_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTD_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTD_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTD_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTD_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTD_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTD_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTD_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTD_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTD_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTD_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTD_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTD_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTD_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTE Parameters + +## BATTE_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTE_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTE_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTE_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTE_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTE_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTE_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTE_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTE_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTE_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTE_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTE_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTE_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTE_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTE_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTE_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTE_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTE_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTE_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTE_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTE_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTE_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTE_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTE_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTE_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTE_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTE_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTE_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTE_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTE_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTE_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTF Parameters + +## BATTF_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTF_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTF_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTF_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTF_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTF_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTF_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTF_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTF_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTF_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTF_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTF_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTF_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTF_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTF_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTF_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTF_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTF_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTF_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTF_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTF_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTF_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTF_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTF_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTF_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTF_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTF_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTF_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTF_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTF_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTF_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATTG Parameters + +## BATTG_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATTG_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATTG_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATTG_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATTG_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATTG_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATTG_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTG_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATTG_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATTG_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATTG_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATTG_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATTG_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATTG_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATTG_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATTG_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATTG_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATTG_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATTG_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATTG_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATTG_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATTG_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATTG_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATTG_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATTG_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATTG_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATTG_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATTG_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATTG_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATTG_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATTG_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BATT Parameters + +## BATT_MONITOR: Battery monitoring + +Controls enabling monitoring of the battery's voltage and current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|3|Analog Voltage Only| +|4|Analog Voltage and Current| +|5|Solo| +|6|Bebop| +|7|SMBus-Generic| +|8|DroneCAN-BatteryInfo| +|9|ESC| +|10|Sum Of Selected Monitors| +|11|FuelFlow| +|12|FuelLevelPWM| +|13|SMBUS-SUI3| +|14|SMBUS-SUI6| +|15|NeoDesign| +|16|SMBus-Maxell| +|17|Generator-Elec| +|18|Generator-Fuel| +|19|Rotoye| +|20|MPPT| +|21|INA2XX| +|22|LTC2946| +|23|Torqeedo| +|24|FuelLevelAnalog| +|25|Synthetic Current and Analog Voltage| +|26|INA239_SPI| +|27|EFI| +|28|AD7091R5| +|29|Scripting| + +- RebootRequired: True + +## BATT_CAPACITY: Battery capacity + +Capacity of the battery in mAh when full + +- Units: mAh + +- Increment: 50 + +## BATT_SERIAL_NUM: Battery serial number + +*Note: This parameter is for advanced users* + +Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id. + +## BATT_LOW_TIMER: Low voltage timeout + +*Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors. + +- Units: s + +- Increment: 1 + +- Range: 0 120 + +## BATT_FS_VOLTSRC: Failsafe voltage source + +*Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + +|Value|Meaning| +|:---:|:---:| +|0|Raw Voltage| +|1|Sag Compensated Voltage| + +## BATT_LOW_VOLT: Low battery voltage + +Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_LOW_MAH: Low battery capacity + +Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_CRT_VOLT: Critical battery voltage + +Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: V + +- Increment: 0.1 + +## BATT_CRT_MAH: Battery critical capacity + +Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_FS_LOW_ACT: Low battery failsafe action + +What action the vehicle should perform if it hits a low battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT_FS_CRT_ACT: Critical battery failsafe action + +What action the vehicle should perform if it hits a critical battery failsafe + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|RTL| +|2|Hold| +|3|SmartRTL| +|4|SmartRTL or Hold| +|5|Terminate| + +## BATT_ARM_VOLT: Required arming voltage + +*Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage. + +- Units: V + +- Increment: 0.1 + +## BATT_ARM_MAH: Required arming remaining capacity + +*Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter. + +- Units: mAh + +- Increment: 50 + +## BATT_OPTIONS: Battery monitor options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + +- Bitmask: 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + +## BATT_ESC_INDEX: ESC Telemetry Index to write to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## BATT_VOLT_PIN: Battery Voltage sensing pin + +Sets the analog input pin that should be used for voltage monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +- RebootRequired: True + +## BATT_CURR_PIN: Battery Current sensing pin + +Sets the analog input pin that should be used for current monitoring. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|3|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|4|CubeOrange_PM2/Navigator| +|14|Pixhawk2_PM2| +|15|CubeOrange| +|17|Durandal| +|101|PX4-v1| + +- RebootRequired: True + +## BATT_VOLT_MULT: Voltage Multiplier + +*Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1. + +## BATT_AMP_PERVLT: Amps per volt + +Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw. + +- Units: A/V + +## BATT_AMP_OFFSET: AMP offset + +Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current. + +- Units: V + +## BATT_VLT_OFFSET: Voltage offset + +*Note: This parameter is for advanced users* + +Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied. + +- Units: V + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address + +- Range: 0 127 + +- RebootRequired: True + +## BATT_SUM_MASK: Battery Sum mask + +0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged. + +- Bitmask: 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + +## BATT_CURR_MULT: Scales reported power monitor current + +*Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + +- Range: .1 10 + +## BATT_FL_VLT_MIN: Empty fuel level voltage + +*Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +- Units: V + +## BATT_FL_V_MULT: Fuel level voltage multiplier + +*Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS. + +- Range: 0.01 10 + +## BATT_FL_FLTR: Fuel level filter frequency + +*Note: This parameter is for advanced users* + +Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz. + +- Range: -1 1 + +- Units: Hz + +- RebootRequired: True + +## BATT_FL_PIN: Fuel level analog pin number + +Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## BATT_FL_FF: First order term + +*Note: This parameter is for advanced users* + +First order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FS: Second order term + +*Note: This parameter is for advanced users* + +Second order polynomial fit term + +- Range: 0 10 + +## BATT_FL_FT: Third order term + +*Note: This parameter is for advanced users* + +Third order polynomial fit term + +- Range: 0 10 + +## BATT_FL_OFF: Offset term + +*Note: This parameter is for advanced users* + +Offset polynomial fit term + +- Range: 0 10 + +## BATT_MAX_VOLT: Maximum Battery Voltage + +*Note: This parameter is for advanced users* + +Maximum voltage of battery. Provides scaling of current versus voltage + +- Range: 7 100 + +## BATT_I2C_BUS: Battery monitor I2C bus number + +*Note: This parameter is for advanced users* + +Battery monitor I2C bus number + +- Range: 0 3 + +- RebootRequired: True + +## BATT_I2C_ADDR: Battery monitor I2C address + +*Note: This parameter is for advanced users* + +Battery monitor I2C address. If this is zero then probe list of supported addresses + +- Range: 0 127 + +- RebootRequired: True + +## BATT_MAX_AMPS: Battery monitor max current + +*Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with. + +- Range: 1 400 + +- Units: A + +## BATT_SHUNT: Battery monitor shunt resistor + +*Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + +- Range: 0.0001 0.01 + +- Units: Ohm + +## BATT_ESC_MASK: ESC mask + +If 0 all connected ESCs will be used. If non-zero, only those selected in will be used. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +# BCN Parameters + +## BCN_TYPE: Beacon based position estimation device type + +*Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Pozyx| +|2|Marvelmind| +|3|Nooploop| +|10|SITL| + +## BCN_LATITUDE: Beacon origin's latitude + +*Note: This parameter is for advanced users* + +Beacon origin's latitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -90 90 + +## BCN_LONGITUDE: Beacon origin's longitude + +*Note: This parameter is for advanced users* + +Beacon origin's longitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -180 180 + +## BCN_ALT: Beacon origin's altitude above sealevel in meters + +*Note: This parameter is for advanced users* + +Beacon origin's altitude above sealevel in meters + +- Units: m + +- Increment: 1 + +- Range: 0 10000 + +## BCN_ORIENT_YAW: Beacon systems rotation from north in degrees + +*Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + +- Units: deg + +- Increment: 1 + +- Range: -180 +180 + +# BRD Parameters + +## BRD_SER1_RTSCTS: Serial 1 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +- RebootRequired: True + +## BRD_SER2_RTSCTS: Serial 2 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER3_RTSCTS: Serial 3 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER4_RTSCTS: Serial 4 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SER5_RTSCTS: Serial 5 flow control + +*Note: This parameter is for advanced users* + +Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Auto| +|3|RS-485 Driver enable RTS pin| + +## BRD_SAFETY_DEFLT: Sets default state of the safety switch + +This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## BRD_SBUS_OUT: SBUS output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|50Hz| +|2|75Hz| +|3|100Hz| +|4|150Hz| +|5|200Hz| +|6|250Hz| +|7|300Hz| + +- RebootRequired: True + +## BRD_SERIAL_NUM: User-defined serial number + +User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot + +- Range: -8388608 8388607 + +## BRD_SAFETY_MASK: Outputs which ignore the safety switch state + +*Note: This parameter is for advanced users* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + +- Bitmask: 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + +- RebootRequired: True + +## BRD_HEAT_TARG: Board heater temperature target + +*Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1. + +- Range: -1 80 + +- Units: degC + +## BRD_TYPE: Board type + +*Note: This parameter is for advanced users* + +This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4) + +|Value|Meaning| +|:---:|:---:| +|0|AUTO| +|1|PX4V1| +|2|Pixhawk| +|3|Cube/Pixhawk2| +|4|Pixracer| +|5|PixhawkMini| +|6|Pixhawk2Slim| +|13|Intel Aero FC| +|14|Pixhawk Pro| +|20|AUAV2.1| +|21|PCNC1| +|22|MINDPXV2| +|23|SP01| +|24|CUAVv5/FMUV5| +|30|VRX BRAIN51| +|32|VRX BRAIN52| +|33|VRX BRAIN52E| +|34|VRX UBRAIN51| +|35|VRX UBRAIN52| +|36|VRX CORE10| +|38|VRX BRAIN54| +|39|PX4 FMUV6| +|100|PX4 OLDDRIVERS| + +- RebootRequired: True + +## BRD_IO_ENABLE: Enable IO co-processor + +*Note: This parameter is for advanced users* + +This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|EnableNoFWUpdate| + +- RebootRequired: True + +## BRD_SAFETYOPTION: Options for safety button behavior + +This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed + +- Bitmask: 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + +## BRD_VBUS_MIN: Autopilot board voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 4.0 5.5 + +- Increment: 0.1 + +## BRD_VSERVO_MIN: Servo voltage requirement + +*Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check. + +- Units: V + +- Range: 3.3 12.0 + +- Increment: 0.1 + +## BRD_SD_SLOWDOWN: microSD slowdown + +*Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used. + +- Range: 0 32 + +- Increment: 1 + +## BRD_PWM_VOLT_SEL: Set PWM Out Voltage + +*Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs. + +|Value|Meaning| +|:---:|:---:| +|0|3.3V| +|1|5V| + +## BRD_OPTIONS: Board options + +*Note: This parameter is for advanced users* + +Board specific option flags + +- Bitmask: 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + +## BRD_BOOT_DELAY: Boot delay + +*Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + +- Range: 0 10000 + +- Units: ms + +## BRD_HEAT_P: Board Heater P gain + +*Note: This parameter is for advanced users* + +Board Heater P gain + +- Range: 1 500 + +- Increment: 1 + +## BRD_HEAT_I: Board Heater I gain + +*Note: This parameter is for advanced users* + +Board Heater integrator gain + +- Range: 0 1 + +- Increment: 0.1 + +## BRD_HEAT_IMAX: Board Heater IMAX + +*Note: This parameter is for advanced users* + +Board Heater integrator maximum + +- Range: 0 100 + +- Increment: 1 + +## BRD_ALT_CONFIG: Alternative HW config + +*Note: This parameter is for advanced users* + +Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## BRD_HEAT_LOWMGN: Board heater temp lower margin + +*Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check + +- Range: 0 20 + +- Units: degC + +## BRD_SD_MISSION: SDCard Mission size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_SD_FENCE: SDCard Fence size + +*Note: This parameter is for advanced users* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage. + +- Range: 0 64 + +- RebootRequired: True + +## BRD_IO_DSHOT: Load DShot FW on IO + +*Note: This parameter is for advanced users* + +This loads the DShot firmware on the IO co-processor + +|Value|Meaning| +|:---:|:---:| +|0|StandardFW| +|1|DshotFW| + +- RebootRequired: True + +# BRDRADIO Parameters + +## BRD_RADIO_TYPE: Set type of direct attached radio + +This enables support for direct attached radio receivers + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|CYRF6936| +|2|CC2500| +|3|BK2425| + +## BRD_RADIO_PROT: protocol + +*Note: This parameter is for advanced users* + +Select air protocol + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|DSM2| +|2|DSMX| + +## BRD_RADIO_DEBUG: debug level + +*Note: This parameter is for advanced users* + +radio debug level + +- Range: 0 4 + +## BRD_RADIO_DISCRC: disable receive CRC + +*Note: This parameter is for advanced users* + +disable receive CRC (for debug) + +|Value|Meaning| +|:---:|:---:| +|0|NotDisabled| +|1|Disabled| + +## BRD_RADIO_SIGCH: RSSI signal strength + +*Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_PPSCH: Packet rate channel + +*Note: This parameter is for advanced users* + +Channel to show received packet-per-second rate, or zero for disabled + +- Range: 0 16 + +## BRD_RADIO_TELEM: Enable telemetry + +*Note: This parameter is for advanced users* + +If this is non-zero then telemetry packets will be sent over DSM + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BRD_RADIO_TXPOW: Telemetry Transmit power + +*Note: This parameter is for advanced users* + +Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX + +- Range: 1 8 + +## BRD_RADIO_FCCTST: Put radio into FCC test mode + +*Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MinChannel| +|2|MidChannel| +|3|MaxChannel| +|4|MinChannelCW| +|5|MidChannelCW| +|6|MaxChannelCW| + +## BRD_RADIO_STKMD: Stick input mode + +*Note: This parameter is for advanced users* + +This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick. + +|Value|Meaning| +|:---:|:---:| +|1|Mode1| +|2|Mode2| + +## BRD_RADIO_TESTCH: Set radio to factory test channel + +*Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestChan1| +|2|TestChan2| +|3|TestChan3| +|4|TestChan4| +|5|TestChan5| +|6|TestChan6| +|7|TestChan7| +|8|TestChan8| + +## BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter + +*Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + +- Range: 0 16 + +## BRD_RADIO_TPPSCH: Telemetry PPS channel + +*Note: This parameter is for advanced users* + +Channel to show telemetry packets-per-second value, as received at TX + +- Range: 0 16 + +## BRD_RADIO_TXMAX: Transmitter transmit power + +*Note: This parameter is for advanced users* + +Set transmitter maximum transmit power (from 1 to 8) + +- Range: 1 8 + +## BRD_RADIO_BZOFS: Transmitter buzzer adjustment + +*Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment (adjust frequency up) + +- Range: 0 40 + +## BRD_RADIO_ABTIME: Auto-bind time + +*Note: This parameter is for advanced users* + +When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets. + +- Range: 0 120 + +## BRD_RADIO_ABLVL: Auto-bind level + +*Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially + +- Range: 0 31 + +# BRDRTC Parameters + +## BRD_RTC_TYPES: Allowed sources of RTC time + +*Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + +- Bitmask: 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + +## BRD_RTC_TZ_MIN: Timezone offset from UTC + +*Note: This parameter is for advanced users* + +Adds offset in +- minutes from UTC to calculate local time + +- Range: -720 +840 + +# BTN Parameters + +## BTN_ENABLE: Enable button reporting + +*Note: This parameter is for advanced users* + +This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## BTN_PIN1: First button Pin + +Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN2: Second button Pin + +Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN3: Third button Pin + +Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_PIN4: Fourth button Pin + +Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| + +## BTN_REPORT_SEND: Report send time + +The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only. + +- Range: 0 3600 + +## BTN_OPTIONS1: Button Pin 1 Options + +Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS2: Button Pin 2 Options + +Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS3: Button Pin 3 Options + +Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_OPTIONS4: Button Pin 4 Options + +Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input. + +- Bitmask: 0:PWM Input,1:InvertInput + +## BTN_FUNC1: Button Pin 1 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|5|Save Trim (4.1 and lower)| +|7|Save WP| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|19|Gripper Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|30|Lost Rover Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|46|RC Override Enable| +|50|LearnCruise Speed| +|51|MANUAL Mode| +|52|ACRO Mode| +|53|STEERING Mode| +|54|HOLD Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|59|Simple Mode| +|62|Compass Learn| +|63|Sailboat Tack| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|74|Sailboat motoring 3pos| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisoOdom Align| +|81|Disarm| +|90|EKF Source Set| +|94|VTX Power| +|97|Windvane home heading direction offset| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|153|ArmDisarm (4.2 and higher)| +|155|Set steering trim to current servo and RC| +|156|Torqeedo Clear Err| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|201|Roll| +|202|Pitch| +|207|MainSail| +|208|Flap| +|211|Walking Height| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC2: Button Pin 2 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|5|Save Trim (4.1 and lower)| +|7|Save WP| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|19|Gripper Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|30|Lost Rover Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|46|RC Override Enable| +|50|LearnCruise Speed| +|51|MANUAL Mode| +|52|ACRO Mode| +|53|STEERING Mode| +|54|HOLD Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|59|Simple Mode| +|62|Compass Learn| +|63|Sailboat Tack| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|74|Sailboat motoring 3pos| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisoOdom Align| +|81|Disarm| +|90|EKF Source Set| +|94|VTX Power| +|97|Windvane home heading direction offset| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|153|ArmDisarm (4.2 and higher)| +|155|Set steering trim to current servo and RC| +|156|Torqeedo Clear Err| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|201|Roll| +|202|Pitch| +|207|MainSail| +|208|Flap| +|211|Walking Height| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC3: Button Pin 3 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|5|Save Trim (4.1 and lower)| +|7|Save WP| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|19|Gripper Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|30|Lost Rover Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|46|RC Override Enable| +|50|LearnCruise Speed| +|51|MANUAL Mode| +|52|ACRO Mode| +|53|STEERING Mode| +|54|HOLD Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|59|Simple Mode| +|62|Compass Learn| +|63|Sailboat Tack| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|74|Sailboat motoring 3pos| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisoOdom Align| +|81|Disarm| +|90|EKF Source Set| +|94|VTX Power| +|97|Windvane home heading direction offset| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|153|ArmDisarm (4.2 and higher)| +|155|Set steering trim to current servo and RC| +|156|Torqeedo Clear Err| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|201|Roll| +|202|Pitch| +|207|MainSail| +|208|Flap| +|211|Walking Height| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +## BTN_FUNC4: Button Pin 4 RC Channel function + +Auxiliary RC Options function executed on pin change + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|5|Save Trim (4.1 and lower)| +|7|Save WP| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|19|Gripper Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|30|Lost Rover Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|46|RC Override Enable| +|50|LearnCruise Speed| +|51|MANUAL Mode| +|52|ACRO Mode| +|53|STEERING Mode| +|54|HOLD Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|59|Simple Mode| +|62|Compass Learn| +|63|Sailboat Tack| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|74|Sailboat motoring 3pos| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisoOdom Align| +|81|Disarm| +|90|EKF Source Set| +|94|VTX Power| +|97|Windvane home heading direction offset| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|153|ArmDisarm (4.2 and higher)| +|155|Set steering trim to current servo and RC| +|156|Torqeedo Clear Err| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|201|Roll| +|202|Pitch| +|207|MainSail| +|208|Flap| +|211|Walking Height| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# CAM Parameters + +## CAM_MAX_ROLL: Maximum photo roll angle. + +Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll). + +- Units: deg + +- Range: 0 180 + +## CAM_AUTO_ONLY: Distance-trigging in AUTO mode only + +When enabled, trigging by distance is done in AUTO mode only. + +|Value|Meaning| +|:---:|:---:| +|0|Always| +|1|Only when in AUTO| + +# CAM1 Parameters + +## CAM1_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM1_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM1_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM1_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM1_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM1_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM1_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM1_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM1_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM1_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM1_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM1_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAM2 Parameters + +## CAM2_TYPE: Camera shutter (trigger) type + +how to trigger the camera to take a picture + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|Relay| +|3|GoPro in Solo Gimbal| +|4|Mount (Siyi/Topotek/Viewpro/Xacti)| +|5|MAVLink| +|6|MAVLinkCamV2| +|7|Scripting| + +## CAM2_DURATION: Camera shutter duration held open + +Duration in seconds that the camera shutter is held open + +- Units: s + +- Range: 0 5 + +## CAM2_SERVO_ON: Camera servo ON PWM value + +PWM value in microseconds to move servo to when shutter is activated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_SERVO_OFF: Camera servo OFF PWM value + +PWM value in microseconds to move servo to when shutter is deactivated + +- Units: PWM + +- Range: 1000 2000 + +## CAM2_TRIGG_DIST: Camera trigger distance + +Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight. + +- Units: m + +- Range: 0 1000 + +## CAM2_RELAY_ON: Camera relay ON value + +This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera + +|Value|Meaning| +|:---:|:---:| +|0|Low| +|1|High| + +## CAM2_INTRVAL_MIN: Camera minimum time interval between photos + +Postpone shooting if previous picture was taken less than this many seconds ago + +- Units: s + +- Range: 0 10 + +## CAM2_FEEDBAK_PIN: Camera feedback pin + +pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## CAM2_FEEDBAK_POL: Camera feedback pin polarity + +Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low + +|Value|Meaning| +|:---:|:---:| +|0|TriggerLow| +|1|TriggerHigh| + +## CAM2_OPTIONS: Camera options + +Camera options bitmask + +- Bitmask: 0:Recording Starts at arming and stops at disarming + +## CAM2_MNT_INST: Camera Mount instance + +Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1 + +## CAM2_HFOV: Camera horizontal field of view + +Camera horizontal field of view. 0 if unknown + +- Units: deg + +- Range: 0 360 + +## CAM2_VFOV: Camera vertical field of view + +Camera vertical field of view. 0 if unknown + +- Units: deg + +- Range: 0 180 + +# CAMRC Parameters + +## CAM_RC_TYPE: RunCam device type + +RunCam device type used to determine OSD menu structure and shutter options. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|RunCam Split Micro/RunCam with UART| +|2|RunCam Split| +|3|RunCam Split4 4k| +|4|RunCam Hybrid/RunCam Thumb Pro| +|5|Runcam 2 4k| + +## CAM_RC_FEATURES: RunCam features available + +*Note: This parameter is for advanced users* + +The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used. + +- Bitmask: 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + +## CAM_RC_BT_DELAY: RunCam boot delay before allowing updates + +*Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync. + +## CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync. + +## CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses + +*Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync. + +## CAM_RC_CONTROL: RunCam control option + +*Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + +- Bitmask: 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + +# CAN Parameters + +## CAN_LOGLEVEL: Loglevel + +*Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + +- Range: 0 4 + +|Value|Meaning| +|:---:|:---:| +|0|Log None| +|1|Log Error| +|2|Log Warning and below| +|3|Log Info and below| +|4|Log Everything| + +# CAND1 Parameters + +## CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND1PC Parameters + +## CAN_D1_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D1_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D1_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D1_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND1UC Parameters + +## CAN_D1_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D1_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D1_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D1_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D1_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D1_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D1_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D1_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D1_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND2 Parameters + +## CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND2PC Parameters + +## CAN_D2_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D2_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D2_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D2_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND2UC Parameters + +## CAN_D2_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D2_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D2_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D2_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D2_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D2_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D2_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D2_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D2_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CAND3 Parameters + +## CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver + +*Note: This parameter is for advanced users* + +Enabling this option starts selected protocol that will use this virtual driver + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|DroneCAN| +|4|PiccoloCAN| +|6|EFI_NWPMU| +|7|USD1| +|8|KDECAN| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +## CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing + +*Note: This parameter is for advanced users* + +Secondary protocol with 11 bit CAN addressing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|7|USD1| +|10|Scripting| +|11|Benewake| +|12|Scripting2| +|13|TOFSenseP| +|14|NanoRadar| + +- RebootRequired: True + +# CAND3PC Parameters + +## CAN_D3_PC_ESC_BM: ESC channels + +*Note: This parameter is for advanced users* + +Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_PC_ESC_RT: ESC output rate + +*Note: This parameter is for advanced users* + +Output rate of ESC command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_SRV_BM: Servo channels + +*Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + +## CAN_D3_PC_SRV_RT: Servo command output rate + +*Note: This parameter is for advanced users* + +Output rate of servo command messages + +- Units: Hz + +- Range: 1 500 + +## CAN_D3_PC_ECU_ID: ECU Node ID + +*Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs. + +- Range: 0 255 + +## CAN_D3_PC_ECU_RT: ECU command output rate + +*Note: This parameter is for advanced users* + +Output rate of ECU command messages + +- Units: Hz + +- Range: 1 500 + +# CAND3UC Parameters + +## CAN_D3_UC_NODE: Own node ID + +*Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + +- Range: 1 125 + +## CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN + +*Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_SRV_RT: Servo output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_OPTION: DroneCAN options + +*Note: This parameter is for advanced users* + +Option flags + +- Bitmask: 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + +## CAN_D3_UC_NTF_RT: Notify State rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + +- Range: 1 200 + +- Units: Hz + +## CAN_D3_UC_ESC_OF: ESC Output channels offset + +*Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth + +- Range: 0 18 + +## CAN_D3_UC_POOL: CAN pool size + +*Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads + +- Range: 1024 16384 + +## CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN. + +*Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction. + +- Bitmask: 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + +## CAN_D3_UC_RLY_RT: DroneCAN relay output rate + +*Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state + +- Range: 0 200 + +- Units: Hz + +## CAN_D3_UC_SER_EN: DroneCAN Serial enable + +*Note: This parameter is for advanced users* + +Enable DroneCAN virtual serial ports + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## CAN_D3_UC_S1_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S1_IDX: DroneCAN Serial1 index + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +- RebootRequired: True + +## CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S2_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN remote node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S2_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## CAN_D3_UC_S3_NOD: Serial CAN remote node number + +*Note: This parameter is for advanced users* + +CAN node number for serial port + +- Range: 0 127 + +- RebootRequired: True + +## CAN_D3_UC_S3_IDX: Serial port number on remote CAN node + +*Note: This parameter is for advanced users* + +Serial port number on remote CAN node + +- Range: 0 100 + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node + +*Note: This parameter is for advanced users* + +Serial baud rate on remote CAN node + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port + +*Note: This parameter is for advanced users* + +Serial protocol of DroneCAN serial port + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# CANP1 Parameters + +## CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P1_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P1_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP2 Parameters + +## CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P2_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P2_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANP3 Parameters + +## CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface + +Enabling this option enables use of CAN buses. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First driver| +|2|Second driver| +|3|Third driver| + +- RebootRequired: True + +## CAN_P3_BITRATE: Bitrate of CAN interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + +- Range: 10000 1000000 + +## CAN_P3_FDBITRATE: Bitrate of CANFD interface + +*Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + +|Value|Meaning| +|:---:|:---:| +|1|1M| +|2|2M| +|4|4M| +|5|5M| +|8|8M| + +# CANSLCAN Parameters + +## CAN_SLCAN_CPORT: SLCAN Route + +CAN Interface ID to be routed to SLCAN, 0 means no routing + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|First interface| +|2|Second interface| + +- RebootRequired: True + +## CAN_SLCAN_SERNUM: SLCAN Serial Port + +Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## CAN_SLCAN_TIMOUT: SLCAN Timeout + +Duration of inactivity after which SLCAN is switched back to original driver in seconds. + +- Range: 0 127 + +## CAN_SLCAN_SDELAY: SLCAN Start Delay + +Duration after which slcan starts after setting SERNUM in seconds. + +- Range: 0 127 + +# CIRC Parameters + +## CIRC_RADIUS: Circle Radius + +Vehicle will circle the center at this distance + +- Units: m + +- Range: 0 100 + +- Increment: 1 + +## CIRC_SPEED: Circle Speed + +Vehicle will move at this speed around the circle. If set to zero WP_SPEED will be used + +- Units: m/s + +- Range: 0 10 + +- Increment: 0.1 + +## CIRC_DIR: Circle Direction + +Circle Direction + +|Value|Meaning| +|:---:|:---:| +|0|Clockwise| +|1|Counter-Clockwise| + +# COMPASS Parameters + +## COMPASS_OFS_X: Compass offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to the compass z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEC: Compass declination + +An angle to compensate between the true north and magnetic north + +- Range: -3.142 3.142 + +- Units: rad + +- Increment: 0.01 + +## COMPASS_LEARN: Learn compass offsets automatically + +*Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Internal-Learning| +|2|EKF-Learning| +|3|InFlight-Learning| + +## COMPASS_USE: Use compass for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the use of the compass (instead of the GPS) for determining heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_AUTODEC: Auto Declination + +*Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_MOTCT: Motor interference compensation type + +*Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled, throttle or current. Do not change manually. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Use Throttle| +|2|Use Current| + +- Calibration: 1 + +## COMPASS_MOT_X: Motor interference compensation for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Y: Motor interference compensation for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT_Z: Motor interference compensation for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_ORIENT: Compass orientation + +*Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERNAL: Compass is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass2's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's x-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's y-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis + +*Note: This parameter is for advanced users* + +Offset to be added to compass3's z-axis values to compensate for metal in the frame + +- Range: -400 400 + +- Units: mGauss + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis + +*Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle) + +- Range: -1000 1000 + +- Units: mGauss/A + +- Increment: 1 + +- Calibration: 1 + +## COMPASS_DEV_ID: Compass device id + +*Note: This parameter is for advanced users* + +Compass device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID2: Compass2 device id + +*Note: This parameter is for advanced users* + +Second compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID3: Compass3 device id + +*Note: This parameter is for advanced users* + +Third compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_USE2: Compass2 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT2: Compass2 orientation + +*Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN2: Compass2 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_USE3: Compass3 used for yaw + +*Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_ORIENT3: Compass3 orientation + +*Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Yaw45| +|2|Yaw90| +|3|Yaw135| +|4|Yaw180| +|5|Yaw225| +|6|Yaw270| +|7|Yaw315| +|8|Roll180| +|9|Yaw45Roll180| +|10|Yaw90Roll180| +|11|Yaw135Roll180| +|12|Pitch180| +|13|Yaw225Roll180| +|14|Yaw270Roll180| +|15|Yaw315Roll180| +|16|Roll90| +|17|Yaw45Roll90| +|18|Yaw90Roll90| +|19|Yaw135Roll90| +|20|Roll270| +|21|Yaw45Roll270| +|22|Yaw90Roll270| +|23|Yaw135Roll270| +|24|Pitch90| +|25|Pitch270| +|26|Yaw90Pitch180| +|27|Yaw270Pitch180| +|28|Pitch90Roll90| +|29|Pitch90Roll180| +|30|Pitch90Roll270| +|31|Pitch180Roll90| +|32|Pitch180Roll270| +|33|Pitch270Roll90| +|34|Pitch270Roll180| +|35|Pitch270Roll270| +|36|Yaw90Pitch180Roll90| +|37|Yaw270Roll90| +|38|Yaw293Pitch68Roll180| +|39|Pitch315| +|40|Pitch315Roll90| +|42|Roll45| +|43|Roll315| +|100|Custom 4.1 and older| +|101|Custom 1| +|102|Custom 2| + +## COMPASS_EXTERN3: Compass3 is attached via an external cable + +*Note: This parameter is for advanced users* + +Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled. + +|Value|Meaning| +|:---:|:---:| +|0|Internal| +|1|External| +|2|ForcedExternal| + +## COMPASS_DIA_X: Compass soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Y: Compass soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA_Z: Compass soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_X: Compass soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_X: Compass2 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_X: Compass3 soft-iron diagonal X component + +*Note: This parameter is for advanced users* + +DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component + +*Note: This parameter is for advanced users* + +DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component + +*Note: This parameter is for advanced users* + +DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component + +*Note: This parameter is for advanced users* + +ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component + +*Note: This parameter is for advanced users* + +ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component + +*Note: This parameter is for advanced users* + +ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]] + +- Calibration: 1 + +## COMPASS_CAL_FIT: Compass calibration fitness + +*Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value. + +- Range: 4 32 + +|Value|Meaning| +|:---:|:---:| +|4|Very Strict| +|8|Strict| +|16|Default| +|32|Relaxed| + +- Increment: 0.1 + +## COMPASS_OFFS_MAX: Compass maximum offset + +*Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + +- Range: 500 3000 + +- Increment: 1 + +## COMPASS_DISBLMSK: Compass disable driver type mask + +*Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup + +- Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,19:MMC5XX3,20:QMC5883P,21:BMM350 + +## COMPASS_FLTR_RNG: Range in which sample is accepted + +This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter. + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## COMPASS_AUTO_ROT: Automatically check orientation + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|CheckOnly| +|2|CheckAndFix| +|3|use same tolerance to auto rotate 45 deg rotations| + +## COMPASS_PRIO1_ID: Compass device id with 1st order priority + +*Note: This parameter is for advanced users* + +Compass device id with 1st order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO2_ID: Compass device id with 2nd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 2nd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_PRIO3_ID: Compass device id with 3rd order priority + +*Note: This parameter is for advanced users* + +Compass device id with 3rd order priority, set automatically if 0. Reboot required after change. + +- RebootRequired: True + +## COMPASS_ENABLE: Enable Compass + +Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_SCALE: Compass1 scale factor + +Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE2: Compass2 scale factor + +Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_SCALE3: Compass3 scale factor + +Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done + +- Range: 0 1.3 + +## COMPASS_OPTIONS: Compass options + +*Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + +- Bitmask: 0:CalRequireGPS, 1: Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) + +## COMPASS_DEV_ID4: Compass4 device id + +*Note: This parameter is for advanced users* + +Extra 4th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID5: Compass5 device id + +*Note: This parameter is for advanced users* + +Extra 5th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID6: Compass6 device id + +*Note: This parameter is for advanced users* + +Extra 6th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID7: Compass7 device id + +*Note: This parameter is for advanced users* + +Extra 7th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_DEV_ID8: Compass8 device id + +*Note: This parameter is for advanced users* + +Extra 8th compass's device id. Automatically detected, do not set manually + +- ReadOnly: True + +## COMPASS_CUS_ROLL: Custom orientation roll offset + +*Note: This parameter is for advanced users* + +Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_PIT: Custom orientation pitch offset + +*Note: This parameter is for advanced users* + +Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +## COMPASS_CUS_YAW: Custom orientation yaw offset + +*Note: This parameter is for advanced users* + +Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM. + +- Range: -180 180 + +- Units: deg + +- Increment: 1 + +- RebootRequired: True + +# COMPASSPMOT Parameters + +## COMPASS_PMOT_EN: per-motor compass correction enable + +*Note: This parameter is for advanced users* + +This enables per-motor compass corrections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## COMPASS_PMOT_EXP: per-motor exponential correction + +*Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per-motor compass correction + +- Range: 0 2 + +- Increment: 0.01 + +## COMPASS_PMOT1_X: Compass per-motor1 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + +## COMPASS_PMOT1_Y: Compass per-motor1 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + +## COMPASS_PMOT1_Z: Compass per-motor1 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + +## COMPASS_PMOT2_X: Compass per-motor2 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + +## COMPASS_PMOT2_Y: Compass per-motor2 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + +## COMPASS_PMOT2_Z: Compass per-motor2 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + +## COMPASS_PMOT3_X: Compass per-motor3 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + +## COMPASS_PMOT3_Y: Compass per-motor3 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + +## COMPASS_PMOT3_Z: Compass per-motor3 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + +## COMPASS_PMOT4_X: Compass per-motor4 X + +*Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + +## COMPASS_PMOT4_Y: Compass per-motor4 Y + +*Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + +## COMPASS_PMOT4_Z: Compass per-motor4 Z + +*Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + +# CUSTROT Parameters + +## CUST_ROT_ENABLE: Enable Custom rotations + +This enables custom rotations + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +# CUSTROT1 Parameters + +## CUST_ROT1_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT1_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# CUSTROT2 Parameters + +## CUST_ROT2_ROLL: Custom roll + +Custom euler roll, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_PITCH: Custom pitch + +Custom euler pitch, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +## CUST_ROT2_YAW: Custom yaw + +Custom euler yaw, euler 321 (yaw, pitch, roll) ordering + +- Units: deg + +- RebootRequired: True + +# DDS Parameters + +## DDS_ENABLE: DDS enable + +*Note: This parameter is for advanced users* + +Enable DDS subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## DDS_UDP_PORT: DDS UDP port + +UDP port number for DDS + +- Range: 1 65535 + +- RebootRequired: True + +## DDS_DOMAIN_ID: DDS DOMAIN ID + +Set the ROS_DOMAIN_ID + +- Range: 0 232 + +- RebootRequired: True + +## DDS_TIMEOUT_MS: DDS ping timeout + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting. + +- Units: ms + +- Range: 1 10000 + +- RebootRequired: True + +- Increment: 1 + +## DDS_MAX_RETRY: DDS ping max attempts + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. + +- Range: 1 100 + +- RebootRequired: True + +- Increment: 1 + +# DDSIP Parameters + +## DDS_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## DDS_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# DID Parameters + +## DID_ENABLE: Enable ODID subsystem + +Enable ODID subsystem + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DID_MAVPORT: MAVLink serial port + +Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## DID_CANDRIVER: DroneCAN driver number + +DroneCAN driver index, 0 to disable DroneCAN + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Driver1| +|2|Driver2| + +## DID_OPTIONS: OpenDroneID options + +Options for OpenDroneID subsystem + +- Bitmask: 0:EnforceArming, 1:AllowNonGPSPosition, 2:LockUASIDOnFirstBasicIDRx + +## DID_BARO_ACC: Barometer vertical accuraacy + +*Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default + +- Units: m + +# DOCK Parameters + +## DOCK_SPEED: Dock mode speed + +Vehicle speed limit in dock mode + +- Units: m/s + +- Range: 0 100 + +- Increment: 0.1 + +## DOCK_DIR: Dock mode direction of approach + +*Note: This parameter is for advanced users* + +Compass direction in which vehicle should approach towards dock. -1 value represents unset parameter + +- Units: deg + +- Range: 0 360 + +- Increment: 1 + +## DOCK_HDG_CORR_EN: Dock mode heading correction enable/disable + +*Note: This parameter is for advanced users* + +When enabled, the autopilot modifies the path to approach the target head-on along desired line of approch in dock mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## DOCK_HDG_CORR_WT: Dock mode heading correction weight + +*Note: This parameter is for advanced users* + +This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach + +- Range: 0.00 0.90 + +- Increment: 0.05 + +## DOCK_STOP_DIST: Distance from docking target when we should stop + +The vehicle starts stopping when it is this distance away from docking target + +- Units: m + +- Range: 0 2 + +- Increment: 0.01 + +# EAHRS Parameters + +## EAHRS_TYPE: AHRS type + +Type of AHRS device + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|VectorNav| +|2|MicroStrain5| +|5|InertialLabs| +|7|MicroStrain7| + +## EAHRS_RATE: AHRS data rate + +Requested rate for AHRS device + +- Units: Hz + +## EAHRS_OPTIONS: External AHRS options + +External AHRS options bitmask + +- Bitmask: 0:Vector Nav use uncompensated values for accel gyro and mag. + +## EAHRS_SENSORS: External AHRS sensors + +*Note: This parameter is for advanced users* + +External AHRS sensors bitmask + +- Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass + +## EAHRS_LOG_RATE: AHRS logging rate + +Logging rate for EARHS devices + +- Units: Hz + +# EFI Parameters + +## EFI_TYPE: EFI communication type + +*Note: This parameter is for advanced users* + +What method of communication is used for EFI #1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Serial-MS| +|2|NWPMU| +|3|Serial-Lutan| +|5|DroneCAN| +|6|Currawong-ECU| +|7|Scripting| +|8|Hirth| +|9|MAVLink| + +- RebootRequired: True + +## EFI_COEF1: EFI Calibration Coefficient 1 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle + +- Range: 0 1 + +## EFI_COEF2: EFI Calibration Coefficient 2 + +*Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1 + +- Range: 0 10 + +## EFI_FUEL_DENS: ECU Fuel Density + +*Note: This parameter is for advanced users* + +Used to calculate fuel consumption + +- Units: kg/m/m/m + +- Range: 0 10000 + +# EFITHRLIN Parameters + +## EFI_THRLIN_EN: Enable throttle linearisation + +*Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## EFI_THRLIN_COEF1: Throttle linearisation - First Order + +*Note: This parameter is for advanced users* + +First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF2: Throttle linearisation - Second Order + +*Note: This parameter is for advanced users* + +Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_COEF3: Throttle linearisation - Third Order + +*Note: This parameter is for advanced users* + +Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline) + +- Range: -1 1 + +- RebootRequired: True + +## EFI_THRLIN_OFS: throttle linearization offset + +*Note: This parameter is for advanced users* + +Offset for throttle linearization + +- Range: 0 100 + +- RebootRequired: True + +# EK2 Parameters + +## EK2_ENABLE: Enable EKF2 + +*Note: This parameter is for advanced users* + +This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK2_GPS_TYPE: GPS mode control + +*Note: This parameter is for advanced users* + +This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors. + +|Value|Meaning| +|:---:|:---:| +|0|GPS 3D Vel and 2D Pos| +|1|GPS 2D vel and 2D pos| +|2|GPS 2D pos| +|3|No GPS| + +## EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK2_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK2_ALT_SOURCE: Primary altitude sensor source + +*Note: This parameter is for advanced users* + +Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS). + +|Value|Meaning| +|:---:|:---:| +|0|Use Baro| +|1|Use Range Finder| +|2|Use GPS| +|3|Use Range Beacon| + +- RebootRequired: True + +## EK2_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK2_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| + +## EK2_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK2_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK2_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK2_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s) + +*Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier. + +- Range: 0.000001 0.001 + +- Units: Hz + +## EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.005 + +- Units: m/s/s/s + +## EK2_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK2_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 1.0 + +- Increment: 0.1 + +## EK2_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK2_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK2_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK2_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK2_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK2_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK2_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height. + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK2_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK2_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK2_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 127 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK2_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK2_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK2_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK2_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK2_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution + +- Bitmask: 0:DisableExternalNavigation + +# EK3 Parameters + +## EK3_ENABLE: Enable EKF3 + +*Note: This parameter is for advanced users* + +This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements. + +- Range: 0.05 5.0 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VEL_I_GATE: GPS velocity innovation gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m) + +*Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_POS_I_GATE: GPS position measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_GLITCH_RAD: GPS glitch radius gate size (m) + +*Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300. + +- Range: 10 100 + +- Increment: 5 + +- Units: m + +## EK3_ALT_M_NSE: Altitude measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0. + +- Range: 0.1 100.0 + +- Increment: 0.1 + +- Units: m + +## EK3_HGT_I_GATE: Height measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_HGT_DELAY: Height measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the Height measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.01 0.5 + +- Increment: 0.01 + +- Units: Gauss + +## EK3_MAG_CAL: Magnetometer default fusion mode + +*Note: This parameter is for advanced users* + +This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement. + +|Value|Meaning| +|:---:|:---:| +|0|When flying| +|1|When manoeuvring| +|2|Never| +|3|After first climb yaw reset| +|4|Always| +|5|Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)| +|6|External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)| + +- RebootRequired: True + +## EK3_MAG_I_GATE: Magnetometer measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_EAS_I_GATE: Airspeed measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_RNG_M_NSE: Range finder measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_RNG_I_GATE: Range finder measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_MAX_FLOW: Maximum valid optical flow rate + +*Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter + +- Range: 1.0 4.0 + +- Increment: 0.1 + +- Units: rad/s + +## EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad/s + +## EK3_FLOW_I_GATE: Optical Flow measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_FLOW_DELAY: Optical Flow measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_GYRO_P_NSE: Rate gyro noise (rad/s) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. + +- Range: 0.0001 0.1 + +- Increment: 0.0001 + +- Units: rad/s + +## EK3_ACC_P_NSE: Accelerometer noise (m/s^2) + +*Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. + +- Range: 0.01 1.0 + +- Increment: 0.01 + +- Units: m/s/s + +## EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s) + +*Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier. + +- Range: 0.00001 0.001 + +- Units: rad/s/s + +## EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3) + +*Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. + +- Range: 0.00001 0.02 + +- Units: m/s/s/s + +## EK3_WIND_P_NSE: Wind velocity process noise (m/s^2) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. + +- Range: 0.01 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_WIND_PSCALE: Height rate to wind process noise scaler + +*Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser. + +- Range: 0.0 2.0 + +- Increment: 0.1 + +## EK3_GPS_CHECK: GPS preflight check + +*Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat. + +- Bitmask: 0:NSats,1:HDoP,2:speed error,3:position error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed + +## EK3_IMU_MASK: Bitmask of active IMUs + +*Note: This parameter is for advanced users* + +1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start. + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU + +- RebootRequired: True + +## EK3_CHECK_SCALE: GPS accuracy check scaler (%) + +*Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error. + +- Range: 50 200 + +- Units: % + +## EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m) + +*Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors. + +- Range: 0.5 50.0 + +- Units: m + +## EK3_BETA_MASK: Bitmask controlling sidelip angle fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary. + +- Bitmask: 0:Always,1:WhenNoYawSensor + +- RebootRequired: True + +## EK3_YAW_M_NSE: Yaw measurement noise (rad) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements. + +- Range: 0.05 1.0 + +- Increment: 0.05 + +- Units: rad + +## EK3_YAW_I_GATE: Yaw measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec) + +*Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter/predictor in centi-seconds. + +- Range: 10 50 + +- Increment: 5 + +- Units: cs + +## EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s) + +*Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier. + +- Range: 0.00001 0.01 + +- Units: Gauss/s + +## EK3_RNG_USE_HGT: Range finder switch height percentage + +*Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point. + +- Range: -1 70 + +- Increment: 1 + +- Units: % + +## EK3_TERR_GRAD: Maximum terrain gradient + +*Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + +- Range: 0 0.2 + +- Increment: 0.01 + +## EK3_BCN_M_NSE: Range beacon measurement noise (m) + +*Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement. + +- Range: 0.1 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_BCN_I_GTE: Range beacon measurement gate size + +*Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. + +- Range: 100 1000 + +- Increment: 25 + +## EK3_BCN_DELAY: Range beacon measurement delay (msec) + +*Note: This parameter is for advanced users* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements. + +- Range: 0 250 + +- Increment: 10 + +- Units: ms + +- RebootRequired: True + +## EK3_RNG_USE_SPD: Range finder max ground speed + +*Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value. + +- Range: 2.0 6.0 + +- Increment: 0.5 + +- Units: m/s + +## EK3_ACC_BIAS_LIM: Accelerometer bias limit + +*Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to +- this value + +- Range: 0.5 2.5 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion + +*Note: This parameter is for advanced users* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction + +*Note: This parameter is for advanced users* + +When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default). + +- Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to local position + +- RebootRequired: True + +## EK3_VIS_VERR_MIN: Visual odometry minimum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.05 0.5 + +- Increment: 0.05 + +- Units: m/s + +## EK3_VIS_VERR_MAX: Visual odometry maximum velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX. + +- Range: 0.5 5.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_WENC_VERR: Wheel odometry velocity error + +*Note: This parameter is for advanced users* + +This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused. + +- Range: 0.01 1.0 + +- Increment: 0.1 + +- Units: m/s + +## EK3_FLOW_USE: Optical flow use bitmask + +*Note: This parameter is for advanced users* + +Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Navigation| +|2|Terrain| + +- RebootRequired: True + +## EK3_HRT_FILT: Height rate filter crossover frequency + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative. + +- Range: 0.1 30.0 + +- Units: Hz + +## EK3_MAG_EF_LIM: EarthField error limit + +*Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables. + +- Range: 0 500 + +- Units: mGauss + +## EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run + +*Note: This parameter is for advanced users* + +1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used + +*Note: This parameter is for advanced users* + +A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. + +- Bitmask: 0:FirstEKF,1:SecondEKF,2:ThirdEKF,3:FourthEKF,4:FifthEKF,5:SixthEKF + +- RebootRequired: True + +## EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed + +*Note: This parameter is for advanced users* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter. + +- Range: 1 10 + +- Increment: 1 + +- RebootRequired: True + +## EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold + +*Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences + +- Range: 0.05 1 + +- Increment: 0.05 + +## EK3_AFFINITY: EKF3 Sensor Affinity Options + +*Note: This parameter is for advanced users* + +These options control the affinity between sensor instances and EKF cores + +- Bitmask: 0:EnableGPSAffinity,1:EnableBaroAffinity,2:EnableCompassAffinity,3:EnableAirspeedAffinity + +- RebootRequired: True + +## EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 0.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag + +*Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter. + +- Range: 50.0 1000.0 + +- Units: kg/m/m + +## EK3_DRAG_M_NSE: Observation noise for drag acceleration + +*Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters + +- Range: 0.1 2.0 + +- Increment: 0.1 + +- Units: m/s/s + +## EK3_DRAG_MCOEF: Momentum coefficient for propeller drag + +*Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters. + +- Range: 0.0 1.0 + +- Increment: 0.01 + +- Units: 1/s + +## EK3_OGNM_TEST_SF: On ground not moving test scale factor + +*Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels. + +- Range: 1.0 10.0 + +- Increment: 0.5 + +## EK3_GND_EFF_DZ: Baro height ground effect dead zone + +*Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present. + +- Range: 0.0 10.0 + +- Increment: 0.5 + +## EK3_PRIMARY: Primary core number + +*Note: This parameter is for advanced users* + +The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK. + +- Range: 0 2 + +- Increment: 1 + +## EK3_LOG_LEVEL: Logging Level + +*Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3. + +- Range: 0 3 + +- Increment: 1 + +## EK3_GPS_VACC_MAX: GPS vertical accuracy threshold + +*Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check. + +- Range: 0.0 10.0 + +- Increment: 0.1 + +- Units: m + +## EK3_OPTIONS: Optional EKF behaviour + +*Note: This parameter is for advanced users* + +This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + +- Bitmask: 0:JammingExpected + +# EK3SRC Parameters + +## EK3_SRC1_POSXY: Position Horizontal Source (Primary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Primary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELXY: Velocity Horizontal Source + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC1_POSZ: Position Vertical Source + +*Note: This parameter is for advanced users* + +Position Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_VELZ: Velocity Vertical Source + +*Note: This parameter is for advanced users* + +Velocity Vertical Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC1_YAW: Yaw Source + +*Note: This parameter is for advanced users* + +Yaw Source + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC2_POSXY: Position Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC2_POSZ: Position Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_VELZ: Velocity Vertical Source (Secondary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC2_YAW: Yaw Source (Secondary) + +*Note: This parameter is for advanced users* + +Yaw Source (Secondary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC3_POSXY: Position Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Horizontal Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|5|OpticalFlow| +|6|ExternalNav| +|7|WheelEncoder| + +## EK3_SRC3_POSZ: Position Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Position Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Baro| +|2|RangeFinder| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary) + +*Note: This parameter is for advanced users* + +Velocity Vertical Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|3|GPS| +|4|Beacon| +|6|ExternalNav| + +## EK3_SRC3_YAW: Yaw Source (Tertiary) + +*Note: This parameter is for advanced users* + +Yaw Source (Tertiary) + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Compass| +|2|GPS| +|3|GPS with Compass Fallback| +|6|ExternalNav| +|8|GSF| + +## EK3_SRC_OPTIONS: EKF Source Options + +*Note: This parameter is for advanced users* + +EKF Source Options + +- Bitmask: 0:FuseAllVelocities, 1:AlignExtNavPosWhenUsingOptFlow + +# ESCTLM Parameters + +## ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset + +Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets + +- Increment: 1 + +- Range: 0 31 + +# FENCE Parameters + +## FENCE_ENABLE: Fence enable/disable + +Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FENCE_TYPE: Fence Type + +Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached. + +- Bitmask: 1:Circle Centered on Home,2:Inclusion/Exclusion Circles+Polygons + +## FENCE_ACTION: Fence Action + +What action should be taken when fence is breached + +|Value|Meaning| +|:---:|:---:| +|0|Report Only| +|1|RTL or Hold| +|2|Hold| +|3|SmartRTL or RTL or Hold| +|4|SmartRTL or Hold| + +## FENCE_RADIUS: Circular Fence Radius + +Circle fence radius which when breached will cause an RTL + +- Units: m + +- Range: 30 10000 + +## FENCE_MARGIN: Fence Margin + +Distance that autopilot's should maintain from the fence to avoid a breach + +- Units: m + +- Range: 1 10 + +## FENCE_TOTAL: Fence polygon point total + +Number of polygon points saved in eeprom (do not update manually) + +- Range: 1 20 + +# FFT Parameters + +## FFT_ENABLE: Enable + +*Note: This parameter is for advanced users* + +Enable Gyro FFT analyser + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## FFT_MINHZ: Minimum Frequency + +*Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles. + +- Range: 20 400 + +- Units: Hz + +## FFT_MAXHZ: Maximum Frequency + +*Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles. + +- Range: 20 495 + +- Units: Hz + +## FFT_SAMPLE_MODE: Sample Mode + +*Note: This parameter is for advanced users* + +Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot. + +- Range: 0 4 + +- RebootRequired: True + +## FFT_WINDOW_SIZE: FFT window size + +*Note: This parameter is for advanced users* + +Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class. + +- Range: 32 1024 + +- RebootRequired: True + +## FFT_WINDOW_OLAP: FFT window overlap + +*Note: This parameter is for advanced users* + +Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges. + +- Range: 0 0.9 + +- RebootRequired: True + +## FFT_FREQ_HOVER: FFT learned hover frequency + +*Note: This parameter is for advanced users* + +The learned hover noise frequency + +- Range: 0 250 + +## FFT_THR_REF: FFT learned thrust reference + +*Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency. + +- Range: 0.01 0.9 + +## FFT_SNR_REF: FFT SNR reference threshold + +*Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present. + +- Range: 0.0 100.0 + +## FFT_ATT_REF: FFT attenuation for bandwidth calculation + +*Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight. + +- Range: 0 100 + +## FFT_BW_HOVER: FFT learned bandwidth at hover + +*Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies. + +- Range: 0 200 + +## FFT_HMNC_FIT: FFT harmonic fit frequency threshold + +*Note: This parameter is for advanced users* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching. + +- Range: 0 100 + +- RebootRequired: True + +## FFT_HMNC_PEAK: FFT harmonic peak target + +*Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll). + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|Center Frequency| +|2|Lower-Shoulder Frequency| +|3|Upper-Shoulder Frequency| +|4|Roll-Axis| +|5|Pitch-Axis| + +## FFT_NUM_FRAMES: FFT output frames to retain and average + +*Note: This parameter is for advanced users* + +Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged. + +- Range: 0 8 + +- RebootRequired: True + +## FFT_OPTIONS: FFT options + +*Note: This parameter is for advanced users* + +FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference + +- Bitmask: 0:Enable post-filter FFT,1:Check motor noise + +- RebootRequired: True + +# FILT1 Parameters + +## FILT1_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT1_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT1_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT1_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT2 Parameters + +## FILT2_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT2_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT2_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT2_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT3 Parameters + +## FILT3_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT3_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT3_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT3_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT4 Parameters + +## FILT4_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT4_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT4_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT4_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT5 Parameters + +## FILT5_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT5_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT5_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT5_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT6 Parameters + +## FILT6_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT6_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT6_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT6_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT7 Parameters + +## FILT7_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT7_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT7_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT7_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FILT8 Parameters + +## FILT8_TYPE: Filter Type + +Filter Type + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Notch Filter| + +- RebootRequired: True + +## FILT8_NOTCH_FREQ: Notch Filter center frequency + +*Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz. + +- Range: 10 495 + +- Units: Hz + +## FILT8_NOTCH_Q: Notch Filter quality factor + +*Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth. + +- Range: 1 10 + +## FILT8_NOTCH_ATT: Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Notch Filter attenuation in dB. + +- Range: 5 50 + +- Units: dB + +# FLOW Parameters + +## FLOW_TYPE: Optical flow sensor type + +Optical flow sensor type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|PX4Flow| +|2|Pixart| +|3|Bebop| +|4|CXOF| +|5|MAVLink| +|6|DroneCAN| +|7|MSP| +|8|UPFLOW| + +- RebootRequired: True + +## FLOW_FXSCALER: X axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_FYSCALER: Y axis optical flow scale factor correction + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor. + +- Range: -800 +800 + +- Increment: 1 + +## FLOW_ORIENT_YAW: Flow sensor yaw alignment + +Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle. + +- Units: cdeg + +- Range: -17999 +18000 + +- Increment: 10 + +## FLOW_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## FLOW_ADDR: Address on the bus + +*Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus. + +- Range: 0 127 + +## FLOW_HGT_OVR: Height override of sensor above ground + +*Note: This parameter is for advanced users* + +This is used in rover vehicles, where the sensor is a fixed height above the ground + +- Units: m + +- Range: 0 2 + +- Increment: 0.01 + +# FOLL Parameters + +## FOLL_ENABLE: Follow enable/disable + +Enabled/disable following a target + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## FOLL_SYSID: Follow target's mavlink system id + +Follow target's mavlink system id + +- Range: 0 255 + +## FOLL_DIST_MAX: Follow distance maximum + +Follow distance maximum. targets further than this will be ignored + +- Units: m + +- Range: 1 1000 + +## FOLL_OFS_TYPE: Follow offset type + +Follow offset type + +|Value|Meaning| +|:---:|:---:| +|0|North-East-Down| +|1|Relative to lead vehicle heading| + +## FOLL_OFS_X: Follow offsets in meters north/forward + +Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Y: Follow offsets in meters east/right + +Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_OFS_Z: Follow offsets in meters down + +Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle + +- Range: -100 100 + +- Units: m + +- Increment: 1 + +## FOLL_YAW_BEHAVE: Follow yaw behaviour + +Follow yaw behaviour + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Face Lead Vehicle| +|2|Same as Lead vehicle| +|3|Direction of Flight| + +## FOLL_POS_P: Follow position error P gain + +Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + +- Range: 0.01 1.00 + +- Increment: 0.01 + +## FOLL_ALT_TYPE: Follow altitude type + +Follow altitude type + +|Value|Meaning| +|:---:|:---:| +|0|absolute| +|1|relative| + +## FOLL_OPTIONS: Follow options + +Follow options bitmask + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Mount Follows lead vehicle on mode enter| + +# FRSKY Parameters + +## FRSKY_UPLINK_ID: Uplink sensor id + +*Note: This parameter is for advanced users* + +Change the uplink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK1_ID: First downlink sensor id + +*Note: This parameter is for advanced users* + +Change the first extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK2_ID: Second downlink sensor id + +*Note: This parameter is for advanced users* + +Change the second extra downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| + +## FRSKY_DNLINK_ID: Default downlink sensor id + +*Note: This parameter is for advanced users* + +Change the default downlink sensor id (SPort only) + +|Value|Meaning| +|:---:|:---:| +|-1|Disable| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| +|15|15| +|16|16| +|17|17| +|18|18| +|19|19| +|20|20| +|21|21| +|22|22| +|23|23| +|24|24| +|25|25| +|26|26| +|27|27| + +## FRSKY_OPTIONS: FRSky Telemetry Options + +A bitmask to set some FRSky Telemetry specific options + +- Bitmask: 0:EnableAirspeedAndGroundspeed + +# GEN Parameters + +## GEN_TYPE: Generator type + +Generator type + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|IE 650w 800w Fuel Cell| +|2|IE 2.4kW Fuel Cell| +|3|Richenpower| + +- RebootRequired: True + +## GEN_OPTIONS: Generator Options + +Bitmask of options for generators + +- Bitmask: 0:Suppress Maintenance-Required Warnings + +# GPS Parameters + +## GPS_NAVFILTER: Navigation filter setting + +*Note: This parameter is for advanced users* + +Navigation filter engine setting + +|Value|Meaning| +|:---:|:---:| +|0|Portable| +|2|Stationary| +|3|Pedestrian| +|4|Automotive| +|5|Sea| +|6|Airborne1G| +|7|Airborne2G| +|8|Airborne4G| + +## GPS_AUTO_SWITCH: Automatic Switchover Setting + +*Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary + +|Value|Meaning| +|:---:|:---:| +|0|Use primary| +|1|UseBest| +|2|Blend| +|4|Use primary if 3D fix or better| + +## GPS_SBAS_MODE: SBAS Mode + +*Note: This parameter is for advanced users* + +This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|NoChange| + +## GPS_MIN_ELEV: Minimum elevation + +*Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default. + +- Range: -100 90 + +- Units: deg + +## GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets + +*Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes. + +|Value|Meaning| +|:---:|:---:| +|0|send to first GPS| +|1|send to 2nd GPS| +|127|send to all| + +## GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask + +*Note: This parameter is for advanced users* + +Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged + +|Value|Meaning| +|:---:|:---:| +|0|None (0x0000)| +|-1|All (0xFFFF)| +|-256|External only (0xFF00)| + +## GPS_RAW_DATA: Raw data logging + +*Note: This parameter is for advanced users* + +Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming + +|Value|Meaning| +|:---:|:---:| +|0|Ignore| +|1|Always log| +|2|Stop logging when disarmed (SBF only)| +|5|Only log every five samples (uBlox only)| + +- RebootRequired: True + +## GPS_SAVE_CFG: Save GPS configuration + +*Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above. + +|Value|Meaning| +|:---:|:---:| +|0|Do not save config| +|1|Save config| +|2|Save only when needed| + +## GPS_AUTO_CONFIG: Automatic GPS configuration + +*Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + +|Value|Meaning| +|:---:|:---:| +|0|Disables automatic configuration| +|1|Enable automatic configuration for Serial GPSes only| +|2|Enable automatic configuration for DroneCAN as well| + +## GPS_BLEND_MASK: Multi GPS Blending Mask + +*Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend) + +- Bitmask: 0:Horiz Pos,1:Vert Pos,2:Speed + +## GPS_DRV_OPTIONS: driver options + +*Note: This parameter is for advanced users* + +Additional backend specific options + +- Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel + +## GPS_PRIMARY: Primary GPS + +*Note: This parameter is for advanced users* + +This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4. + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|FirstGPS| +|1|SecondGPS| + +## GPS_TYPE: 1st GPS type + +*Note: This parameter is for advanced users* + +GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +- RebootRequired: True + +## GPS_TYPE2: 2nd GPS type.Renamed in 4.6 to GPS2_TYPE + +*Note: This parameter is for advanced users* + +GPS type of 2nd GPS + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|SBF| +|11|GSOF| +|13|ERB| +|14|MAV| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|SBF-DualAntenna| + +## GPS_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE. + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_GNSS_MODE2: GNSS system configuration. + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_RATE_MS2: GPS 2 update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS_POS1_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS1_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_POS2_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_DELAY_MS2: GPS 2 delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS_COM_PORT2: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT. + +- Range: 0 10 + +- Increment: 1 + +- RebootRequired: True + +## GPS_CAN_NODEID1: GPS Node ID 1 + +*Note: This parameter is for advanced users* + +GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID. + +- ReadOnly: True + +## GPS_CAN_NODEID2: GPS Node ID 2 + +*Note: This parameter is for advanced users* + +GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID. + +- ReadOnly: True + +# GPS1 Parameters + +## GPS1_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS1_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS1_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS1_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS1_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS1_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS1MB Parameters + +## GPS1_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS1_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS1_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPS2 Parameters + +## GPS2_TYPE: GPS type + +*Note: This parameter is for advanced users* + +GPS type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|AUTO| +|2|uBlox| +|5|NMEA| +|6|SiRF| +|7|HIL| +|8|SwiftNav| +|9|DroneCAN| +|10|Septentrio(SBF)| +|11|Trimble(GSOF)| +|13|ERB| +|14|MAVLink| +|15|NOVA| +|16|HemisphereNMEA| +|17|uBlox-MovingBaseline-Base| +|18|uBlox-MovingBaseline-Rover| +|19|MSP| +|20|AllyStar| +|21|ExternalAHRS| +|22|DroneCAN-MovingBaseline-Base| +|23|DroneCAN-MovingBaseline-Rover| +|24|UnicoreNMEA| +|25|UnicoreMovingBaselineNMEA| +|26|Septentrio-DualAntenna(SBF)| + +- RebootRequired: True + +## GPS2_GNSS_MODE: GNSS system configuration + +*Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured) + +- Bitmask: 0:GPS,1:SBAS,2:Galileo,3:Beidou,4:IMES,5:QZSS,6:GLONASS + +## GPS2_RATE_MS: GPS update rate in milliseconds + +*Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance. + +- Units: ms + +|Value|Meaning| +|:---:|:---:| +|100|10Hz| +|125|8Hz| +|200|5Hz| + +- Range: 50 200 + +## GPS2_POS_X: Antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Y: Antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_POS_Z: Antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_DELAY_MS: GPS delay in milliseconds + +*Note: This parameter is for advanced users* + +Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type. + +- Units: ms + +- Range: 0 250 + +- RebootRequired: True + +## GPS2_COM_PORT: GPS physical COM port + +*Note: This parameter is for advanced users* + +The physical COM port on the connected device, currently only applies to SBF and GSOF GPS + +- Range: 0 10 + +- Increment: 1 + +|Value|Meaning| +|:---:|:---:| +|0|COM1(RS232) on GSOF| +|1|COM2(TTL) on GSOF| + +- RebootRequired: True + +## GPS2_CAN_NODEID: Detected CAN Node ID for GPS + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. Detected node unless CAN_OVRIDE is set + +- ReadOnly: True + +## GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID + +*Note: This parameter is for advanced users* + +GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis. + +# GPS2MB Parameters + +## GPS2_MB_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS2_MB_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS2_MB_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB1 Parameters + +## GPS_MB1_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB1_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB1_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GPSMB2 Parameters + +## GPS_MB2_TYPE: Moving base type + +*Note: This parameter is for advanced users* + +Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE. + +|Value|Meaning| +|:---:|:---:| +|0|Relative to alternate GPS instance| +|1|RelativeToCustomBase| + +- RebootRequired: True + +## GPS_MB2_OFS_X: Base antenna X position offset + +*Note: This parameter is for advanced users* + +X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Y: Base antenna Y position offset + +*Note: This parameter is for advanced users* + +Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## GPS_MB2_OFS_Z: Base antenna Z position offset + +*Note: This parameter is for advanced users* + +Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +# GRIP Parameters + +## GRIP_ENABLE: Gripper Enable/Disable + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## GRIP_TYPE: Gripper Type + +Gripper enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|EPM| + +## GRIP_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_NEUTRAL: Neutral PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + +- Range: 1000 2000 + +- Units: PWM + +## GRIP_REGRAB: EPM Gripper Regrab interval + +*Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable + +- Range: 0 255 + +- Units: s + +## GRIP_CAN_ID: EPM UAVCAN Hardpoint ID + +Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface + +- Range: 0 255 + +## GRIP_AUTOCLOSE: Gripper Autoclose time + +*Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening; 0 to disable + +- Range: 0.25 255 + +- Units: s + +# INS Parameters + +## INS_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_X: Gyro2 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Y: Gyro2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR2OFFS_Z: Gyro2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_X: Gyro3 offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Y: Gyro3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_GYR3OFFS_Z: Gyro3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2SCAL_X: Accelerometer2 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC2OFFS_X: Accelerometer2 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3SCAL_X: Accelerometer3 scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS_ACC3OFFS_X: Accelerometer3 offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS_GYRO_FILTER: Gyro filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_ACCEL_FILTER: Accel filter cutoff frequency + +*Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!) + +- Units: Hz + +- Range: 0 256 + +## INS_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE2: Use second IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use second IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_USE3: Use third IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use third IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_STILL_THRESH: Stillness threshold for detecting if we are moving + +*Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5 + +- Range: 0.05 50 + +## INS_GYR_CAL: Gyro Calibration scheme + +*Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + +|Value|Meaning| +|:---:|:---:| +|0|Never| +|1|Start-up only| + +## INS_TRIM_OPTION: Accel cal trim option + +*Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + +|Value|Meaning| +|:---:|:---:| +|0|Don't adjust the trims| +|1|Assume first orientation was level| +|2|Assume ACC_BODYFIX is perfectly aligned to the vehicle| + +## INS_ACC_BODYFIX: Body-fixed accelerometer + +*Note: This parameter is for advanced users* + +The body-fixed accelerometer to be used for trim calculation + +|Value|Meaning| +|:---:|:---:| +|1|IMU 1| +|2|IMU 2| +|3|IMU 3| + +## INS_POS1_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS1_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS2_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -10 10 + +## INS_POS3_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_POS3_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR2_ID: Gyro2 ID + +*Note: This parameter is for advanced users* + +Gyro2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_GYR3_ID: Gyro3 ID + +*Note: This parameter is for advanced users* + +Gyro3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC2_ID: Accelerometer2 ID + +*Note: This parameter is for advanced users* + +Accelerometer2 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_ACC3_ID: Accelerometer3 ID + +*Note: This parameter is for advanced users* + +Accelerometer3 sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS_FAST_SAMPLE: Fast sampling mask + +*Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on, if available + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU + +## INS_ENABLE_MASK: IMU enable mask + +*Note: This parameter is for advanced users* + +Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs + +- Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU,6:SeventhIMU + +## INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled + +*Note: This parameter is for advanced users* + +Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used. + +|Value|Meaning| +|:---:|:---:| +|0|1kHz| +|1|2kHz| +|2|4kHz| +|3|8kHz| + +- RebootRequired: True + +## INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS_TCAL_OPTIONS: Options for temperature calibration + +*Note: This parameter is for advanced users* + +This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader. + +- Bitmask: 0:PersistTemps, 1:PersistAccels + +## INS_RAW_LOG_OPT: Raw logging options + +*Note: This parameter is for advanced users* + +Raw logging options bitmask + +- Bitmask: 0:Log primary gyro only, 1:Log all gyros, 2:Post filter, 3: Pre and post filter + +# INS4 Parameters + +## INS4_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS4_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS4_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS4_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS4_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS4_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS4_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS4_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS4TCAL Parameters + +## INS4_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS4_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INS5 Parameters + +## INS5_USE: Use first IMU for attitude, velocity and position estimates + +*Note: This parameter is for advanced users* + +Use first IMU for attitude, velocity and position estimates + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS5_ACC_ID: Accelerometer ID + +*Note: This parameter is for advanced users* + +Accelerometer sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_ACCSCAL_X: Accelerometer scaling of X axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of X axis. Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Y: Accelerometer scaling of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCSCAL_Z: Accelerometer scaling of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + +- Range: 0.8 1.2 + +- Calibration: 1 + +## INS5_ACCOFFS_X: Accelerometer offsets of X axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Y: Accelerometer offsets of Y axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_ACCOFFS_Z: Accelerometer offsets of Z axis + +*Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations + +- Units: m/s/s + +- Range: -3.5 3.5 + +- Calibration: 1 + +## INS5_POS_X: IMU accelerometer X position + +*Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Y: IMU accelerometer Y position + +*Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_POS_Z: IMU accelerometer Z position + +*Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## INS5_ACC_CALTEMP: Calibration temperature for accelerometer + +*Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + +- Units: degC + +- Calibration: 1 + +## INS5_GYR_ID: Gyro ID + +*Note: This parameter is for advanced users* + +Gyro sensor ID, taking into account its type, bus and instance + +- ReadOnly: True + +## INS5_GYROFFS_X: Gyro offsets of X axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Y: Gyro offsets of Y axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYROFFS_Z: Gyro offsets of Z axis + +*Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations + +- Units: rad/s + +- Calibration: 1 + +## INS5_GYR_CALTEMP: Calibration temperature for gyroscope + +*Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + +- Units: degC + +- Calibration: 1 + +# INS5TCAL Parameters + +## INS5_TCAL_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS5_TCAL_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSHNTC2 Parameters + +## INS_HNTC2_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTC2_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTC2_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTC2_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTC2_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTC2_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTC2_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSHNTCH Parameters + +## INS_HNTCH_ENABLE: Harmonic Notch Filter enable + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## INS_HNTCH_FREQ: Harmonic Notch Filter base frequency + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). + +- Range: 10 495 + +- Units: Hz + +## INS_HNTCH_BW: Harmonic Notch Filter bandwidth + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics. + +- Range: 5 250 + +- Units: Hz + +## INS_HNTCH_ATT: Harmonic Notch Filter attenuation + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise. + +- Range: 5 50 + +- Units: dB + +## INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics + +*Note: This parameter is for advanced users* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency. + +- Bitmask: 0: 1st harmonic, 1: 2nd harmonic, 2: 3rd harmonic, 3: 4th harmonic, 4: 5th harmonic, 5: 6th harmonic, 6: 7th harmonic, 7: 8th harmonic, 8: 9th harmonic, 9: 10th harmonic, 10: 11th harmonic, 11: 12th harmonic, 12: 13th harmonic, 13: 14th harmonic, 14: 15th harmonic, 15: 16th harmonic + +- RebootRequired: True + +## INS_HNTCH_REF: Harmonic Notch Filter reference value + +*Note: This parameter is for advanced users* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM. + +- Range: 0.0 1.0 + +- RebootRequired: True + +## INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers. + +- Range: 0 5 + +|Value|Meaning| +|:---:|:---:| +|0|Fixed| +|1|Throttle| +|2|RPM Sensor| +|3|ESC Telemetry| +|4|Dynamic FFT| +|5|Second RPM Sensor| + +## INS_HNTCH_OPTS: Harmonic Notch Filter options + +*Note: This parameter is for advanced users* + +Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect. + +- Bitmask: 0:Double notch,1:Multi-Source,2:Update at loop rate,3:EnableOnAllIMUs,4:Triple notch, 5:Use min freq on RPM source failure + +- RebootRequired: True + +## INS_HNTCH_FM_RAT: Throttle notch min freqency ratio + +*Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter. + +- Range: 0.1 1.0 + +# INSLOG Parameters + +## INS_LOG_BAT_CNT: sample count per batch + +*Note: This parameter is for advanced users* + +Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot. + +- Increment: 32 + +- RebootRequired: True + +## INS_LOG_BAT_MASK: Sensor Bitmask + +*Note: This parameter is for advanced users* + +Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot. + +- Bitmask: 0:IMU1,1:IMU2,2:IMU3 + +- RebootRequired: True + +## INS_LOG_BAT_OPT: Batch Logging Options Mask + +*Note: This parameter is for advanced users* + +Options for the BatchSampler. + +- Bitmask: 0:Sensor-Rate Logging (sample at full sensor rate seen by AP), 1: Sample post-filtering, 2: Sample pre- and post-filter + +## INS_LOG_BAT_LGIN: logging interval + +Interval between pushing samples to the AP_Logger log + +- Units: ms + +- Increment: 10 + +## INS_LOG_BAT_LGCT: logging count + +Number of samples to push to count every INS_LOG_BAT_LGIN + +- Increment: 1 + +# INSTCAL1 Parameters + +## INS_TCAL1_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL1_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL2 Parameters + +## INS_TCAL2_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL2_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# INSTCAL3 Parameters + +## INS_TCAL3_ENABLE: Enable temperature calibration + +*Note: This parameter is for advanced users* + +Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|LearnCalibration| + +- RebootRequired: True + +## INS_TCAL3_TMIN: Temperature calibration min + +*Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_TMAX: Temperature calibration max + +*Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration + +- Range: -70 80 + +- Units: degC + +- Calibration: 1 + +## INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +## INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis + +*Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + +- Calibration: 1 + +# KDE Parameters + +## KDE_NPOLE: Number of motor poles + +Sets the number of motor poles to calculate the correct RPM value + +# LOG Parameters + +## LOG_BACKEND_TYPE: AP_Logger Backend Storage type + +Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected. + +- Bitmask: 0:File,1:MAVLink,2:Block + +## LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes) + +The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes. + +## LOG_DISARMED: Enable logging while disarmed + +If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| +|2|Disabled on USB connection| +|3|Discard log on reboot if never armed| + +## LOG_REPLAY: Enable logging of information needed for Replay + +If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_FILE_DSRMROT: Stop logging to current file on disarm + +When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size + +*Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP_Logger-over-mavlink + +- Units: kB + +## LOG_FILE_TIMEOUT: Timeout before giving up on file writes + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped. + +- Units: s + +## LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space + +Set this such that the free space is larger than your largest typical flight log + +- Units: MB + +- Range: 10 1000 + +## LOG_FILE_RATEMAX: Maximum logging rate for file backend + +This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_BLK_RATEMAX: Maximum logging rate for block backend + +This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_DARM_RATEMAX: Maximum logging rate when disarmed + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied. + +- Units: Hz + +- Range: 0 1000 + +- Increment: 0.1 + +## LOG_MAX_FILES: Maximum number of log files + +*Note: This parameter is for advanced users* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs. + +- Range: 2 500 + +- Increment: 1 + +- RebootRequired: True + +# MIS Parameters + +## MIS_TOTAL: Total mission commands + +*Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station. Do not change this manually. + +- Range: 0 32766 + +- Increment: 1 + +- ReadOnly: True + +## MIS_RESTART: Mission Restart when entering Auto mode + +*Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run) + +|Value|Meaning| +|:---:|:---:| +|0|Resume Mission| +|1|Restart Mission| + +## MIS_OPTIONS: Mission options bitmask + +*Note: This parameter is for advanced users* + +Bitmask of what options to use in missions. + +- Bitmask: 0:Clear Mission on reboot + +# MNT1 Parameters + +## MNT1_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT1_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT1_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT1_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT1_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT1_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT1_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT1_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT1_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT1_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MNT2 Parameters + +## MNT2_TYPE: Mount Type + +Mount Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Servo| +|2|3DR Solo| +|3|Alexmos Serial| +|4|SToRM32 MAVLink| +|5|SToRM32 Serial| +|6|Gremsy| +|7|BrushlessPWM| +|8|Siyi| +|9|Scripting| +|10|Xacti| +|11|Viewpro| +|12|Topotek| + +- RebootRequired: True + +## MNT2_DEFLT_MODE: Mount default operating mode + +Mount default operating mode on startup and after control is returned from autopilot + +|Value|Meaning| +|:---:|:---:| +|0|Retracted| +|1|Neutral| +|2|MavLink Targeting| +|3|RC Targeting| +|4|GPS Point| +|5|SysID Target| +|6|Home Location| + +## MNT2_RC_RATE: Mount RC Rate + +Pilot rate control's maximum rate. Set to zero to use angle control + +- Units: deg/s + +- Range: 0 90 + +- Increment: 1 + +## MNT2_ROLL_MIN: Mount Roll angle minimum + +Mount Roll angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_ROLL_MAX: Mount Roll angle maximum + +Mount Roll angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_PITCH_MIN: Mount Pitch angle minimum + +Mount Pitch angle minimum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_PITCH_MAX: Mount Pitch angle maximum + +Mount Pitch angle maximum + +- Units: deg + +- Range: -90 90 + +- Increment: 1 + +## MNT2_YAW_MIN: Mount Yaw angle minimum + +Mount Yaw angle minimum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_YAW_MAX: Mount Yaw angle maximum + +Mount Yaw angle maximum + +- Units: deg + +- Range: -180 180 + +- Increment: 1 + +## MNT2_RETRACT_X: Mount roll angle when in retracted position + +Mount roll angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Y: Mount pitch angle when in retracted position + +Mount pitch angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_RETRACT_Z: Mount yaw angle when in retracted position + +Mount yaw angle when in retracted position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_X: Mount roll angle when in neutral position + +Mount roll angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position + +Mount pitch angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position + +Mount yaw angle when in neutral position + +- Units: deg + +- Range: -180.0 180.0 + +- Increment: 1 + +## MNT2_LEAD_RLL: Mount Roll stabilization lead time + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_LEAD_PTCH: Mount Pitch stabilization lead time + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot + +- Units: s + +- Range: 0.0 0.2 + +- Increment: .005 + +## MNT2_SYSID_DFLT: Mount Target sysID + +Default Target sysID for the mount to point to + +- RebootRequired: True + +## MNT2_DEVID: Mount Device ID + +*Note: This parameter is for advanced users* + +Mount device ID, taking into account its type, bus and instance + +## MNT2_OPTIONS: Mount options + +Mount options bitmask + +- Bitmask: 0:RC lock state from previous mode + +# MOT Parameters + +## MOT_PWM_TYPE: Motor Output PWM type + +*Note: This parameter is for advanced users* + +This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle) + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|OneShot| +|2|OneShot125| +|3|BrushedWithRelay| +|4|BrushedBiPolar| +|5|DShot150| +|6|DShot300| +|7|DShot600| +|8|DShot1200| + +- RebootRequired: True + +## MOT_PWM_FREQ: Motor Output PWM freq for brushed motors + +*Note: This parameter is for advanced users* + +Motor Output PWM freq for brushed motors + +- Units: kHz + +- Range: 1 20 + +- Increment: 1 + +- RebootRequired: True + +## MOT_SAFE_DISARM: Motor PWM output disabled when disarmed + +*Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + +|Value|Meaning| +|:---:|:---:| +|0|PWM enabled while disarmed| +|1|PWM disabled while disarmed| + +## MOT_THR_MIN: Throttle minimum + +Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions. + +- Units: % + +- Range: 0 20 + +- Increment: 1 + +## MOT_THR_MAX: Throttle maximum + +Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover + +- Units: % + +- Range: 30 100 + +- Increment: 1 + +## MOT_SLEWRATE: Throttle slew rate + +Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts. + +- Units: %/s + +- Range: 0 1000 + +- Increment: 1 + +## MOT_THST_EXPO: Thrust Curve Expo + +*Note: This parameter is for advanced users* + +Thrust curve exponent (-1 to +1 with 0 being linear) + +- Range: -1.0 1.0 + +## MOT_SPD_SCA_BASE: Motor speed scaling base speed + +*Note: This parameter is for advanced users* + +Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling + +- Units: m/s + +- Range: 0 10 + +## MOT_STR_THR_MIX: Motor steering vs throttle prioritisation + +*Note: This parameter is for advanced users* + +Steering vs Throttle priorisation. Higher numbers prioritise steering, lower numbers prioritise throttle. Only valid for Skid Steering vehicles + +- Range: 0.2 1.0 + +## MOT_VEC_ANGLEMAX: Vector thrust angle max + +The angle between steering's middle position and maximum position when using vectored thrust (boats only) + +- Units: deg + +- Range: 0 90 + +## MOT_THST_ASYM: Motor Thrust Asymmetry + +*Note: This parameter is for advanced users* + +Thrust Asymetry. Used for skid-steering. 2.0 means your motors move twice as fast forward than they do backwards. + +- Range: 1.0 10.0 + +# MSP Parameters + +## MSP_OSD_NCELLS: Cell count override + +Used for average cell voltage calculation + +|Value|Meaning| +|:---:|:---:| +|0|Auto| +|1|1| +|2|2| +|3|3| +|4|4| +|5|5| +|6|6| +|7|7| +|8|8| +|9|9| +|10|10| +|11|11| +|12|12| +|13|13| +|14|14| + +## MSP_OPTIONS: MSP OSD Options + +A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. + +- Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts + +# NET Parameters + +## NET_ENABLE: Networking Enable + +*Note: This parameter is for advanced users* + +Networking Enable + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_NETMASK: IP Subnet mask + +*Note: This parameter is for advanced users* + +Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0 + +- Range: 0 32 + +- RebootRequired: True + +## NET_DHCP: DHCP client + +*Note: This parameter is for advanced users* + +Enable/Disable DHCP client + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## NET_TESTS: Test enable flags + +*Note: This parameter is for advanced users* + +Enable/Disable networking tests + +- Bitmask: 0:UDP echo test,1:TCP echo test, 2:TCP discard test, 3:TCP reflect test + +- RebootRequired: True + +## NET_OPTIONS: Networking options + +*Note: This parameter is for advanced users* + +Networking options + +- Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway + +- RebootRequired: True + +# NETGWADDR Parameters + +## NET_GWADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_GWADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETIPADDR Parameters + +## NET_IPADDR0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_IPADDR3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETMACADDR Parameters + +## NET_MACADDR0: MAC Address 1st byte + +*Note: This parameter is for advanced users* + +MAC address 1st byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR1: MAC Address 2nd byte + +*Note: This parameter is for advanced users* + +MAC address 2nd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR2: MAC Address 3rd byte + +*Note: This parameter is for advanced users* + +MAC address 3rd byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR3: MAC Address 4th byte + +*Note: This parameter is for advanced users* + +MAC address 4th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR4: MAC Address 5th byte + +*Note: This parameter is for advanced users* + +MAC address 5th byte + +- Range: 0 255 + +- RebootRequired: True + +## NET_MACADDR5: MAC Address 6th byte + +*Note: This parameter is for advanced users* + +MAC address 6th byte + +- Range: 0 255 + +- RebootRequired: True + +# NETP1 Parameters + +## NET_P1_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P1_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P1_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP1IP Parameters + +## NET_P1_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P1_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP2 Parameters + +## NET_P2_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P2_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P2_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP2IP Parameters + +## NET_P2_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P2_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP3 Parameters + +## NET_P3_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P3_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P3_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP3IP Parameters + +## NET_P3_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P3_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETP4 Parameters + +## NET_P4_TYPE: Port type + +*Note: This parameter is for advanced users* + +Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|UDP client| +|2|UDP server| +|3|TCP client| +|4|TCP server| + +- RebootRequired: True + +## NET_P4_PROTOCOL: Protocol + +*Note: This parameter is for advanced users* + +Networked serial port protocol + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## NET_P4_PORT: Port number + +*Note: This parameter is for advanced users* + +Port number + +- Range: 0 65535 + +- RebootRequired: True + +# NETP4IP Parameters + +## NET_P4_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_P4_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETREMPPPIP Parameters + +## NET_REMPPP_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_REMPPP_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NETTESTIP Parameters + +## NET_TEST_IP0: IPv4 Address 1st byte + +IPv4 address. Example: 192.xxx.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP1: IPv4 Address 2nd byte + +IPv4 address. Example: xxx.168.xxx.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP2: IPv4 Address 3rd byte + +IPv4 address. Example: xxx.xxx.13.xxx + +- Range: 0 255 + +- RebootRequired: True + +## NET_TEST_IP3: IPv4 Address 4th byte + +IPv4 address. Example: xxx.xxx.xxx.14 + +- Range: 0 255 + +- RebootRequired: True + +# NMEA Parameters + +## NMEA_RATE_MS: NMEA Output rate + +NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower. + +- Range: 20 2000 + +- Increment: 1 + +- Units: ms + +## NMEA_MSG_EN: Messages Enable bitmask + +This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval + +- Bitmask: 0:GPGGA,1:GPRMC,2:PASHR + +# NTF Parameters + +## NTF_LED_BRIGHT: LED Brightness + +*Note: This parameter is for advanced users* + +Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|Low| +|2|Medium| +|3|High| + +## NTF_BUZZ_TYPES: Buzzer Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + +- Bitmask: 0:Built-in buzzer, 1:DShot, 2:DroneCAN + +## NTF_LED_OVERRIDE: Specifies colour source for the RGBLed + +*Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks. + +|Value|Meaning| +|:---:|:---:| +|0|Standard| +|1|MAVLink/Scripting/AP_Periph| +|2|OutbackChallenge| +|3|TrafficLight| + +## NTF_DISPLAY_TYPE: Type of on-board I2C display + +*Note: This parameter is for advanced users* + +This sets up the type of on-board I2C display. Disabled by default. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|ssd1306| +|2|sh1106| +|10|SITL| + +## NTF_OREO_THEME: OreoLED Theme + +*Note: This parameter is for advanced users* + +Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Aircraft| +|2|Rover| + +## NTF_BUZZ_PIN: Buzzer pin + +*Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| + +## NTF_LED_TYPES: LED Driver Types + +*Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + +- Bitmask: 0:Built-in LED, 1:Internal ToshibaLED, 2:External ToshibaLED, 3:External PCA9685, 4:Oreo LED, 5:DroneCAN, 6:NCP5623 External, 7:NCP5623 Internal, 8:NeoPixel, 9:ProfiLED, 10:Scripting, 11:DShot, 12:ProfiLED_SPI, 13:LP5562 External, 14: LP5562 Internal, 15:IS31FL3195 External, 16: IS31FL3195 Internal, 17: DiscreteRGB, 18: NeoPixelRGB + +## NTF_BUZZ_ON_LVL: Buzzer-on pin logic level + +*Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + +|Value|Meaning| +|:---:|:---:| +|0|LowIsOn| +|1|HighIsOn| + +## NTF_BUZZ_VOLUME: Buzzer volume + +Control the volume of the buzzer + +- Range: 0 100 + +- Units: % + +## NTF_LED_LEN: Serial LED String Length + +*Note: This parameter is for advanced users* + +The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED) + +- Range: 1 32 + +- RebootRequired: True + +# OA Parameters + +## OA_TYPE: Object Avoidance Path Planning algorithm to use + +Enabled/disable path planning around obstacles + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|BendyRuler| +|2|Dijkstra| +|3|Dijkstra with BendyRuler| + +## OA_MARGIN_MAX: Object Avoidance wide margin distance + +Object Avoidance will ignore objects more than this many meters from vehicle + +- Units: m + +- Range: 0.1 100 + +- Increment: 1 + +## OA_OPTIONS: Options while recovering from Object Avoidance + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). + +- Bitmask: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points + +# OABR Parameters + +## OA_BR_LOOKAHEAD: Object Avoidance look ahead distance maximum + +Object Avoidance will look this many meters ahead of vehicle + +- Units: m + +- Range: 1 100 + +- Increment: 1 + +## OA_BR_CONT_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much. + +- Range: 1.1 2 + +- Increment: 0.1 + +## OA_BR_CONT_ANGLE: BendyRuler's bearing change resistance threshold angle + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + +- Range: 20 180 + +- Increment: 5 + +# OADB Parameters + +## OA_DB_SIZE: OADatabase maximum number of points + +*Note: This parameter is for advanced users* + +OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process + +- Range: 0 10000 + +- RebootRequired: True + +## OA_DB_EXPIRE: OADatabase item timeout + +*Note: This parameter is for advanced users* + +OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones. + +- Units: s + +- Range: 0 127 + +- Increment: 1 + +## OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points + +*Note: This parameter is for advanced users* + +OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data. + +- Range: 1 200 + +- RebootRequired: True + +## OA_DB_OUTPUT: OADatabase output level + +*Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Send only HIGH importance items| +|2|Send HIGH and NORMAL importance items| +|3|Send all items| + +## OA_DB_BEAM_WIDTH: OADatabase beam width + +*Note: This parameter is for advanced users* + +Beam width of incoming lidar data + +- Units: deg + +- Range: 1 10 + +- RebootRequired: True + +## OA_DB_RADIUS_MIN: OADatabase Minimum radius + +*Note: This parameter is for advanced users* + +Minimum radius of objects held in database + +- Units: m + +- Range: 0 10 + +## OA_DB_DIST_MAX: OADatabase Distance Maximum + +*Note: This parameter is for advanced users* + +Maximum distance of objects held in database. Set to zero to disable the limits + +- Units: m + +- Range: 0 10 + +# OSD Parameters + +## OSD_TYPE: OSD type + +OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +## OSD_CHAN: Screen switch transmitter channel + +This sets the channel used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|5|Chan5| +|6|Chan6| +|7|Chan7| +|8|Chan8| +|9|Chan9| +|10|Chan10| +|11|Chan11| +|12|Chan12| +|13|Chan13| +|14|Chan14| +|15|Chan15| +|16|Chan16| + +## OSD_SW_METHOD: Screen switch method + +This sets the method used to switch different OSD screens. + +|Value|Meaning| +|:---:|:---:| +|0|switch to next screen if channel value was changed| +|1|select screen based on pwm ranges specified for each screen| +|2|switch to next screen after low to high transition and every 1s while channel value is high| + +## OSD_OPTIONS: OSD Options + +This sets options that change the display + +- Bitmask: 0:UseDecimalPack, 1:InvertedWindArrow, 2:InvertedAHRoll, 3:Convert feet to miles at 5280ft instead of 10000ft, 4:DisableCrosshair, 5:TranslateArrows, 6:AviationStyleAH, 7:Prefix LQ with RF Mode + +## OSD_FONT: OSD Font + +This sets which OSD font to use. It is an integer from 0 to the number of fonts available + +- RebootRequired: True + +## OSD_V_OFFSET: OSD vertical offset + +Sets vertical offset of the osd inside image + +- Range: 0 31 + +- RebootRequired: True + +## OSD_H_OFFSET: OSD horizontal offset + +Sets horizontal offset of the osd inside image + +- Range: 0 63 + +- RebootRequired: True + +## OSD_W_RSSI: RSSI warn level (in %) + +Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults. + +- Range: -128 100 + +## OSD_W_NSAT: NSAT warn level + +Set level at which NSAT item will flash + +- Range: 1 30 + +## OSD_W_BATVOLT: BAT_VOLT warn level + +Set level at which BAT_VOLT item will flash + +- Range: 0 100 + +## OSD_UNITS: Display Units + +Sets the units to use in displaying items + +|Value|Meaning| +|:---:|:---:| +|0|Metric| +|1|Imperial| +|2|SI| +|3|Aviation| + +## OSD_MSG_TIME: Message display duration in seconds + +Sets message duration seconds + +- Range: 1 20 + +## OSD_ARM_SCR: Arm screen + +Screen to be shown on Arm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_DSARM_SCR: Disarm screen + +Screen to be shown on disarm event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_FS_SCR: Failsafe screen + +Screen to be shown on failsafe event. Zero to disable the feature. + +- Range: 0 4 + +## OSD_BTN_DELAY: Button delay + +*Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation. + +- Range: 0 3000 + +## OSD_W_TERR: Terrain warn level + +Set level below which TER_HGT item will flash. -1 disables. + +- Range: -1 3000 + +- Units: m + +## OSD_W_AVGCELLV: AVGCELLV warn level + +Set level at which AVGCELLV item will flash + +- Range: 0 100 + +## OSD_CELL_COUNT: Battery cell count + +*Note: This parameter is for advanced users* + +Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used. + +- Increment: 1 + +## OSD_W_RESTVOLT: RESTVOLT warn level + +Set level at which RESTVOLT item will flash + +- Range: 0 100 + +## OSD_W_ACRVOLT: Avg Cell Resting Volt warn level + +Set level at which ACRVOLT item will flash + +- Range: 0 100 + +## OSD_W_LQ: RC link quality warn level (in %) + +Set level at which RC_LQ item will flash (%) + +- Range: 0 100 + +## OSD_W_SNR: RC link SNR warn level (in %) + +Set level at which RC_SNR item will flash (in db) + +- Range: -20 10 + +## OSD_SB_H_OFS: Sidebar horizontal offset + +Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen. + +- Range: 0 20 + +## OSD_SB_V_EXT: Sidebar vertical extension + +Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting. + +- Range: 0 10 + +## OSD_TYPE2: OSD type 2 + +OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAX7456| +|2|SITL| +|3|MSP| +|4|TXONLY| +|5|MSP_DISPLAYPORT| + +- RebootRequired: True + +# OSD1 Parameters + +## OSD1_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD1_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD1_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD1_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD1_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD1_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD1_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD1_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD1_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD1_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD1_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD2 Parameters + +## OSD2_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD2_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD2_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD2_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD2_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD2_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD2_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD2_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD2_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD2_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD2_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD3 Parameters + +## OSD3_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD3_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD3_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD3_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD3_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD3_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD3_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD3_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD3_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD3_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD3_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD4 Parameters + +## OSD4_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD4_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD4_ALTITUDE_EN: ALTITUDE_EN + +Enables display of altitude AGL + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ALTITUDE_X: ALTITUDE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ALTITUDE_Y: ALTITUDE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT_VOLT_EN: BATVOLT_EN + +Displays main battery voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT_VOLT_X: BATVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT_VOLT_Y: BATVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSI_EN: RSSI_EN + +Displays RC signal strength + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSI_X: RSSI_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSI_Y: RSSI_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT_EN: CURRENT_EN + +Displays main battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT_X: CURRENT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT_Y: CURRENT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATUSED_EN: BATUSED_EN + +Displays primary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATUSED_X: BATUSED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATUSED_Y: BATUSED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SATS_EN: SATS_EN + +Displays number of acquired satellites + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SATS_X: SATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SATS_Y: SATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTMODE_EN: FLTMODE_EN + +Displays flight mode + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTMODE_X: FLTMODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTMODE_Y: FLTMODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_MESSAGE_EN: MESSAGE_EN + +Displays Mavlink messages + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_MESSAGE_X: MESSAGE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_MESSAGE_Y: MESSAGE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GSPEED_EN: GSPEED_EN + +Displays GPS ground speed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GSPEED_X: GSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GSPEED_Y: GSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HORIZON_EN: HORIZON_EN + +Displays artificial horizon + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HORIZON_X: HORIZON_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HORIZON_Y: HORIZON_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HOME_EN: HOME_EN + +Displays distance and relative direction to HOME + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOME_X: HOME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOME_Y: HOME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HEADING_EN: HEADING_EN + +Displays heading + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HEADING_X: HEADING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HEADING_Y: HEADING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_THROTTLE_EN: THROTTLE_EN + +Displays actual throttle percentage being sent to motor(s) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_THROTTLE_X: THROTTLE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_THROTTLE_Y: THROTTLE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_COMPASS_EN: COMPASS_EN + +Enables display of compass rose + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_COMPASS_X: COMPASS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_COMPASS_Y: COMPASS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WIND_EN: WIND_EN + +Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WIND_X: WIND_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WIND_Y: WIND_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPEED_EN: ASPEED_EN + +Displays airspeed value being used by TECS (fused value) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPEED_X: ASPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPEED_Y: ASPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VSPEED_EN: VSPEED_EN + +Displays climb rate + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VSPEED_X: VSPEED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VSPEED_Y: VSPEED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCTEMP_EN: ESCTEMP_EN + +Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCTEMP_X: ESCTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCTEMP_Y: ESCTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCRPM_EN: ESCRPM_EN + +Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCRPM_X: ESCRPM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCRPM_Y: ESCRPM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESCAMPS_EN: ESCAMPS_EN + +Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ESCAMPS_X: ESCAMPS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ESCAMPS_Y: ESCAMPS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLAT_EN: GPSLAT_EN + +Displays GPS latitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLAT_X: GPSLAT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLAT_Y: GPSLAT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_GPSLONG_EN: GPSLONG_EN + +Displays GPS longitude + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_GPSLONG_X: GPSLONG_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_GPSLONG_Y: GPSLONG_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ROLL_EN: ROLL_EN + +Displays degrees of roll from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ROLL_X: ROLL_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ROLL_Y: ROLL_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PITCH_EN: PITCH_EN + +Displays degrees of pitch from level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PITCH_X: PITCH_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PITCH_Y: PITCH_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TEMP_EN: TEMP_EN + +Displays temperature reported by primary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TEMP_X: TEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TEMP_Y: TEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_HDOP_EN: HDOP_EN + +Displays Horizontal Dilution Of Position + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HDOP_X: HDOP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HDOP_Y: HDOP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_WAYPOINT_EN: WAYPOINT_EN + +Displays bearing and distance to next waypoint + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_WAYPOINT_X: WAYPOINT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_WAYPOINT_Y: WAYPOINT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_XTRACK_EN: XTRACK_EN + +Displays crosstrack error + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_XTRACK_X: XTRACK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_XTRACK_Y: XTRACK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_DIST_EN: DIST_EN + +Displays total distance flown + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_DIST_X: DIST_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_DIST_Y: DIST_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_STATS_EN: STATS_EN + +Displays flight stats + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_STATS_X: STATS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_STATS_Y: STATS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FLTIME_EN: FLTIME_EN + +Displays total flight time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FLTIME_X: FLTIME_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FLTIME_Y: FLTIME_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLIMBEFF_EN: CLIMBEFF_EN + +Displays climb efficiency (climb rate/current) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLIMBEFF_X: CLIMBEFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLIMBEFF_Y: CLIMBEFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_EFF_EN: EFF_EN + +Displays flight efficiency (mAh/km or /mi) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_EFF_X: EFF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_EFF_Y: EFF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BTEMP_EN: BTEMP_EN + +Displays temperature reported by secondary barometer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BTEMP_X: BTEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BTEMP_Y: BTEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ATEMP_EN: ATEMP_EN + +Displays temperature reported by primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ATEMP_X: ATEMP_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ATEMP_Y: ATEMP_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2_VLT_EN: BAT2VLT_EN + +Displays battery2 voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2_VLT_X: BAT2VLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2_VLT_Y: BAT2VLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BAT2USED_EN: BAT2USED_EN + +Displays secondary battery mAh consumed + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BAT2USED_X: BAT2USED_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BAT2USED_Y: BAT2USED_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD2_EN: ASPD2_EN + +Displays airspeed reported directly from secondary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD2_X: ASPD2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD2_Y: ASPD2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ASPD1_EN: ASPD1_EN + +Displays airspeed reported directly from primary airspeed sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ASPD1_X: ASPD1_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ASPD1_Y: ASPD1_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CLK_EN: CLK_EN + +Displays a clock panel based on AP_RTC local time + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CLK_X: CLK_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CLK_Y: CLK_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_SIDEBARS_EN: SIDEBARS_EN + +Displays artificial horizon side bars + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_SIDEBARS_X: SIDEBARS_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_SIDEBARS_Y: SIDEBARS_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CRSSHAIR_EN: CRSSHAIR_EN + +Displays artificial horizon crosshair (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CRSSHAIR_X: CRSSHAIR_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_CRSSHAIR_Y: CRSSHAIR_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIST_EN: HOMEDIST_EN + +Displays distance from HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIST_X: HOMEDIST_X + +Horizontal position on screen (MSP OSD only) + +- Range: 0 59 + +## OSD4_HOMEDIST_Y: HOMEDIST_Y + +Vertical position on screen (MSP OSD only) + +- Range: 0 21 + +## OSD4_HOMEDIR_EN: HOMEDIR_EN + +Displays relative direction to HOME (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_HOMEDIR_X: HOMEDIR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_HOMEDIR_Y: HOMEDIR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_POWER_EN: POWER_EN + +Displays power (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_POWER_X: POWER_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_POWER_Y: POWER_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CELLVOLT_EN: CELL_VOLT_EN + +Displays average cell voltage (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CELLVOLT_X: CELL_VOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CELLVOLT_Y: CELL_VOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_BATTBAR_EN: BATT_BAR_EN + +Displays battery usage bar (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_BATTBAR_X: BATT_BAR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_BATTBAR_Y: BATT_BAR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ARMING_EN: ARMING_EN + +Displays arming status (MSP OSD only) + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ARMING_X: ARMING_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ARMING_Y: ARMING_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_PLUSCODE_EN: PLUSCODE_EN + +Displays pluscode (OLC) element + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_PLUSCODE_X: PLUSCODE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_PLUSCODE_Y: PLUSCODE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CALLSIGN_EN: CALLSIGN_EN + +Displays callsign from callsign.txt on microSD card + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CALLSIGN_X: CALLSIGN_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CALLSIGN_Y: CALLSIGN_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_CURRENT2_EN: CURRENT2_EN + +Displays 2nd battery current + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_CURRENT2_X: CURRENT2_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_CURRENT2_Y: CURRENT2_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_VTX_PWR_EN: VTX_PWR_EN + +Displays VTX Power + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_VTX_PWR_X: VTX_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_VTX_PWR_Y: VTX_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TER_HGT_EN: TER_HGT_EN + +Displays Height above terrain + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_TER_HGT_X: TER_HGT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_TER_HGT_Y: TER_HGT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_AVGCELLV_EN: AVGCELLV_EN + +Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_AVGCELLV_X: AVGCELLV_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_AVGCELLV_Y: AVGCELLV_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RESTVOLT_EN: RESTVOLT_EN + +Displays main battery resting voltage + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RESTVOLT_X: RESTVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RESTVOLT_Y: RESTVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_FENCE_EN: FENCE_EN + +Displays indication of fence enable and breach + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_FENCE_X: FENCE_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_FENCE_Y: FENCE_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RNGF_EN: RNGF_EN + +Displays a rangefinder's distance in cm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RNGF_X: RNGF_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RNGF_Y: RNGF_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ACRVOLT_EN: ACRVOLT_EN + +Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0). + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_ACRVOLT_X: ACRVOLT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_ACRVOLT_Y: ACRVOLT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RPM_EN: RPM_EN + +Displays main rotor revs/min + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RPM_X: RPM_X + +Horizontal position on screen + +- Range: 0 29 + +## OSD4_RPM_Y: RPM_Y + +Vertical position on screen + +- Range: 0 15 + +## OSD4_LINK_Q_EN: LINK_Q_EN + +Displays Receiver link quality + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_LINK_Q_X: LINK_Q_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_LINK_Q_Y: LINK_Q_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only) + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only) + +|Value|Meaning| +|:---:|:---:| +|0|30x16| +|1|50x18| +|2|60x22| + +## OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only) + +Sets the font index for this screen (MSP DisplayPort only) + +- Range: 0 21 + +## OSD4_RC_PWR_EN: RC_PWR_EN + +Displays the RC link transmit (TX) power in mW or W, depending on level + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_PWR_X: RC_PWR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_PWR_Y: RC_PWR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RSSIDBM_EN: RSSIDBM_EN + +Displays RC link signal strength in dBm + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RSSIDBM_X: RSSIDBM_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RSSIDBM_Y: RSSIDBM_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_SNR_EN: RC_SNR_EN + +Displays RC link signal to noise ratio in dB + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_SNR_X: RC_SNR_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_SNR_Y: RC_SNR_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_ANT_EN: RC_ANT_EN + +Displays the current RC link active antenna + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_ANT_X: RC_ANT_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_ANT_Y: RC_ANT_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_RC_LQ_EN: RC_LQ_EN + +Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD4_RC_LQ_X: RC_LQ_X + +Horizontal position on screen + +- Range: 0 59 + +## OSD4_RC_LQ_Y: RC_LQ_Y + +Vertical position on screen + +- Range: 0 21 + +## OSD4_ESC_IDX: ESC_IDX + +Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value. + +- Range: 0 32 + +# OSD5 Parameters + +## OSD5_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD5_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD5_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD5_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD5PARAM1 Parameters + +## OSD5_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM2 Parameters + +## OSD5_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM3 Parameters + +## OSD5_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM4 Parameters + +## OSD5_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM5 Parameters + +## OSD5_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM6 Parameters + +## OSD5_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM7 Parameters + +## OSD5_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM8 Parameters + +## OSD5_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD5PARAM9 Parameters + +## OSD5_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD5_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD5_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD5_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD5_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD5_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD5_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD5_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD5_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD5_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6 Parameters + +## OSD6_ENABLE: Enable screen + +Enable this screen + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_CHAN_MIN: Transmitter switch screen minimum pwm + +This sets the PWM lower limit for this screen + +- Range: 900 2100 + +## OSD6_CHAN_MAX: Transmitter switch screen maximum pwm + +This sets the PWM upper limit for this screen + +- Range: 900 2100 + +## OSD6_SAVE_X: SAVE_X + +*Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + +- Range: 0 25 + +## OSD6_SAVE_Y: SAVE_Y + +*Note: This parameter is for advanced users* + +Vertical position of Save button on screen + +- Range: 0 15 + +# OSD6PARAM1 Parameters + +## OSD6_PARAM1_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM1_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM1_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM1_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM1_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM1_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM1_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM1_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM1_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM1_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM2 Parameters + +## OSD6_PARAM2_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM2_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM2_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM2_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM2_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM2_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM2_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM2_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM2_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM2_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM3 Parameters + +## OSD6_PARAM3_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM3_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM3_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM3_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM3_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM3_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM3_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM3_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM3_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM3_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM4 Parameters + +## OSD6_PARAM4_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM4_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM4_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM4_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM4_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM4_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM4_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM4_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM4_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM4_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM5 Parameters + +## OSD6_PARAM5_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM5_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM5_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM5_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM5_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM5_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM5_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM5_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM5_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM5_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM6 Parameters + +## OSD6_PARAM6_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM6_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM6_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM6_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM6_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM6_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM6_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM6_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM6_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM6_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM7 Parameters + +## OSD6_PARAM7_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM7_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM7_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM7_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM7_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM7_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM7_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM7_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM7_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM7_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM8 Parameters + +## OSD6_PARAM8_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM8_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM8_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM8_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM8_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM8_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM8_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM8_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM8_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM8_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# OSD6PARAM9 Parameters + +## OSD6_PARAM9_EN: Enable + +Enable setting + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## OSD6_PARAM9_X: X position + +Horizontal position on screen + +- Range: 0 29 + +## OSD6_PARAM9_Y: Y position + +Vertical position on screen + +- Range: 0 15 + +## OSD6_PARAM9_KEY: Parameter key + +Key of the parameter to be displayed and modified + +## OSD6_PARAM9_IDX: Parameter index + +Index of the parameter to be displayed and modified + +## OSD6_PARAM9_GRP: Parameter group + +Group of the parameter to be displayed and modified + +## OSD6_PARAM9_MIN: Parameter minimum + +Minimum value of the parameter to be displayed and modified + +## OSD6_PARAM9_MAX: Parameter maximum + +Maximum of the parameter to be displayed and modified + +## OSD6_PARAM9_INCR: Parameter increment + +Increment of the parameter to be displayed and modified + +## OSD6_PARAM9_TYPE: Parameter type + +Type of the parameter to be displayed and modified + +# PLND Parameters + +## PLND_ENABLED: Precision Land enabled/disabled + +*Note: This parameter is for advanced users* + +Precision Land enabled/disabled + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## PLND_TYPE: Precision Land Type + +*Note: This parameter is for advanced users* + +Precision Land Type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IRLock| +|3|SITL_Gazebo| +|4|SITL| + +## PLND_YAW_ALIGN: Sensor yaw alignment + +*Note: This parameter is for advanced users* + +Yaw angle from body x-axis to sensor x-axis. + +- Range: 0 36000 + +- Increment: 10 + +- Units: cdeg + +## PLND_LAND_OFS_X: Land offset forward + +*Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_LAND_OFS_Y: Land offset right + +*Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + +- Range: -20 20 + +- Increment: 1 + +- Units: cm + +## PLND_EST_TYPE: Precision Land Estimator Type + +*Note: This parameter is for advanced users* + +Specifies the estimation method to be used + +|Value|Meaning| +|:---:|:---:| +|0|RawSensor| +|1|KalmanFilter| + +## PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise + +*Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less + +- Range: 0.5 5 + +## PLND_CAM_POS_X: Camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Y: Camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_CAM_POS_Z: Camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## PLND_BUS: Sensor Bus + +*Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors. + +|Value|Meaning| +|:---:|:---:| +|-1|DefaultBus| +|0|InternalI2C| +|1|ExternalI2C| + +## PLND_LAG: Precision Landing sensor lag + +*Note: This parameter is for advanced users* + +Precision Landing sensor lag, to cope with variable landing_target latency + +- Range: 0.02 0.250 + +- Increment: 1 + +- Units: s + +- RebootRequired: True + +## PLND_XY_DIST_MAX: Precision Landing maximum distance to target before descending + +*Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend. + +- Range: 0 10 + +- Units: m + +## PLND_STRICT: PrecLand strictness + +How strictly should the vehicle land on the target if target is lost + +|Value|Meaning| +|:---:|:---:| +|0|Land Vertically (Not strict)| +|1|Retry Landing(Normal Strictness)| +|2|Do not land (just Hover) (Very Strict)| + +## PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing + +PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry. + +- Range: 0 10 + +- Increment: 1 + +## PLND_TIMEOUT: PrecLand retry timeout + +Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter. + +- Range: 0 20 + +- Units: s + +## PLND_RET_BEHAVE: PrecLand retry behaviour + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + +|Value|Meaning| +|:---:|:---:| +|0|Go to the last location where landing target was detected| +|1|Go towards the approximate location of the detected landing target| + +## PLND_ALT_MIN: PrecLand minimum alt for retry + +Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 5 + +- Units: m + +## PLND_ALT_MAX: PrecLand maximum alt for retry + +Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this. + +- Range: 0 50 + +- Units: m + +## PLND_OPTIONS: Precision Landing Extra Options + +*Note: This parameter is for advanced users* + +Precision Landing Extra Options + +- Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent + +## PLND_ORIENT: Camera Orientation + +*Note: This parameter is for advanced users* + +Orientation of camera/sensor on body + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|4|Back| +|25|Down| + +- RebootRequired: True + +# PRX Parameters + +## PRX_LOG_RAW: Proximity raw distances log + +*Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| + +## PRX_FILT: Proximity filter cutoff frequency + +*Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + +- Units: Hz + +- Range: 0 20 + +# PRX1 Parameters + +## PRX1_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX1_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX1_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX1_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX1_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX1_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX1_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX1_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX1_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX1 Parameters + +## PRX1_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX2 Parameters + +## PRX2_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX2_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX2_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX2_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX2_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX2_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX2_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX2_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX2_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX2 Parameters + +## PRX2_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX3 Parameters + +## PRX3_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX3_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX3_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX3_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX3_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX3_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX3_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX3_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX3_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX3 Parameters + +## PRX3_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PRX4 Parameters + +## PRX4_TYPE: Proximity type + +What type of proximity sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|7|LightwareSF40c| +|2|MAVLink| +|3|TeraRangerTower| +|4|RangeFinder| +|5|RPLidarA2| +|6|TeraRangerTowerEvo| +|8|LightwareSF45B| +|10|SITL| +|12|AirSimSITL| +|13|CygbotD1| +|14|DroneCAN| +|15|Scripting| +|16|LD06| +|17|MR72_CAN| + +- RebootRequired: True + +## PRX4_ORIENT: Proximity sensor orientation + +Proximity sensor orientation + +|Value|Meaning| +|:---:|:---:| +|0|Default| +|1|Upside Down| + +## PRX4_YAW_CORR: Proximity sensor yaw correction + +Proximity sensor yaw correction + +- Units: deg + +- Range: -180 180 + +## PRX4_IGN_ANG1: Proximity sensor ignore angle 1 + +Proximity sensor ignore angle 1 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID1: Proximity sensor ignore width 1 + +Proximity sensor ignore width 1 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG2: Proximity sensor ignore angle 2 + +Proximity sensor ignore angle 2 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID2: Proximity sensor ignore width 2 + +Proximity sensor ignore width 2 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG3: Proximity sensor ignore angle 3 + +Proximity sensor ignore angle 3 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID3: Proximity sensor ignore width 3 + +Proximity sensor ignore width 3 + +- Units: deg + +- Range: 0 127 + +## PRX4_IGN_ANG4: Proximity sensor ignore angle 4 + +Proximity sensor ignore angle 4 + +- Units: deg + +- Range: 0 360 + +## PRX4_IGN_WID4: Proximity sensor ignore width 4 + +Proximity sensor ignore width 4 + +- Units: deg + +- Range: 0 127 + +## PRX4_MIN: Proximity minimum range + +*Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX4_MAX: Proximity maximum range + +*Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range. + +- Units: m + +- Range: 0 500 + +## PRX4_ADDR: Bus address of sensor + +The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +# PRX4 Parameters + +## PRX4_RECV_ID: CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +# PSC Parameters + +## PSC_POS_P: Position controller P gain + +Position controller P gain. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller + +- Range: 0.500 2.000 + +## PSC_VEL_P: Velocity (horizontal) P gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration + +- Range: 0.1 6.0 + +- Increment: 0.1 + +## PSC_VEL_I: Velocity (horizontal) I gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration + +- Range: 0.00 1.00 + +- Increment: 0.01 + +## PSC_VEL_D: Velocity (horizontal) D gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) D gain. Corrects short-term changes in velocity + +- Range: 0.00 1.00 + +- Increment: 0.001 + +## PSC_VEL_IMAX: Velocity (horizontal) integrator maximum + +*Note: This parameter is for advanced users* + +Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output + +- Range: 0 4500 + +- Increment: 10 + +- Units: cm/s/s + +## PSC_VEL_FLTE: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms + +- Range: 0 100 + +- Units: Hz + +## PSC_VEL_FLTD: Velocity (horizontal) input filter + +*Note: This parameter is for advanced users* + +Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term + +- Range: 0 100 + +- Units: Hz + +## PSC_VEL_FF: Velocity (horizontal) feed forward gain + +*Note: This parameter is for advanced users* + +Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration + +- Range: 0 6 + +- Increment: 0.01 + +# RALLY Parameters + +## RALLY_TOTAL: Rally Total + +*Note: This parameter is for advanced users* + +Number of rally points currently loaded + +## RALLY_LIMIT_KM: Rally Limit + +*Note: This parameter is for advanced users* + +Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used. + +- Units: km + +- Increment: 0.1 + +## RALLY_INCL_HOME: Rally Include Home + +Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL + +|Value|Meaning| +|:---:|:---:| +|0|DoNotIncludeHome| +|1|IncludeHome| + +# RC Parameters + +## RC_OVERRIDE_TIME: RC override timeout + +*Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled + +- Range: 0.0 120.0 + +- Units: s + +## RC_OPTIONS: RC options + +*Note: This parameter is for advanced users* + +RC input options + +- Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol + +## RC_PROTOCOLS: RC protocols enabled + +*Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols. + +- Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio + +## RC_FS_TIMEOUT: RC Failsafe timeout + +RC failsafe will trigger this many seconds after loss of RC + +- Range: 0.5 10.0 + +- Units: s + +# RCn Parameters + +## RCn_MIN: RC min PWM + +*Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_TRIM: RC trim PWM + +*Note: This parameter is for advanced users* + +RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_MAX: RC max PWM + +*Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## RCn_REVERSED: RC reversed + +*Note: This parameter is for advanced users* + +Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## RCn_DZ: RC dead-zone + +*Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + +- Units: PWM + +- Range: 0 200 + +## RCn_OPTION: RC input option + +Function assigned to this RC channel + +|Value|Meaning| +|:---:|:---:| +|0|Do Nothing| +|4|RTL| +|5|Save Trim (4.1 and lower)| +|7|Save WP| +|9|Camera Trigger| +|11|Fence Enable| +|16|AUTO Mode| +|19|Gripper Release| +|24|Auto Mission Reset| +|27|Retract Mount1| +|28|Relay1 On/Off| +|30|Lost Rover Sound| +|31|Motor Emergency Stop| +|34|Relay2 On/Off| +|35|Relay3 On/Off| +|36|Relay4 On/Off| +|40|Proximity Avoidance Enable| +|41|ArmDisarm (4.1 and lower)| +|42|SMARTRTL Mode| +|46|RC Override Enable| +|50|LearnCruise Speed| +|51|MANUAL Mode| +|52|ACRO Mode| +|53|STEERING Mode| +|54|HOLD Mode| +|55|GUIDED Mode| +|56|LOITER Mode| +|57|FOLLOW Mode| +|58|Clear Waypoints| +|59|Simple Mode| +|62|Compass Learn| +|63|Sailboat Tack| +|65|GPS Disable| +|66|Relay5 On/Off| +|67|Relay6 On/Off| +|72|CIRCLE Mode| +|74|Sailboat motoring 3pos| +|78|RunCam Control| +|79|RunCam OSD Control| +|80|VisoOdom Align| +|81|Disarm| +|90|EKF Source Set| +|94|VTX Power| +|97|Windvane home heading direction offset| +|100|KillIMU1| +|101|KillIMU2| +|102|Camera Mode Toggle| +|105|GPS Disable Yaw| +|106|Disable Airspeed Use| +|110|KillIMU3| +|112|SwitchExternalAHRS| +|113|Retract Mount2| +|153|ArmDisarm (4.2 and higher)| +|155|Set steering trim to current servo and RC| +|156|Torqeedo Clear Err| +|162|FFT Tune| +|163|Mount Lock| +|164|Pause Stream Logging| +|165|Arm/Emergency Motor Stop| +|166|Camera Record Video| +|167|Camera Zoom| +|168|Camera Manual Focus| +|169|Camera Auto Focus| +|171|Calibrate Compasses| +|172|Battery MPPT Enable| +|174|Camera Image Tracking| +|175|Camera Lens| +|177|Mount LRF enable| +|201|Roll| +|202|Pitch| +|207|MainSail| +|208|Flap| +|211|Walking Height| +|212|Mount1 Roll| +|213|Mount1 Pitch| +|214|Mount1 Yaw| +|215|Mount2 Roll| +|216|Mount2 Pitch| +|217|Mount2 Yaw| +|300|Scripting1| +|301|Scripting2| +|302|Scripting3| +|303|Scripting4| +|304|Scripting5| +|305|Scripting6| +|306|Scripting7| +|307|Scripting8| + +# RCMAP Parameters + +## RCMAP_ROLL: Roll channel + +*Note: This parameter is for advanced users* + +Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_PITCH: Pitch channel + +*Note: This parameter is for advanced users* + +Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_THROTTLE: Throttle channel + +*Note: This parameter is for advanced users* + +Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +## RCMAP_YAW: Yaw channel + +*Note: This parameter is for advanced users* + +Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect. + +- Range: 1 16 + +- Increment: 1 + +- RebootRequired: True + +# RELAY10 Parameters + +## RELAY10_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY10_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY10_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY10_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY11 Parameters + +## RELAY11_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY11_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY11_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY11_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY12 Parameters + +## RELAY12_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY12_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY12_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY12_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY13 Parameters + +## RELAY13_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY13_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY13_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY13_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY14 Parameters + +## RELAY14_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY14_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY14_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY14_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY15 Parameters + +## RELAY15_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY15_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY15_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY15_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY16 Parameters + +## RELAY16_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY16_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY16_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY16_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY1 Parameters + +## RELAY1_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY1_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY1_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY1_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY2 Parameters + +## RELAY2_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY2_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY2_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY2_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY3 Parameters + +## RELAY3_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY3_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY3_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY3_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY4 Parameters + +## RELAY4_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY4_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY4_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY4_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY5 Parameters + +## RELAY5_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY5_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY5_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY5_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY6 Parameters + +## RELAY6_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY6_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY6_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY6_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY7 Parameters + +## RELAY7_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY7_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY7_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY7_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY8 Parameters + +## RELAY8_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY8_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY8_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY8_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RELAY9 Parameters + +## RELAY9_FUNCTION: Relay function + +The function the relay channel is mapped to. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Relay| +|4|Camera| +|5|Bushed motor reverse 1 throttle or throttle-left or omni motor 1| +|6|Bushed motor reverse 2 throttle-right or omni motor 2| +|7|Bushed motor reverse 3 omni motor 3| +|8|Bushed motor reverse 4 omni motor 4| + +## RELAY9_PIN: Relay pin + +Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|49|BB Blue GP0 pin 4| +|50|AUXOUT1| +|51|AUXOUT2| +|52|AUXOUT3| +|53|AUXOUT4| +|54|AUXOUT5| +|55|AUXOUT6| +|57|BB Blue GP0 pin 3| +|113|BB Blue GP0 pin 6| +|116|BB Blue GP0 pin 5| +|62|BBBMini Pin P8.13| +|101|MainOut1| +|102|MainOut2| +|103|MainOut3| +|104|MainOut4| +|105|MainOut5| +|106|MainOut6| +|107|MainOut7| +|108|MainOut8| +|1000|DroneCAN Hardpoint ID 0| +|1001|DroneCAN Hardpoint ID 1| +|1002|DroneCAN Hardpoint ID 2| +|1003|DroneCAN Hardpoint ID 3| +|1004|DroneCAN Hardpoint ID 4| +|1005|DroneCAN Hardpoint ID 5| +|1006|DroneCAN Hardpoint ID 6| +|1007|DroneCAN Hardpoint ID 7| +|1008|DroneCAN Hardpoint ID 8| +|1009|DroneCAN Hardpoint ID 9| +|1010|DroneCAN Hardpoint ID 10| +|1011|DroneCAN Hardpoint ID 11| +|1012|DroneCAN Hardpoint ID 12| +|1013|DroneCAN Hardpoint ID 13| +|1014|DroneCAN Hardpoint ID 14| +|1015|DroneCAN Hardpoint ID 15| + +## RELAY9_DEFAULT: Relay default state + +Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted. + +|Value|Meaning| +|:---:|:---:| +|0|Off| +|1|On| +|2|NoChange| + +## RELAY9_INVERTED: Relay invert output signal + +Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Inverted| + +# RNGFND1 Parameters + +## RNGFND1_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND1_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND1_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND1_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND1_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND1_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND1_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND1_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND1_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND1_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND1_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND1_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND1_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND1_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND1_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND1_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND1_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND1_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND1_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND1_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND2 Parameters + +## RNGFND2_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND2_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND2_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND2_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND2_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND2_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND2_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND2_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND2_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND2_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND2_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND2_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND2_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND2_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND2_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND2_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND2_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND2_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND2_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND2_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND3 Parameters + +## RNGFND3_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND3_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND3_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND3_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND3_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND3_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND3_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND3_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND3_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND3_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND3_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND3_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND3_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND3_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND3_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND3_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND3_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND3_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND3_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND3_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND4 Parameters + +## RNGFND4_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND4_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND4_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND4_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND4_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND4_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND4_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND4_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND4_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND4_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND4_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND4_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND4_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND4_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND4_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND4_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND4_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND4_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND4_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND4_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND5 Parameters + +## RNGFND5_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND5_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND5_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND5_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND5_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND5_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND5_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND5_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND5_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND5_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND5_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND5_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND5_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND5_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND5_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND5_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND5_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND5_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND5_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND5_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND6 Parameters + +## RNGFND6_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND6_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND6_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND6_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND6_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND6_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND6_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND6_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND6_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND6_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND6_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND6_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND6_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND6_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND6_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND6_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND6_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND6_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND6_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND6_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND7 Parameters + +## RNGFND7_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND7_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND7_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND7_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND7_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND7_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND7_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND7_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND7_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND7_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND7_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND7_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND7_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND7_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND7_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND7_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND7_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND7_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND7_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND7_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND8 Parameters + +## RNGFND8_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND8_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND8_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND8_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND8_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND8_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND8_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND8_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND8_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND8_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND8_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND8_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND8_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND8_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND8_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND8_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND8_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND8_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND8_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND8_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFND9 Parameters + +## RNGFND9_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFND9_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFND9_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFND9_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFND9_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFND9_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFND9_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFND9_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFND9_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFND9_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFND9_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFND9_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFND9_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFND9_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFND9_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFND9_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFND9_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFND9_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFND9_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFND9_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RNGFNDA Parameters + +## RNGFNDA_TYPE: Rangefinder type + +Type of connected rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Analog| +|2|MaxbotixI2C| +|3|LidarLite-I2C| +|5|PWM| +|6|BBB-PRU| +|7|LightWareI2C| +|8|LightWareSerial| +|9|Bebop| +|10|MAVLink| +|11|USD1_Serial| +|12|LeddarOne| +|13|MaxbotixSerial| +|14|TeraRangerI2C| +|15|LidarLiteV3-I2C| +|16|VL53L0X or VL53L1X| +|17|NMEA| +|18|WASP-LRF| +|19|BenewakeTF02| +|20|Benewake-Serial| +|21|LidarLightV3HP| +|22|PWM| +|23|BlueRoboticsPing| +|24|DroneCAN| +|25|BenewakeTFminiPlus-I2C| +|26|LanbaoPSK-CM8JL65-CC5| +|27|BenewakeTF03| +|28|VL53L1X-ShortRange| +|29|LeddarVu8-Serial| +|30|HC-SR04| +|31|GYUS42v2| +|32|MSP| +|33|USD1_CAN| +|34|Benewake_CAN| +|35|TeraRangerSerial| +|36|Lua_Scripting| +|37|NoopLoop_TOFSense| +|38|NoopLoop_TOFSense_CAN| +|39|NRA24_CAN| +|40|NoopLoop_TOFSenseF_I2C| +|41|JRE_Serial| +|42|Ainstein_LR_D1| +|43|RDS02UF| +|100|SITL| + +## RNGFNDA_PIN: Rangefinder pin + +Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RNGFNDA_SCALING: Rangefinder scaling + +Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters. + +- Units: m/V + +- Increment: 0.001 + +## RNGFNDA_OFFSET: rangefinder offset + +Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars + +- Units: V + +- Increment: 0.001 + +## RNGFNDA_FUNCTION: Rangefinder function + +Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters. + +|Value|Meaning| +|:---:|:---:| +|0|Linear| +|1|Inverted| +|2|Hyperbolic| + +## RNGFNDA_MIN_CM: Rangefinder minimum distance + +Minimum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_MAX_CM: Rangefinder maximum distance + +Maximum distance in centimeters that rangefinder can reliably read + +- Units: cm + +- Increment: 1 + +## RNGFNDA_STOP_PIN: Rangefinder stop pin + +Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Not Used| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|111|PX4 FMU Relay1| +|112|PX4 FMU Relay2| +|113|PX4IO Relay1| +|114|PX4IO Relay2| +|115|PX4IO ACC1| +|116|PX4IO ACC2| + +## RNGFNDA_RMETRIC: Ratiometric + +This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric. + +|Value|Meaning| +|:---:|:---:| +|0|No| +|1|Yes| + +## RNGFNDA_PWRRNG: Powersave range + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled + +- Units: m + +- Range: 0 32767 + +## RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground + +This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground. + +- Units: cm + +- Range: 5 127 + +- Increment: 1 + +## RNGFNDA_ADDR: Bus address of sensor + +This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses. + +- Range: 0 127 + +- Increment: 1 + +## RNGFNDA_POS_X: X position offset + +*Note: This parameter is for advanced users* + +X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Y: Y position offset + +*Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_POS_Z: Z position offset + +*Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## RNGFNDA_ORIENT: Rangefinder orientation + +*Note: This parameter is for advanced users* + +Orientation of rangefinder + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|1|Forward-Right| +|2|Right| +|3|Back-Right| +|4|Back| +|5|Back-Left| +|6|Left| +|7|Forward-Left| +|24|Up| +|25|Down| + +## RNGFNDA_WSP_MAVG: Moving Average Range + +*Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results + +- Range: 0 255 + +## RNGFNDA_WSP_MEDF: Moving Median Filter + +*Note: This parameter is for advanced users* + +Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active + +- Range: 0 255 + +## RNGFNDA_WSP_FRQ: Frequency + +*Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers. + +- Range: 0 10000 + +## RNGFNDA_WSP_AVG: Multi-pulse averages + +*Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + +- Range: 0 255 + +## RNGFNDA_WSP_THR: Sensitivity threshold + +*Note: This parameter is for advanced users* + +Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments + +- Range: -1 255 + +## RNGFNDA_WSP_BAUD: Baud rate + +*Note: This parameter is for advanced users* + +Desired baud rate + +|Value|Meaning| +|:---:|:---:| +|0|Low Speed| +|1|High Speed| + +## RNGFNDA_RECV_ID: RangeFinder CAN receive ID + +*Note: This parameter is for advanced users* + +The receive ID of the CAN frames. A value of zero means all IDs are accepted. + +- Range: 0 65535 + +## RNGFNDA_SNR_MIN: RangeFinder Minimum signal strength + +*Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength (SNR) to accept distance + +- Range: 0 65535 + +# RPM1 Parameters + +## RPM1_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM1_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM1_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM1_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM1_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM1_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM2 Parameters + +## RPM2_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM2_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM2_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM2_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM2_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM2_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM3 Parameters + +## RPM3_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM3_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM3_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM3_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM3_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM3_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM3_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RPM4 Parameters + +## RPM4_TYPE: RPM type + +What type of RPM sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Not Used| +|2|GPIO| +|3|EFI| +|4|Harmonic Notch| +|5|ESC Telemetry Motors Bitmask| +|6|Generator| +|7|DroneCAN| + +## RPM4_SCALING: RPM scaling + +Scaling factor between sensor reading and RPM. + +- Increment: 0.001 + +## RPM4_MAX: Maximum RPM + +Maximum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN: Minimum RPM + +Minimum RPM to report. Only used on type = GPIO. + +- Increment: 1 + +## RPM4_MIN_QUAL: Minimum Quality + +*Note: This parameter is for advanced users* + +Minimum data quality to be used + +- Increment: 0.1 + +## RPM4_PIN: Input pin number + +Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## RPM4_ESC_MASK: Bitmask of ESC telemetry channels to average + +*Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + +## RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to + +*Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to. Use 0 to disable. + +- Range: 0 10 + +- Increment: 1 + +## RPM4_DC_ID: DroneCAN Sensor ID + +*Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + +- Range: -1 10 + +- Increment: 1 + +# RSSI Parameters + +## RSSI_TYPE: RSSI Type + +Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|AnalogPin| +|2|RCChannelPwmValue| +|3|ReceiverProtocol| +|4|PWMInputPin| +|5|TelemetryRadioRSSI| + +## RSSI_ANA_PIN: Receiver RSSI sensing pin + +Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number. + +|Value|Meaning| +|:---:|:---:| +|8|V5 Nano| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## RSSI_PIN_LOW: RSSI pin's lowest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_PIN_HIGH: RSSI pin's highest voltage + +RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## RSSI_CHANNEL: Receiver RSSI channel number + +The channel number where RSSI will be output by the radio receiver (5 and above). + +- Range: 0 16 + +## RSSI_CHAN_LOW: RSSI PWM low value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH + +- Units: PWM + +- Range: 0 2000 + +## RSSI_CHAN_HIGH: Receiver RSSI PWM high value + +PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW + +- Units: PWM + +- Range: 0 2000 + +# SAIL Parameters + +## SAIL_ENABLE: Enable Sailboat + +This enables Sailboat functionality + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +- RebootRequired: True + +## SAIL_ANGLE_MIN: Sail min angle + +Mainsheet tight, angle between centerline and boom + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## SAIL_ANGLE_MAX: Sail max angle + +Mainsheet loose, angle between centerline and boom. For direct-control rotating masts, the rotation angle at SERVOx_MAX/_MIN; for rotating masts, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle. + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## SAIL_ANGLE_IDEAL: Sail ideal angle + +Ideal angle between sail and apparent wind + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## SAIL_HEEL_MAX: Sailing maximum heel angle + +When in auto sail trim modes the heel will be limited to this value using PID control + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## SAIL_NO_GO_ANGLE: Sailing no go zone angle + +The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind + +- Units: deg + +- Range: 0 90 + +- Increment: 1 + +## SAIL_WNDSPD_MIN: Sailboat minimum wind speed to sail in + +Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted + +- Units: m/s + +- Range: 0 5 + +- Increment: 0.1 + +## SAIL_XTRACK_MAX: Sailing vehicle max cross track error + +The sail boat will tack when it reaches this cross track error, defines a corridor of 2 times this value wide, 0 disables + +- Units: m + +- Range: 5 25 + +- Increment: 1 + +## SAIL_LOIT_RADIUS: Loiter radius + +When in sailing modes the vehicle will keep moving within this loiter radius + +- Units: m + +- Range: 0 20 + +- Increment: 1 + +# SCHED Parameters + +## SCHED_DEBUG: Scheduler debug level + +*Note: This parameter is for advanced users* + +Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|2|ShowSlips| +|3|ShowOverruns| + +## SCHED_LOOP_RATE: Scheduling main loop rate + +*Note: This parameter is for advanced users* + +This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental. + +- Range: 50 400 + +- RebootRequired: True + +- Units: Hz + +## SCHED_OPTIONS: Scheduling options + +*Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler. + +- Bitmask: 0:Enable per-task perf info + +# SCR Parameters + +## SCR_ENABLE: Enable Scripting + +*Note: This parameter is for advanced users* + +Controls if scripting is enabled + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Lua Scripts| + +- RebootRequired: True + +## SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count + +*Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + +- Range: 1000 1000000 + +- Increment: 10000 + +## SCR_HEAP_SIZE: Scripting Heap Size + +*Note: This parameter is for advanced users* + +Amount of memory available for scripting + +- Range: 1024 1048576 + +- Increment: 1024 + +- RebootRequired: True + +## SCR_DEBUG_OPTS: Scripting Debug Level + +*Note: This parameter is for advanced users* + +Debugging options + +- Bitmask: 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + +## SCR_USER1: Scripting User Parameter1 + +General purpose user variable input for scripts + +## SCR_USER2: Scripting User Parameter2 + +General purpose user variable input for scripts + +## SCR_USER3: Scripting User Parameter3 + +General purpose user variable input for scripts + +## SCR_USER4: Scripting User Parameter4 + +General purpose user variable input for scripts + +## SCR_USER5: Scripting User Parameter5 + +General purpose user variable input for scripts + +## SCR_USER6: Scripting User Parameter6 + +General purpose user variable input for scripts + +## SCR_DIR_DISABLE: Directory disable + +*Note: This parameter is for advanced users* + +This will stop scripts being loaded from the given locations + +- Bitmask: 0:ROMFS, 1:APM/scripts + +- RebootRequired: True + +## SCR_LD_CHECKSUM: Loaded script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables + +## SCR_RUN_CHECKSUM: Running script checksum + +*Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables + +## SCR_THD_PRIORITY: Scripting thread priority + +*Note: This parameter is for advanced users* + +This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|IO Priority| +|2|Storage Priority| +|3|UART Priority| +|4|I2C Priority| +|5|SPI Priority| +|6|Timer Priority| +|7|Main Priority| +|8|Boost Priority| + +- RebootRequired: True + +## SCR_SDEV_EN: Scripting serial device enable + +*Note: This parameter is for advanced users* + +Enable scripting serial devices + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SCR_SDEV1_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV2_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SCR_SDEV3_PROTO: Serial protocol of scripting serial device + +*Note: This parameter is for advanced users* + +Serial protocol of scripting serial device + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +# SERIAL Parameters + +## SERIAL0_BAUD: Serial0 baud rate + +The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL0_PROTOCOL: Console protocol selection + +Control what protocol to use on the console. + +|Value|Meaning| +|:---:|:---:| +|1|MAVLink1| +|2|MAVLink2| + +- RebootRequired: True + +## SERIAL1_PROTOCOL: Telem1 protocol selection + +Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +- RebootRequired: True + +## SERIAL1_BAUD: Telem1 Baud Rate + +The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL2_PROTOCOL: Telemetry 2 protocol selection + +Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL2_BAUD: Telemetry 2 Baud Rate + +The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection + +Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL3_BAUD: Serial 3 (GPS) Baud Rate + +The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL4_PROTOCOL: Serial4 protocol selection + +Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL4_BAUD: Serial 4 Baud Rate + +The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL5_PROTOCOL: Serial5 protocol selection + +Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL5_BAUD: Serial 5 Baud Rate + +The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL6_PROTOCOL: Serial6 protocol selection + +Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL6_BAUD: Serial 6 Baud Rate + +The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL1_OPTIONS: Telem1 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL2_OPTIONS: Telem2 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL3_OPTIONS: Serial3 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL4_OPTIONS: Serial4 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL5_OPTIONS: Serial5 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL6_OPTIONS: Serial6 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL_PASS1: Serial passthru first port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASS2: Serial passthru second port + +*Note: This parameter is for advanced users* + +This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|0|Serial0| +|1|Serial1| +|2|Serial2| +|3|Serial3| +|4|Serial4| +|5|Serial5| +|6|Serial6| + +## SERIAL_PASSTIMO: Serial passthru timeout + +*Note: This parameter is for advanced users* + +This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. + +- Range: 0 120 + +- Units: s + +## SERIAL7_PROTOCOL: Serial7 protocol selection + +Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL7_BAUD: Serial 7 Baud Rate + +The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL7_OPTIONS: Serial7 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL8_PROTOCOL: Serial8 protocol selection + +Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL8_BAUD: Serial 8 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL8_OPTIONS: Serial8 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +## SERIAL9_PROTOCOL: Serial9 protocol selection + +Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details. + +- RebootRequired: True + +|Value|Meaning| +|:---:|:---:| +|-1|None| +|1|MAVLink1| +|2|MAVLink2| +|3|Frsky D| +|4|Frsky SPort| +|5|GPS| +|7|Alexmos Gimbal Serial| +|8|Gimbal| +|9|Rangefinder| +|10|FrSky SPort Passthrough (OpenTX)| +|11|Lidar360| +|13|Beacon| +|14|Volz servo out| +|15|SBus servo out| +|16|ESC Telemetry| +|17|Devo Telemetry| +|18|OpticalFlow| +|19|RobotisServo| +|20|NMEA Output| +|21|WindVane| +|22|SLCAN| +|23|RCIN| +|24|EFI Serial| +|25|LTM| +|26|RunCam| +|27|HottTelem| +|28|Scripting| +|29|Crossfire VTX| +|30|Generator| +|31|Winch| +|32|MSP| +|33|DJI FPV| +|34|AirSpeed| +|35|ADSB| +|36|AHRS| +|37|SmartAudio| +|38|FETtecOneWire| +|39|Torqeedo| +|40|AIS| +|41|CoDevESC| +|42|DisplayPort| +|43|MAVLink High Latency| +|44|IRC Tramp| +|45|DDS XRCE| +|46|IMUDATA| +|48|PPP| + +## SERIAL9_BAUD: Serial 9 Baud Rate + +The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults. + +|Value|Meaning| +|:---:|:---:| +|1|1200| +|2|2400| +|4|4800| +|9|9600| +|19|19200| +|38|38400| +|57|57600| +|111|111100| +|115|115200| +|230|230400| +|256|256000| +|460|460800| +|500|500000| +|921|921600| +|1500|1500000| +|2000|2000000| + +## SERIAL9_OPTIONS: Serial9 options + +*Note: This parameter is for advanced users* + +Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. + +- Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + +- RebootRequired: True + +# SERVO Parameters + +## SERVO_RATE: Servo default output rate + +*Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs. + +- Range: 25 400 + +- Units: Hz + +## SERVO_DSHOT_RATE: Servo DShot output rate + +*Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz. + +|Value|Meaning| +|:---:|:---:| +|0|1Khz| +|1|loop-rate| +|2|double loop-rate| +|3|triple loop-rate| +|4|quadruple loop rate| + +## SERVO_DSHOT_ESC: Servo DShot ESC type + +*Note: This parameter is for advanced users* + +DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|BLHeli32/Kiss/AM32| +|2|BLHeli_S/BlueJay| +|3|BLHeli32/AM32/Kiss+EDT| +|4|BLHeli_S/BlueJay+EDT| + +## SERVO_GPIO_MASK: Servo GPIO mask + +*Note: This parameter is for advanced users* + +Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + +- Bitmask: 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + +- RebootRequired: True + +## SERVO_RC_FS_MSK: Servo RC Failsafe Mask + +*Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe. + +- Bitmask: 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + +## SERVO_32_ENABLE: Enable outputs 17 to 31 + +*Note: This parameter is for advanced users* + +This allows for up to 32 outputs, enabling parameters for outputs above 16 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SERVOn Parameters + +## SERVOn_MIN: Minimum PWM + +minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_MAX: Maximum PWM + +maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_TRIM: Trim PWM + +Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit. + +- Units: PWM + +- Range: 800 2200 + +- Increment: 1 + +## SERVOn_REVERSED: Servo reverse + +Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reversed| + +## SERVOn_FUNCTION: Servo output function + +Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function + +|Value|Meaning| +|:---:|:---:| +|-1|GPIO| +|0|Disabled| +|1|RCPassThru| +|6|Mount1Yaw| +|7|Mount1Pitch| +|8|Mount1Roll| +|9|Mount1Retract| +|10|CameraTrigger| +|12|Mount2Yaw| +|13|Mount2Pitch| +|14|Mount2Roll| +|15|Mount2Retract| +|22|SprayerPump| +|23|SprayerSpinner| +|26|GroundSteering| +|28|Gripper| +|33|Motor1| +|34|Motor2| +|35|Motor3| +|36|Motor4| +|51|RCIN1| +|52|RCIN2| +|53|RCIN3| +|54|RCIN4| +|55|RCIN5| +|56|RCIN6| +|57|RCIN7| +|58|RCIN8| +|59|RCIN9| +|60|RCIN10| +|61|RCIN11| +|62|RCIN12| +|63|RCIN13| +|64|RCIN14| +|65|RCIN15| +|66|RCIN16| +|70|Throttle| +|73|ThrottleLeft| +|74|ThrottleRight| +|88|Winch| +|89|Main Sail| +|90|CameraISO| +|91|CameraAperture| +|92|CameraFocus| +|93|CameraShutterSpeed| +|94|Script1| +|95|Script2| +|96|Script3| +|97|Script4| +|98|Script5| +|99|Script6| +|100|Script7| +|101|Script8| +|102|Script9| +|103|Script10| +|104|Script11| +|105|Script12| +|106|Script13| +|107|Script14| +|108|Script15| +|109|Script16| +|120|NeoPixel1| +|121|NeoPixel2| +|122|NeoPixel3| +|123|NeoPixel4| +|128|WingSailElevator| +|129|ProfiLED1| +|130|ProfiLED2| +|131|ProfiLED3| +|132|ProfiLEDClock| +|133|Winch Clutch| +|134|SERVOn_MIN| +|135|SERVOn_TRIM| +|136|SERVOn_MAX| +|137|SailMastRotation| +|138|Alarm| +|139|Alarm Inverted| +|140|RCIN1Scaled| +|141|RCIN2Scaled| +|142|RCIN3Scaled| +|143|RCIN4Scaled| +|144|RCIN5Scaled| +|145|RCIN6Scaled| +|146|RCIN7Scaled| +|147|RCIN8Scaled| +|148|RCIN9Scaled| +|149|RCIN10Scaled| +|150|RCIN11Scaled| +|151|RCIN12Scaled| +|152|RCIN13Scaled| +|153|RCIN14Scaled| +|154|RCIN15Scaled| +|155|RCIN16Scaled| + +- RebootRequired: True + +# SERVOBLH Parameters + +## SERVO_BLH_MASK: BLHeli Channel Bitmask + +*Note: This parameter is for advanced users* + +Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any) + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors + +If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +- RebootRequired: True + +## SERVO_BLH_TEST: BLHeli internal interface test + +*Note: This parameter is for advanced users* + +Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TestMotor1| +|2|TestMotor2| +|3|TestMotor3| +|4|TestMotor4| +|5|TestMotor5| +|6|TestMotor6| +|7|TestMotor7| +|8|TestMotor8| + +## SERVO_BLH_TMOUT: BLHeli protocol timeout + +This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout + +- Units: s + +- Range: 0 300 + +## SERVO_BLH_TRATE: BLHeli telemetry rate + +This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests + +- Units: Hz + +- Range: 0 500 + +## SERVO_BLH_DEBUG: BLHeli debug level + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures. + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SERVO_BLH_OTYPE: BLHeli output type override + +*Note: This parameter is for advanced users* + +When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|OneShot| +|2|OneShot125| +|3|Brushed| +|4|DShot150| +|5|DShot300| +|6|DShot600| +|7|DShot1200| + +- RebootRequired: True + +## SERVO_BLH_PORT: Control port + +*Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on. + +|Value|Meaning| +|:---:|:---:| +|0|Console| +|1|Mavlink Serial Channel1| +|2|Mavlink Serial Channel2| +|3|Mavlink Serial Channel3| +|4|Mavlink Serial Channel4| +|5|Mavlink Serial Channel5| + +## SERVO_BLH_POLES: BLHeli Motor Poles + +*Note: This parameter is for advanced users* + +This allows calculation of true RPM from ESC's eRPM. The default is 14. + +- Range: 1 127 + +- RebootRequired: True + +## SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels + +*Note: This parameter is for advanced users* + +Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels + +*Note: This parameter is for advanced users* + +Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +## SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels + +*Note: This parameter is for advanced users* + +Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK. + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32 + +- RebootRequired: True + +# SERVOFTW Parameters + +## SERVO_FTW_MASK: Servo channel output bitmask + +Servo channel mask specifying FETtec ESC output. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +- RebootRequired: True + +## SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask + +Servo channel mask to reverse rotation of FETtec ESC outputs. + +- Bitmask: 0:SERVO1,1:SERVO2,2:SERVO3,3:SERVO4,4:SERVO5,5:SERVO6,6:SERVO7,7:SERVO8,8:SERVO9,9:SERVO10,10:SERVO11,11:SERVO12 + +## SERVO_FTW_POLES: Nr. electrical poles + +Number of motor electrical poles + +- Range: 2 50 + +# SERVOROB Parameters + +## SERVO_ROB_POSMIN: Robotis servo position min + +Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +## SERVO_ROB_POSMAX: Robotis servo position max + +Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095 + +- Range: 0 4095 + +# SERVOSBUS Parameters + +## SERVO_SBUS_RATE: SBUS default output rate + +*Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz. + +- Range: 25 250 + +- Units: Hz + +# SERVOVOLZ Parameters + +## SERVO_VOLZ_MASK: Channel Bitmask + +Enable of volz servo protocol to specific channels + +- Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16,16:Channel17,17:Channel18,18:Channel19,19:Channel20,20:Channel21,21:Channel22,22:Channel23,23:Channel24,24:Channel25,25:Channel26,26:Channel27,28:Channel29,29:Channel30,30:Channel31,31:Channel32 + +## SERVO_VOLZ_RANGE: Range of travel + +Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator. + +- Units: deg + +# SIM Parameters + +## SIM_DRIFT_SPEED: Gyro drift speed + +Gyro drift rate of change in degrees/second/minute + +## SIM_DRIFT_TIME: Gyro drift time + +Gyro drift duration of one full drift cycle (period in minutes) + +## SIM_ENGINE_MUL: Engine failure thrust scaler + +Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor + +- Units: ms + +## SIM_WIND_SPD: Simulated Wind speed + +*Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + +- Units: m/s + +## SIM_WIND_DIR: Direction simulated wind is coming from + +*Note: This parameter is for advanced users* + +Allows you to set wind direction (true deg) in sim + +- Units: deg + +## SIM_WIND_TURB: Simulated Wind variation + +*Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + +- Units: m/s + +## SIM_WIND_TC: Wind variation time constant + +*Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + +- Units: s + +## SIM_SONAR_ROT: Sonar rotation + +Sonar rotation from rotations enumeration + +## SIM_BATT_VOLTAGE: Simulated battery voltage + +*Note: This parameter is for advanced users* + +Simulated battery (constant) voltage + +- Units: V + +## SIM_BATT_CAP_AH: Simulated battery capacity + +*Note: This parameter is for advanced users* + +Simulated battery capacity + +- Units: Ah + +## SIM_SONAR_GLITCH: Sonar glitch probablility + +*Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + +- Range: 0 1 + +## SIM_SONAR_RND: Sonar noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + +## SIM_RC_FAIL: Simulated RC signal failure + +*Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|No RC pusles| +|2|All Channels neutral except Throttle is 950us| + +## SIM_FLOAT_EXCEPT: Generate floating point exceptions + +*Note: This parameter is for advanced users* + +If set, if a numerical error occurs SITL will die with a floating point exception. + +## SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs + +*Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP_Periph + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + +## SIM_CAN_TYPE1: transport type for first CAN interface + +*Note: This parameter is for advanced users* + +transport type for first CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_CAN_TYPE2: transport type for second CAN interface + +*Note: This parameter is for advanced users* + +transport type for second CAN interface + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MulticastUDP| +|2|SocketCAN| + +## SIM_SONAR_SCALE: Sonar conversion scale + +Sonar conversion scale from distance to voltage + +- Units: m/V + +## SIM_FLOW_ENABLE: Opflow Enable + +Enable simulated Optical Flow sensor + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_TERRAIN: Terrain Enable + +Enable using terrain for height + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enabled| + +## SIM_FLOW_RATE: Opflow Rate + +Opflow Data Rate + +- Units: Hz + +## SIM_FLOW_DELAY: Opflow Delay + +Opflow data delay + +- Units: ms + +## SIM_ADSB_COUNT: Number of ADSB aircrafts + +Total number of ADSB simulated aircraft + +## SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft + +Simulated standard deviation of radius in ADSB of another aircraft + +- Units: m + +## SIM_ADSB_ALT: ADSB altitude of another aircraft + +Simulated ADSB altitude of another aircraft + +- Units: m + +## SIM_PIN_MASK: GPIO emulation + +SITL GPIO emulation + +## SIM_ADSB_TX: ADSB transmit enable + +ADSB transceiever enable and disable + +|Value|Meaning| +|:---:|:---:| +|0|Transceiever disable| +|1|Transceiever enable| + +## SIM_SPEEDUP: Sim Speedup + +Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used + +- Range: 1 10 + +## SIM_IMU_POS_X: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (X-axis) + +- Units: m + +## SIM_IMU_POS_Y: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_IMU_POS_Z: IMU Offsets + +XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_FLOW_POS_X: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis) + +- Units: m + +## SIM_FLOW_POS_Y: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_FLOW_POS_Z: Opflow Pos + +XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_ENGINE_FAIL: Engine Fail Mask + +mask of motors which SIM_ENGINE_MUL will be applied to + +- Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8 + +## SIM_TEMP_START: Start temperature + +*Note: This parameter is for advanced users* + +Baro start temperature + +- Units: degC + +## SIM_TEMP_BRD_OFF: Baro temperature offset + +*Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + +- Units: degC + +## SIM_TEMP_TCONST: Warmup time constant + +*Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + +- Units: degC + +## SIM_TEMP_BFACTOR: Baro temperature factor + +*Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM-20789 + +## SIM_WIND_DIR_Z: Simulated wind vertical direction + +*Note: This parameter is for advanced users* + +Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft. + +- Units: deg + +## SIM_WIND_T: Wind Profile Type + +Selects how wind varies from surface to WIND_T_ALT + +|Value|Meaning| +|:---:|:---:| +|0|square law| +|1|none| +|2|linear-see WIND_T_COEF| + +## SIM_WIND_T_ALT: Full Wind Altitude + +*Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level + +- Units: m + +## SIM_WIND_T_COEF: Linear Wind Curve Coeff + +*Note: This parameter is for advanced users* + +For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value + +## SIM_RC_CHANCOUNT: RC channel count + +SITL RC channel count + +## SIM_WOW_PIN: Weight on Wheels Pin + +*Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + +## SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting + +SITL enable bandwidth limitting on telemetry ports with non-zero values + +## SIM_SHOVE_X: Acceleration of shove x + +Acceleration of shove to vehicle in x axis + +- Units: m/s/s + +## SIM_SHOVE_Y: Acceleration of shove y + +Acceleration of shove to vehicle in y axis + +- Units: m/s/s + +## SIM_SHOVE_Z: Acceleration of shove z + +Acceleration of shove to vehicle in z axis + +- Units: m/s/s + +## SIM_SHOVE_TIME: Time length for shove + +Force to the vehicle over a period of time + +- Units: ms + +## SIM_FLOW_RND: Opflow noise + +Optical Flow sensor measurement noise + +- Units: rad/s + +## SIM_TWIST_X: Twist x + +Rotational acceleration of twist x axis + +- Units: rad/s/s + +## SIM_TWIST_Y: Twist y + +Rotational acceleration of twist y axis + +- Units: rad/s/s + +## SIM_TWIST_Z: Twist z + +Rotational acceleration of twist z axis + +- Units: rad/s/s + +## SIM_TWIST_TIME: Twist time + +Time that twist is applied on the vehicle + +- Units: ms + +## SIM_GND_BEHAV: Ground behavior + +Ground behavior of aircraft (tailsitter, no movement, forward only) + +## SIM_WAVE_ENABLE: Wave enable + +Wave enable and modes + +|Value|Meaning| +|:---:|:---:| +|0|disabled| +|1|roll and pitch| +|2|roll and pitch and heave| + +## SIM_WAVE_LENGTH: Wave length + +Wave length in SITL + +- Units: m + +## SIM_WAVE_AMP: Wave amplitude + +Wave amplitude in SITL + +- Units: m + +## SIM_WAVE_DIR: Wave direction + +Direction wave is coming from + +- Units: deg + +## SIM_WAVE_SPEED: Wave speed + +Wave speed in SITL + +- Units: m/s + +## SIM_TIDE_DIR: Tide direction + +Tide direction wave is coming from + +- Units: deg + +## SIM_TIDE_SPEED: Tide speed + +Tide speed in simulation + +- Units: m/s + +## SIM_OPOS_LAT: Original Position (Latitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup latitude + +## SIM_OPOS_LNG: Original Position (Longitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup longitude + +## SIM_OPOS_ALT: Original Position (Altitude) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup altitude (AMSL) + +## SIM_OPOS_HDG: Original Position (Heading) + +*Note: This parameter is for advanced users* + +Specifies vehicle's startup heading (0-360) + +## SIM_LOOP_DELAY: Extra delay per main loop + +Extra time delay per main loop + +- Units: us + +## SIM_EFI_TYPE: Type of Electronic Fuel Injection + +Different types of Electronic Fuel Injection (EFI) systems + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MegaSquirt EFI system| +|2|Löweheiser EFI system| +|8|Hirth engines| + +## SIM_VIB_MOT_HMNC: Motor harmonics + +Motor harmonics generated in SITL + +## SIM_VIB_MOT_MASK: Motor mask + +Motor mask, allowing external simulators to mark motors + +## SIM_VIB_MOT_MAX: Max motor vibration frequency + +Max frequency to use as baseline for adding motor noise for the gyros and accels + +- Units: Hz + +## SIM_INS_THR_MIN: Minimum throttle INS noise + +Minimum throttle for simulated ins noise + +## SIM_VIB_MOT_MULT: Vibration motor scale + +Amplitude scaling of motor noise relative to gyro/accel noise + +## SIM_ODOM_ENABLE: Odometry enable + +SITL odometry enabl + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_LED_LAYOUT: LED layout + +LED layout config value + +## SIM_THML_SCENARI: Thermal scenarios + +Scenario for thermalling simulation, for soaring + +## SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction + +*Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction + +SITL vicon position on vehicle in Down direction + +- Units: m + +- Range: 0 10 + +## SIM_VICON_GLIT_X: SITL vicon position glitch North + +*Note: This parameter is for advanced users* + +SITL vicon position glitch North + +- Units: m + +## SIM_VICON_GLIT_Y: SITL vicon position glitch East + +*Note: This parameter is for advanced users* + +SITL vicon position glitch East + +- Units: m + +## SIM_VICON_GLIT_Z: SITL vicon position glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon position glitch Down + +- Units: m + +## SIM_VICON_FAIL: SITL vicon failure + +*Note: This parameter is for advanced users* + +SITL vicon failure + +|Value|Meaning| +|:---:|:---:| +|0|Vicon Healthy| +|1|Vicon Failed| + +## SIM_VICON_YAW: SITL vicon yaw angle in earth frame + +*Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + +- Units: deg + +- Range: 0 360 + +## SIM_VICON_YAWERR: SITL vicon yaw error + +*Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + +- Units: deg + +- Range: -180 180 + +## SIM_VICON_TMASK: SITL vicon type mask + +*Note: This parameter is for advanced users* + +SITL vicon messages sent + +- Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY + +## SIM_VICON_VGLI_X: SITL vicon velocity glitch North + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + +- Units: m/s + +## SIM_VICON_VGLI_Y: SITL vicon velocity glitch East + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + +- Units: m/s + +## SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down + +*Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + +- Units: m/s + +## SIM_RATE_HZ: Loop rate + +SITL Loop rate + +- Units: Hz + +## SIM_IMU_COUNT: IMU count + +Number of simulated IMUs to create + +## SIM_BARO_COUNT: Baro count + +Number of simulated baros to create in SITL + +- Range: 0 3 + +## SIM_TIME_JITTER: Loop time jitter + +*Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + +- Units: us + +## SIM_ESC_TELEM: Simulated ESC Telemetry + +*Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + +## SIM_ESC_ARM_RPM: ESC RPM when armed + +*Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + +## SIM_UART_LOSS: UART byte loss percentage + +*Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + +- Units: % + +## SIM_ADSB_TYPES: Simulated ADSB Type mask + +*Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + +- Bitmask: 0:MAVLink,3:SageTechMXS + +## SIM_OSD_COLUMNS: Simulated OSD number of text columns + +Simulated OSD number of text columns + +- Range: 10 100 + +## SIM_OSD_ROWS: Simulated OSD number of text rows + +Simulated OSD number of text rows + +- Range: 10 100 + +## SIM_GPS_DISABLE: GPS 1 disable + +*Note: This parameter is for advanced users* + +Disables GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS_LAG_MS: GPS 1 Lag + +*Note: This parameter is for advanced users* + +GPS 1 lag + +- Units: ms + +## SIM_GPS_TYPE: GPS 1 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS_BYTELOSS: GPS Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + +- Units: % + +## SIM_GPS_NUMSATS: GPS 1 Num Satellites + +Number of satellites GPS 1 has in view + +## SIM_GPS_GLITCH_X: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (X-axis) + +## SIM_GPS_GLITCH_Y: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Y-axis) + +## SIM_GPS_GLITCH_Z: GPS 1 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor (Z-axis) + +## SIM_GPS_HZ: GPS 1 Hz + +GPS 1 Update rate + +- Units: Hz + +## SIM_GPS_DRIFTALT: GPS 1 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 1 altitude drift error + +- Units: m + +## SIM_GPS_POS_X: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS_POS_Y: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS_POS_Z: GPS 1 Position + +GPS 1 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS_NOISE: GPS 1 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + +- Units: m + +## SIM_GPS_LOCKTIME: GPS 1 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + +- Units: s + +## SIM_GPS_ALT_OFS: GPS 1 Altitude Offset + +GPS 1 Altitude Error + +- Units: m + +## SIM_GPS_HDG: GPS 1 Heading + +*Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS_ACC: GPS 1 Accuracy + +*Note: This parameter is for advanced users* + +GPS 1 Accuracy + +## SIM_GPS_VERR_X: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS_VERR_Y: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS_VERR_Z: GPS 1 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED (Z-axis) + +## SIM_GPS_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_DISABLE: GPS 2 disable + +*Note: This parameter is for advanced users* + +Disables GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|Enable| +|1|GPS Disabled| + +## SIM_GPS2_LAG_MS: GPS 2 Lag + +*Note: This parameter is for advanced users* + +GPS 2 lag in ms + +- Units: ms + +## SIM_GPS2_TYPE: GPS 2 type + +*Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|UBlox| +|5|NMEA| +|6|SBP| +|7|File| +|8|Nova| +|9|SBP2| +|11|Trimble| +|19|MSP| + +## SIM_GPS2_BYTELOS: GPS 2 Byteloss + +*Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + +- Units: % + +## SIM_GPS2_NUMSATS: GPS 2 Num Satellites + +Number of satellites GPS 2 has in view + +## SIM_GPS2_GLTCH_X: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (X-axis) + +## SIM_GPS2_GLTCH_Y: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Y-axis) + +## SIM_GPS2_GLTCH_Z: GPS 2 Glitch + +*Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor (Z-axis) + +## SIM_GPS2_HZ: GPS 2 Hz + +GPS 2 Update rate + +- Units: Hz + +## SIM_GPS2_DRFTALT: GPS 2 Altitude Drift + +*Note: This parameter is for advanced users* + +GPS 2 altitude drift error + +- Units: m + +## SIM_GPS2_POS_X: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (X-axis) + +- Units: m + +## SIM_GPS2_POS_Y: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Y-axis) + +- Units: m + +## SIM_GPS2_POS_Z: GPS 2 Position + +GPS 2 antenna phase center position relative to the body frame origin (Z-axis) + +- Units: m + +## SIM_GPS2_NOISE: GPS 2 Noise + +*Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + +- Units: m + +## SIM_GPS2_LCKTIME: GPS 2 Lock Time + +*Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + +- Units: s + +## SIM_GPS2_ALT_OFS: GPS 2 Altitude Offset + +GPS 2 Altitude Error + +- Units: m + +## SIM_GPS2_HDG: GPS 2 Heading + +*Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GPS2_ACC: GPS 2 Accuracy + +*Note: This parameter is for advanced users* + +GPS 2 Accuracy + +## SIM_GPS2_VERR_X: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (X-axis) + +## SIM_GPS2_VERR_Y: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Y-axis) + +## SIM_GPS2_VERR_Z: GPS 2 Velocity Error + +*Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED (Z-axis) + +## SIM_INIT_LAT_OFS: Initial Latitude Offset + +GPS initial lat offset from origin + +## SIM_INIT_LON_OFS: Initial Longitude Offset + +GPS initial lon offset from origin + +## SIM_INIT_ALT_OFS: Initial Altitude Offset + +GPS initial alt offset from origin + +## SIM_GPS_LOG_NUM: GPS Log Number + +Log number for GPS:update_file() + +## SIM_GPS2_JAM: GPS jamming enable + +*Note: This parameter is for advanced users* + +Enable simulated GPS jamming + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_MAG_RND: Mag motor noise factor + +*Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + +## SIM_MAG_DELAY: Mag measurement delay + +*Note: This parameter is for advanced users* + +Magnetometer measurement delay + +- Units: ms + +## SIM_MAG_ALY_HGT: Magnetic anomaly height + +*Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1/8 of the ground level value + +- Units: m + +## SIM_MAG1_ORIENT: MAG1 Orientation + +*Note: This parameter is for advanced users* + +MAG1 external compass orientation + +## SIM_MAG1_SCALING: MAG1 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + +## SIM_MAG1_DEVID: MAG1 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + +## SIM_MAG2_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + +## SIM_MAG3_DEVID: MAG3 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + +## SIM_MAG4_DEVID: MAG2 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + +## SIM_MAG5_DEVID: MAG5 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + +## SIM_MAG6_DEVID: MAG6 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + +## SIM_MAG7_DEVID: MAG7 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + +## SIM_MAG8_DEVID: MAG8 Device ID + +*Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + +## SIM_MAG1_FAIL: MAG1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG1 Failure| + +## SIM_MAG2_ORIENT: MAG2 Orientation + +*Note: This parameter is for advanced users* + +MAG2 external compass orientation + +## SIM_MAG2_FAIL: MAG2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG2 Failure| + +## SIM_MAG2_SCALING: MAG2 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + +## SIM_MAG3_FAIL: MAG3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of MAG3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|MAG3 Failure| + +## SIM_MAG3_SCALING: MAG3 Scaling factor + +*Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + +## SIM_MAG3_ORIENT: MAG3 Orientation + +*Note: This parameter is for advanced users* + +MAG3 external compass orientation + +## SIM_MAG_SAVE_IDS: Save MAG devids on startup + +*Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_IMUT_START: IMU temperature start + +Starting IMU temperature of a curve + +## SIM_IMUT_END: IMU temperature end + +Ending IMU temperature of a curve + +## SIM_IMUT_TCONST: IMU temperature time constant + +IMU temperature time constant of the curve + +## SIM_IMUT_FIXED: IMU fixed temperature + +IMU fixed temperature by user + +## SIM_ACC1_BIAS_X: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC1_BIAS_Y: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC1_BIAS_Z: Accel 1 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC2_BIAS_X: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC2_BIAS_Y: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC2_BIAS_Z: Accel 2 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_ACC3_BIAS_X: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC3_BIAS_Y: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC3_BIAS_Z: Accel 3 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR1_RND: Gyro 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR2_RND: Gyro 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR3_RND: Gyro 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC1_RND: Accel 1 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC2_RND: Accel 2 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC3_RND: Accel 3 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR1_SCALE_X: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR1_SCALE_Y: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR1_SCALE_Z: Gyro 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR2_SCALE_X: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR2_SCALE_Y: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR2_SCALE_Z: Gyro 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_GYR3_SCALE_X: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR3_SCALE_Y: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR3_SCALE_Z: Gyro 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACCEL1_FAIL: ACCEL1 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL1 Failure| + +## SIM_ACCEL2_FAIL: ACCEL2 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL2 Failure| + +## SIM_ACCEL3_FAIL: ACCEL3 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL3 Failure| + +## SIM_GYR_FAIL_MSK: Gyro Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC_FAIL_MSK: Accelerometer Failure Mask + +*Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Readings stopped| + +## SIM_ACC1_SCAL_X: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC1_SCAL_Y: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC1_SCAL_Z: Accel 1 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC2_SCAL_X: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC2_SCAL_Y: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC2_SCAL_Z: Accel 2 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACC3_SCAL_X: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC3_SCAL_Y: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC3_SCAL_Z: Accel 3 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_SAIL_TYPE: Sailboat simulation sail type + +0: mainsail with sheet, 1: directly actuated wing + +## SIM_JSON_MASTER: JSON master instance + +the instance number to take servos from + +## SIM_OH_MASK: SIM-on_hardware Output Enable Mask + +channels which are passed through to actual hardware when running sim on actual hardware + +## SIM_GYR_FILE_RW: Gyro data to/from files + +Read and write gyro data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_ACC_FILE_RW: Accelerometer data to/from files + +Read and write accelerometer data to/from files + +|Value|Meaning| +|:---:|:---:| +|0|Stop writing data| +|1|Read data from file| +|2|Write data to a file| +|3|Read data from file and stop on EOF| + +## SIM_GYR1_BIAS_X: First Gyro bias on X axis + +*Note: This parameter is for advanced users* + +First Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Y: First Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR1_BIAS_Z: First Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +First Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR2_BIAS_X: Second Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + +- Units: rad/s + +## SIM_GYR3_BIAS_X: Third Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC4_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC4_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC4_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL4_FAIL: ACCEL4 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL4 Failure| + +## SIM_GYR4_SCALE_X: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR4_SCALE_Y: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR4_SCALE_Z: Gyro 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC4_RND: Accel 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR4_RND: Gyro 4 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC4_BIAS_X: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC4_BIAS_Y: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC4_BIAS_Z: Accel 4 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + +- Units: rad/s + +## SIM_ACC5_SCAL_X: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (X-axis) + +## SIM_ACC5_SCAL_Y: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Y-axis) + +## SIM_ACC5_SCAL_Z: Accel 4 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer (Z-axis) + +## SIM_ACCEL5_FAIL: ACCEL5 Failure + +*Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|ACCEL5 Failure| + +## SIM_GYR5_SCALE_X: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (X-axis) + +## SIM_GYR5_SCALE_Y: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Y-axis) + +## SIM_GYR5_SCALE_Z: Gyro 5 scaling factor + +*Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope (Z-axis) + +## SIM_ACC5_RND: Accel 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_GYR5_RND: Gyro 5 motor noise factor + +*Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + +## SIM_ACC5_BIAS_X: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (X-axis) + +## SIM_ACC5_BIAS_Y: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Y-axis) + +## SIM_ACC5_BIAS_Z: Accel 5 bias + +*Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor (Z-axis) + +## SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + +- Units: rad/s + +## SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis + +*Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + +- Units: rad/s + +## SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask + +Allow relay output operation when running SIM-on-hardware + +## SIM_CLAMP_CH: Simulated Clamp Channel + +If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + +# SIMARSPD2 Parameters + +## SIM_ARSPD2_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD2_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD2_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMARSPD Parameters + +## SIM_ARSPD_FAIL: Airspeed sensor failure + +*Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_FAILP: Airspeed sensor failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + +- Units: Pa + +## SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + +- Units: Pa + +## SIM_ARSPD_SIGN: Airspeed signflip + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot/static connections + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_ARSPD_RATIO: Airspeed ratios + +*Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + +# SIMBAR2 Parameters + +## SIM_BAR2_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR2_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR2_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR2_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR2_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR2_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR2_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR2_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR2_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR2_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR2_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR2_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBAR3 Parameters + +## SIM_BAR3_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BAR3_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BAR3_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BAR3_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BAR3_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BAR3_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BAR3_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BAR3_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BAR3_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BAR3_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BAR3_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BAR3_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMBARO Parameters + +## SIM_BARO_RND: Barometer noise + +*Note: This parameter is for advanced users* + +Barometer noise in height + +- Units: m + +## SIM_BARO_DRIFT: Barometer altitude drift + +*Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + +- Units: m/s + +## SIM_BARO_DISABLE: Barometer disable + +*Note: This parameter is for advanced users* + +Disable barometer in SITL + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## SIM_BARO_GLITCH: Barometer glitch + +*Note: This parameter is for advanced users* + +Barometer glitch height in SITL + +- Units: m + +## SIM_BARO_FREEZE: Barometer freeze + +*Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + +## SIM_BARO_DELAY: Barometer delay + +*Note: This parameter is for advanced users* + +Barometer data time delay + +- Units: ms + +## SIM_BARO_WCF_FWD: Wind coefficient forward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + +## SIM_BARO_WCF_BAK: Wind coefficient backward + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + +## SIM_BARO_WCF_RGT: Wind coefficient right + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + +## SIM_BARO_WCF_LFT: Wind coefficient left + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + +## SIM_BARO_WCF_UP: Wind coefficient up + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + +## SIM_BARO_WCF_DN: Wind coefficient down + +*Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + +# SIMGLD Parameters + +## SIM_GLD_BLN_BRST: balloon burst height + +balloon burst height + +- Units: m + +## SIM_GLD_BLN_RATE: balloon climb rate + +balloon climb rate + +- Units: m/s + +# SIMGRPE Parameters + +## SIM_GRPE_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPE_PIN: Gripper emp pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to. (start at 1) + +- Range: 0 15 + +# SIMGRPS Parameters + +## SIM_GRPS_ENABLE: Gripper servo Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the gripper servo simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_GRPS_PIN: Gripper servo pin + +*Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to. (start at 1) + +- Range: 0 15 + +## SIM_GRPS_GRAB: Gripper Grab PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_RELEASE: Gripper Release PWM + +*Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + +- Range: 1000 2000 + +- Units: PWM + +## SIM_GRPS_REVERSE: Gripper close direction + +*Note: This parameter is for advanced users* + +Reverse the closing direction. + +|Value|Meaning| +|:---:|:---:| +|0|Normal| +|1|Reverse| + +# SIMPLD Parameters + +## SIM_PLD_ENABLE: Preland device Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Preland simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_PLD_LAT: Precland device center's latitude + +*Note: This parameter is for advanced users* + +Precland device center's latitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -90 90 + +## SIM_PLD_LON: Precland device center's longitude + +*Note: This parameter is for advanced users* + +Precland device center's longitude + +- Units: deg + +- Increment: 0.000001 + +- Range: -180 180 + +## SIM_PLD_HEIGHT: Precland device center's height SITL origin + +*Note: This parameter is for advanced users* + +Precland device center's height above SITL origin. Assumes a 2x2m square as station base + +- Units: m + +- Increment: 1 + +- Range: 0 10000 + +## SIM_PLD_YAW: Precland device systems rotation from north + +*Note: This parameter is for advanced users* + +Precland device systems rotation from north + +- Units: deg + +- Increment: 1 + +- Range: -180 +180 + +## SIM_PLD_RATE: Precland device update rate + +*Note: This parameter is for advanced users* + +Precland device rate. e.g led patter refresh rate, RF message rate, etc. + +- Units: Hz + +- Range: 0 200 + +## SIM_PLD_TYPE: Precland device radiance type + +*Note: This parameter is for advanced users* + +Precland device radiance type: it can be a cylinder, a cone, or a sphere. + +|Value|Meaning| +|:---:|:---:| +|0|cylinder| +|1|cone| +|2|sphere| + +## SIM_PLD_ALT_LIMIT: Precland device alt range + +*Note: This parameter is for advanced users* + +Precland device maximum range altitude + +- Units: m + +- Range: 0 100 + +## SIM_PLD_DIST_LIMIT: Precland device lateral range + +*Note: This parameter is for advanced users* + +Precland device maximum lateral range + +- Units: m + +- Range: 5 100 + +## SIM_PLD_ORIENT: Precland device orientation + +*Note: This parameter is for advanced users* + +Precland device orientation vector + +|Value|Meaning| +|:---:|:---:| +|0|Front| +|4|Back| +|24|Up| + +## SIM_PLD_OPTIONS: SIM_Precland extra options + +*Note: This parameter is for advanced users* + +SIM_Precland extra options + +- Bitmask: 0: Enable target distance + +## SIM_PLD_SHIP: SIM_Precland follow ship + +*Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +# SIMRFL Parameters + +## SIM_RFL_OPTS: FlightAxis options + +*Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + +- Bitmask: 0: Reset position on startup, 1: Swap first 4 and last 4 servos (for quadplane testing), 2: Demix heli servos and send roll/pitch/collective/yaw, 3: Don't print frame rate stats + +# SIMSB Parameters + +## SIM_SB_MASS: mass + +mass of blimp not including lifting gas + +- Units: kg + +## SIM_SB_HMASS: helium mass + +mass of lifting gas + +- Units: kg + +## SIM_SB_ARM_LEN: arm length + +distance from center of mass to one motor + +- Units: m + +## SIM_SB_MOT_THST: motor thrust + +thrust at max throttle for one motor + +- Units: N + +## SIM_SB_DRAG_FWD: drag in forward direction + +drag on X axis + +## SIM_SB_DRAG_SIDE: drag in sidewards direction + +drag on Y axis + +## SIM_SB_DRAG_UP: drag in upward direction + +drag on Z axis + +## SIM_SB_MOI_YAW: moment of inertia in yaw + +moment of inertia in yaw + +## SIM_SB_MOI_ROLL: moment of inertia in roll + +moment of inertia in roll + +## SIM_SB_MOI_PITCH: moment of inertia in pitch + +moment of inertia in pitch + +## SIM_SB_ALT_TARG: altitude target + +altitude target + +- Units: m + +## SIM_SB_CLMB_RT: target climb rate + +target climb rate + +- Units: m/s + +## SIM_SB_YAW_RT: yaw rate + +maximum yaw rate with full left throttle at target altitude + +- Units: deg/s + +## SIM_SB_MOT_ANG: motor angle + +maximum motor tilt angle + +- Units: deg + +## SIM_SB_COL: center of lift + +center of lift position above CoG + +- Units: m + +## SIM_SB_WVANE: weathervaning offset + +center of drag for weathervaning + +- Units: m + +## SIM_SB_FLR: free lift rate + +amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift + +# SIMSERVO Parameters + +## SIM_SERVO_SPEED: servo speed + +servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit + +- Units: s + +## SIM_SERVO_DELAY: servo delay + +servo delay + +- Units: s + +## SIM_SERVO_FILTER: servo filter + +servo filter + +- Units: Hz + +# SIMSLUP Parameters + +## SIM_SLUP_ENABLE: Slung Payload Sim enable/disable + +*Note: This parameter is for advanced users* + +Slung Payload Sim enable/disable + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SLUP_WEIGHT: Slung Payload weight + +*Note: This parameter is for advanced users* + +Slung Payload weight in kg + +- Units: kg + +- Range: 0 15 + +## SIM_SLUP_LINELEN: Slung Payload line length + +*Note: This parameter is for advanced users* + +Slung Payload line length in meters + +- Units: m + +- Range: 0 100 + +## SIM_SLUP_DRAG: Slung Payload drag coefficient + +*Note: This parameter is for advanced users* + +Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly + +- Units: m + +- Range: 0 10 + +## SIM_SLUP_SYSID: Slung Payload MAVLink system ID + +*Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + +- Range: 0 255 + +# SIMSPR Parameters + +## SIM_SPR_ENABLE: Sprayer Sim enable/disable + +*Note: This parameter is for advanced users* + +Allows you to enable (1) or disable (0) the Sprayer simulation + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SIM_SPR_PUMP: Sprayer pump pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to. (start at 1) + +- Range: 0 15 + +## SIM_SPR_SPIN: Sprayer spinner servo pin + +*Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to. (start at 1) + +- Range: 0 15 + +# SPRAY Parameters + +## SPRAY_ENABLE: Sprayer enable/disable + +Allows you to enable (1) or disable (0) the sprayer + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## SPRAY_PUMP_RATE: Pump speed + +Desired pump speed when travelling 1m/s expressed as a percentage + +- Units: % + +- Range: 0 100 + +## SPRAY_SPINNER: Spinner rotation speed + +Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally) + +- Units: ms + +- Range: 1000 2000 + +## SPRAY_SPEED_MIN: Speed minimum + +Speed minimum at which we will begin spraying + +- Units: cm/s + +- Range: 0 1000 + +## SPRAY_PUMP_MIN: Pump speed minimum + +Minimum pump speed expressed as a percentage + +- Units: % + +- Range: 0 100 + +# SRn Parameters + +## SRn_RAW_SENS: Raw sensor stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXT_STAT: Extended status stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RC_CHAN: RC Channel stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_RAW_CTRL: Raw Control stream rate + +*Note: This parameter is for advanced users* + +MAVLink Raw Control stream rate of SERVO_OUT + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_POSITION: Position stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA1: Extra data type 1 stream rate to ground station + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA2: Extra data type 2 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of VFR_HUD + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_EXTRA3: Extra data type 3 stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_PARAMS: Parameter stream rate + +*Note: This parameter is for advanced users* + +MAVLink Stream rate of PARAM_VALUE + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +## SRn_ADSB: ADSB stream rate + +*Note: This parameter is for advanced users* + +MAVLink ADSB (AIS) stream rate + +- Units: Hz + +- Range: 0 50 + +- Increment: 1 + +- RebootRequired: True + +# SRTL Parameters + +## SRTL_ACCURACY: SmartRTL accuracy + +*Note: This parameter is for advanced users* + +SmartRTL accuracy. The minimum distance between points. + +- Units: m + +- Range: 0 10 + +## SRTL_POINTS: SmartRTL maximum number of points on path + +*Note: This parameter is for advanced users* + +SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory. + +- Range: 0 500 + +- RebootRequired: True + +## SRTL_OPTIONS: SmartRTL options + +Bitmask of SmartRTL options. + +- Bitmask: 2:Ignore pilot yaw + +# STAT Parameters + +## STAT_BOOTCNT: Boot Count + +Number of times board has been booted + +- ReadOnly: True + +## STAT_FLTTIME: Total FlightTime + +Total FlightTime (seconds) + +- Units: s + +- ReadOnly: True + +## STAT_RUNTIME: Total RunTime + +Total time autopilot has run + +- Units: s + +- ReadOnly: True + +## STAT_RESET: Statistics Reset Time + +Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored) + +- Units: s + +- ReadOnly: True + +# TEMP Parameters + +## TEMP_LOG: Logging + +Enables temperature sensor logging + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Log all instances| +|2|Log only instances with sensor source set to None| + +# TEMP1 Parameters + +## TEMP1_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP1_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP1_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP1_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP1_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP1_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP1_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP1_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP2 Parameters + +## TEMP2_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP2_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP2_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP2_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP2_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP2_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP2_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP2_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP3 Parameters + +## TEMP3_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP3_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP3_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP3_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP3_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP3_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP3_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP3_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP4 Parameters + +## TEMP4_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP4_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP4_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP4_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP4_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP4_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP4_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP4_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP5 Parameters + +## TEMP5_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP5_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP5_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP5_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP5_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP5_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP5_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP5_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP6 Parameters + +## TEMP6_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP6_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP6_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP6_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP6_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP6_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP6_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP6_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP7 Parameters + +## TEMP7_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP7_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP7_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP7_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP7_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP7_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP7_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP7_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP8 Parameters + +## TEMP8_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP8_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP8_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP8_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP8_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP8_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP8_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP8_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TEMP9 Parameters + +## TEMP9_TYPE: Temperature Sensor Type + +Enables temperature sensors + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|TSYS01| +|2|MCP9600| +|3|MAX31865| +|4|TSYS03| +|5|Analog| +|6|DroneCAN| +|7|MLX90614| + +- RebootRequired: True + +## TEMP9_BUS: Temperature sensor bus + +*Note: This parameter is for advanced users* + +Temperature sensor bus number, typically used to select from multiple I2C buses + +- Range: 0 3 + +- RebootRequired: True + +## TEMP9_ADDR: Temperature sensor address + +*Note: This parameter is for advanced users* + +Temperature sensor address, typically used for I2C address + +- Range: 0 127 + +- RebootRequired: True + +## TEMP9_SRC: Sensor Source + +Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly. + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|ESC| +|2|Motor| +|3|Battery Index| +|4|Battery ID/SerialNumber| +|5|CAN based Pitot tube| +|6|DroneCAN-out on AP_Periph| + +## TEMP9_SRC_ID: Sensor Source Identification + +Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42. + +## TEMP9_PIN: Temperature sensor analog voltage sensing pin + +Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins". + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|2|Pixhawk/Pixracer/Navio2/Pixhawk2_PM1| +|5|Navigator| +|13|Pixhawk2_PM2/CubeOrange_PM2| +|14|CubeOrange| +|16|Durandal| +|100|PX4-v1| + +## TEMP9_A0: Temperature sensor analog 0th polynomial coefficient + +a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A1: Temperature sensor analog 1st polynomial coefficient + +a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient + +a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient + +a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A4: Temperature sensor analog 4th polynomial coefficient + +a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +## TEMP9_A5: Temperature sensor analog 5th polynomial coefficient + +a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5 + +# TRQ1 Parameters + +## TRQ1_TYPE: Torqeedo connection type + +Torqeedo connection type + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Tiller| +|2|Motor| + +- RebootRequired: True + +## TRQ1_ONOFF_PIN: Torqeedo ON/Off pin + +Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## TRQ1_DE_PIN: Torqeedo DE pin + +Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## TRQ1_OPTIONS: Torqeedo Options + +*Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + +- Bitmask: 0:Log,1:Send debug to GCS + +## TRQ1_POWER: Torqeedo Motor Power + +*Note: This parameter is for advanced users* + +Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2) + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## TRQ1_SLEW_TIME: Torqeedo Throttle Slew Time + +*Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit + +- Units: s + +- Range: 0 5 + +- Increment: 0.1 + +## TRQ1_DIR_DELAY: Torqeedo Direction Change Delay + +*Note: This parameter is for advanced users* + +Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + +- Units: s + +- Range: 0 5 + +- Increment: 0.1 + +## TRQ1_SERVO_FN: Torqeedo Servo Output Function + +*Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + +|Value|Meaning| +|:---:|:---:| +|70|Throttle| +|73|ThrottleLeft| +|74|ThrottleRight| + +- Increment: 0.1 + +# TRQ2 Parameters + +## TRQ2_TYPE: Torqeedo connection type + +Torqeedo connection type + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Tiller| +|2|Motor| + +- RebootRequired: True + +## TRQ2_ONOFF_PIN: Torqeedo ON/Off pin + +Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## TRQ2_DE_PIN: Torqeedo DE pin + +Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +- RebootRequired: True + +## TRQ2_OPTIONS: Torqeedo Options + +*Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + +- Bitmask: 0:Log,1:Send debug to GCS + +## TRQ2_POWER: Torqeedo Motor Power + +*Note: This parameter is for advanced users* + +Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2) + +- Units: % + +- Range: 0 100 + +- Increment: 1 + +## TRQ2_SLEW_TIME: Torqeedo Throttle Slew Time + +*Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit + +- Units: s + +- Range: 0 5 + +- Increment: 0.1 + +## TRQ2_DIR_DELAY: Torqeedo Direction Change Delay + +*Note: This parameter is for advanced users* + +Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + +- Units: s + +- Range: 0 5 + +- Increment: 0.1 + +## TRQ2_SERVO_FN: Torqeedo Servo Output Function + +*Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + +|Value|Meaning| +|:---:|:---:| +|70|Throttle| +|73|ThrottleLeft| +|74|ThrottleRight| + +- Increment: 0.1 + +# VISO Parameters + +## VISO_TYPE: Visual odometry camera connection type + +*Note: This parameter is for advanced users* + +Visual odometry camera connection type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|MAVLink| +|2|IntelT265| +|3|VOXL(ModalAI)| + +- RebootRequired: True + +## VISO_POS_X: Visual odometry camera X position offset + +*Note: This parameter is for advanced users* + +X position of the camera in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Y: Visual odometry camera Y position offset + +*Note: This parameter is for advanced users* + +Y position of the camera in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_POS_Z: Visual odometry camera Z position offset + +*Note: This parameter is for advanced users* + +Z position of the camera in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## VISO_ORIENT: Visual odometery camera orientation + +*Note: This parameter is for advanced users* + +Visual odometery camera orientation + +|Value|Meaning| +|:---:|:---:| +|0|Forward| +|2|Right| +|4|Back| +|6|Left| +|24|Up| +|25|Down| + +## VISO_SCALE: Visual odometry scaling factor + +*Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + +## VISO_DELAY_MS: Visual odometry sensor delay + +*Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + +- Units: ms + +- Range: 0 250 + +## VISO_VEL_M_NSE: Visual odometry velocity measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m/s + +- Units: m/s + +- Range: 0.05 5.0 + +## VISO_POS_M_NSE: Visual odometry position measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: m + +- Range: 0.1 10.0 + +## VISO_YAW_M_NSE: Visual odometry yaw measurement noise + +*Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value) + +- Units: rad + +- Range: 0.05 1.0 + +## VISO_QUAL_MIN: Visual odometry minimum quality + +*Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown + +- Units: % + +- Range: -1 100 + +# VTX Parameters + +## VTX_ENABLE: Is the Video Transmitter enabled or not + +Toggles the Video Transmitter on and off + +|Value|Meaning| +|:---:|:---:| +|0|Disable| +|1|Enable| + +## VTX_POWER: Video Transmitter Power Level + +Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level + +- Range: 1 1000 + +## VTX_CHANNEL: Video Transmitter Channel + +Video Transmitter Channel + +- Range: 0 7 + +## VTX_BAND: Video Transmitter Band + +Video Transmitter Band + +|Value|Meaning| +|:---:|:---:| +|0|Band A| +|1|Band B| +|2|Band E| +|3|Airwave| +|4|RaceBand| +|5|Low RaceBand| +|6|1G3 Band A| +|7|1G3 Band B| +|8|Band X| +|9|3G3 Band A| +|10|3G3 Band B| + +## VTX_FREQ: Video Transmitter Frequency + +Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL + +- ReadOnly: True + +- Range: 1000 6000 + +## VTX_OPTIONS: Video Transmitter Options + +*Note: This parameter is for advanced users* + +Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour. + +- Bitmask: 0:Pitmode,1:Pitmode until armed,2:Pitmode when disarmed,3:Unlocked,4:Add leading zero byte to requests,5:Use 1 stop-bit in SmartAudio,6:Ignore CRC in SmartAudio,7:Ignore status updates in CRSF and blindly set VTX options + +## VTX_MAX_POWER: Video Transmitter Max Power Level + +Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting. + +- Range: 25 1000 + +# WENC Parameters + +## WENC_TYPE: WheelEncoder type + +What type of WheelEncoder is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Quadrature| +|10|SITL Quadrature| + +## WENC_CPR: WheelEncoder counts per revolution + +WheelEncoder counts per full revolution of the wheel + +- Increment: 1 + +## WENC_RADIUS: Wheel radius + +Wheel radius + +- Units: m + +- Increment: 0.001 + +## WENC_POS_X: Wheel's X position offset + +X position of the center of the wheel in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC_POS_Y: Wheel's Y position offset + +Y position of the center of the wheel in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC_POS_Z: Wheel's Z position offset + +Z position of the center of the wheel in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC_PINA: Input Pin A + +Input Pin A + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## WENC_PINB: Input Pin B + +Input Pin B + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## WENC2_TYPE: Second WheelEncoder type + +What type of WheelEncoder sensor is connected + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Quadrature| +|10|SITL Quadrature| + +## WENC2_CPR: WheelEncoder 2 counts per revolution + +WheelEncoder 2 counts per full revolution of the wheel + +- Increment: 1 + +## WENC2_RADIUS: Wheel2's radius + +Wheel2's radius + +- Units: m + +- Increment: 0.001 + +## WENC2_POS_X: Wheel2's X position offset + +X position of the center of the second wheel in body frame. Positive X is forward of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC2_POS_Y: Wheel2's Y position offset + +Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC2_POS_Z: Wheel2's Z position offset + +Z position of the center of the second wheel in body frame. Positive Z is down from the origin. + +- Units: m + +- Range: -5 5 + +- Increment: 0.01 + +## WENC2_PINA: Second Encoder Input Pin A + +Second Encoder Input Pin A + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +## WENC2_PINB: Second Encoder Input Pin B + +Second Encoder Input Pin B + +|Value|Meaning| +|:---:|:---:| +|-1|Disabled| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| + +# WNDVN Parameters + +## WNDVN_TYPE: Wind Vane Type + +Wind Vane type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Heading when armed| +|2|RC input offset heading when armed| +|3|Analog| +|4|NMEA| +|10|SITL true| +|11|SITL apparent| + +- RebootRequired: True + +## WNDVN_DIR_PIN: Wind vane analog voltage pin for direction + +Analog input pin to read as wind vane direction + +|Value|Meaning| +|:---:|:---:| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## WNDVN_DIR_V_MIN: Wind vane voltage minimum + +Minimum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## WNDVN_DIR_V_MAX: Wind vane voltage maximum + +Maximum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V. + +- Units: V + +- Increment: 0.01 + +- Range: 0 5.0 + +## WNDVN_DIR_OFS: Wind vane headwind offset + +Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle + +- Units: deg + +- Increment: 1 + +- Range: 0 360 + +## WNDVN_DIR_FILT: apparent Wind vane direction low pass filter frequency + +apparent Wind vane direction low pass filter frequency, a value of -1 disables filter + +- Units: Hz + +## WNDVN_CAL: Wind vane calibration start + +Start wind vane calibration by setting this to 1 or 2 + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Calibrate direction| +|2|Calibrate speed| + +## WNDVN_DIR_DZ: Wind vane deadzone when using analog sensor + +Wind vane deadzone when using analog sensor + +- Units: deg + +- Increment: 1 + +- Range: 0 360 + +## WNDVN_SPEED_MIN: Wind vane cut off wind speed + +Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work + +- Units: m/s + +- Increment: 0.1 + +- Range: 0 5 + +## WNDVN_SPEED_TYPE: Wind speed sensor Type + +Wind speed sensor type + +|Value|Meaning| +|:---:|:---:| +|0|None| +|1|Airspeed library| +|2|Modern Devices Wind Sensor| +|3|RPM library| +|4|NMEA| +|10|SITL true| +|11|SITL apparent| + +- RebootRequired: True + +## WNDVN_SPEED_PIN: Wind vane speed sensor analog pin + +Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p + +|Value|Meaning| +|:---:|:---:| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## WNDVN_TEMP_PIN: Wind vane speed sensor analog temp pin + +Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings + +|Value|Meaning| +|:---:|:---:| +|11|Pixracer| +|13|Pixhawk ADC4| +|14|Pixhawk ADC3| +|15|Pixhawk ADC6/Pixhawk2 ADC| +|50|AUX1| +|51|AUX2| +|52|AUX3| +|53|AUX4| +|54|AUX5| +|55|AUX6| +|103|Pixhawk SBUS| + +## WNDVN_SPEED_OFS: Wind speed sensor analog voltage offset + +Wind sensor analog voltage offset at zero wind speed + +- Units: V + +- Increment: 0.01 + +- Range: 0 3.3 + +## WNDVN_SPEED_FILT: apparent wind speed low pass filter frequency + +apparent Wind speed low pass filter frequency, a value of -1 disables filter + +- Units: Hz + +## WNDVN_TRUE_FILT: True speed and direction low pass filter frequency + +True speed and direction low pass filter frequency, a value of -1 disables filter + +- Units: Hz + +# WP Parameters + +## WP_SPEED: Waypoint speed default + +Waypoint speed default + +- Units: m/s + +- Range: 0 100 + +- Increment: 0.1 + +## WP_RADIUS: Waypoint radius + +The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint. + +- Units: m + +- Range: 0 100 + +- Increment: 0.1 + +## WP_ACCEL: Waypoint acceleration + +Waypoint acceleration. If zero then ATC_ACCEL_MAX is used + +- Units: m/s/s + +- Range: 0 100 + +- Increment: 0.1 + +## WP_JERK: Waypoint jerk + +Waypoint jerk (change in acceleration). If zero then jerk is same as acceleration + +- Units: m/s/s/s + +- Range: 0 100 + +- Increment: 0.1 + +# WPPIVOT Parameters + +## WP_PIVOT_ANGLE: Pivot Angle + +Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. This parameter should be greater than 5 degrees for pivot turns to work. + +- Units: deg + +- Range: 0 360 + +- Increment: 1 + +## WP_PIVOT_RATE: Pivot Turn Rate + +Turn rate during pivot turns + +- Units: deg/s + +- Range: 0 360 + +- Increment: 1 + +## WP_PIVOT_DELAY: Pivot Delay + +Vehicle waits this many seconds after completing a pivot turn before proceeding + +- Units: s + +- Range: 0 60 + +- Increment: 0.1 + +# WRC Parameters + +## WRC_ENABLE: Wheel rate control enable/disable + +Enable or disable wheel rate control + +|Value|Meaning| +|:---:|:---:| +|0|Disabled| +|1|Enabled| + +## WRC_RATE_MAX: Wheel max rotation rate + +Wheel max rotation rate + +- Units: rad/s + +- Range: 0 200 + +## WRC_RATE_FF: Wheel rate control feed forward gain + +Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1) + +- Range: 0.100 2.000 + +## WRC_RATE_P: Wheel rate control P gain + +Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1) + +- Range: 0.100 2.000 + +## WRC_RATE_I: Wheel rate control I gain + +Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual + +- Range: 0.000 2.000 + +## WRC_RATE_IMAX: Wheel rate control I gain maximum + +Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate + +- Range: 0.000 1.000 + +## WRC_RATE_D: Wheel rate control D gain + +Wheel rate control D gain. Compensates for short-term change in desired rate vs actual + +- Range: 0.000 0.400 + +## WRC_RATE_FILT: Wheel rate control filter frequency + +Wheel rate control input filter. Lower values reduce noise but add delay. + +- Range: 1.000 100.000 + +- Units: Hz + +## WRC_RATE_FLTT: Wheel rate control target frequency in Hz + +Wheel rate control target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC_RATE_FLTE: Wheel rate control error frequency in Hz + +Wheel rate control error frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC_RATE_FLTD: Wheel rate control derivative frequency in Hz + +Wheel rate control derivative frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC_RATE_SMAX: Wheel rate slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## WRC_RATE_PDMX: Wheel rate control PD sum maximum + +Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +## WRC_RATE_D_FF: Wheel rate Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the error + +- Range: 0.000 0.400 + +- Increment: 0.001 + +## WRC_RATE_NTF: Wheel rate Target notch filter index + +*Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + +- Range: 1 8 + +## WRC_RATE_NEF: Wheel rate Error notch filter index + +*Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + +- Range: 1 8 + +## WRC2_RATE_FF: Wheel rate control feed forward gain + +Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1) + +- Range: 0.100 2.000 + +## WRC2_RATE_P: Wheel rate control P gain + +Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1) + +- Range: 0.100 2.000 + +## WRC2_RATE_I: Wheel rate control I gain + +Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual + +- Range: 0.000 2.000 + +## WRC2_RATE_IMAX: Wheel rate control I gain maximum + +Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate + +- Range: 0.000 1.000 + +## WRC2_RATE_D: Wheel rate control D gain + +Wheel rate control D gain. Compensates for short-term change in desired rate vs actual + +- Range: 0.000 0.400 + +## WRC2_RATE_FILT: Wheel rate control filter frequency + +Wheel rate control input filter. Lower values reduce noise but add delay. + +- Range: 1.000 100.000 + +- Units: Hz + +## WRC2_RATE_FLTT: Wheel rate control target frequency in Hz + +Wheel rate control target frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC2_RATE_FLTE: Wheel rate control error frequency in Hz + +Wheel rate control error frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC2_RATE_FLTD: Wheel rate control derivative frequency in Hz + +Wheel rate control derivative frequency in Hz + +- Range: 1 50 + +- Increment: 1 + +- Units: Hz + +## WRC2_RATE_SMAX: Wheel rate slew rate limit + +*Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature. + +- Range: 0 200 + +- Increment: 0.5 + +## WRC2_RATE_PDMX: Wheel rate control PD sum maximum + +Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output + +- Range: 0.000 1.000 + +## WRC2_RATE_D_FF: Wheel rate Derivative FeedForward Gain + +*Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + +- Range: 0.000 0.400 + +- Increment: 0.001 + +## WRC2_RATE_NTF: Wheel rate Target notch filter index + +*Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + +- Range: 1 8 + +## WRC2_RATE_NEF: Wheel rate Error notch filter index + +*Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + +- Range: 1 8 \ No newline at end of file diff --git a/Rover-4.6/Parameters.rst b/Rover-4.6/Parameters.rst new file mode 100644 index 0000000..bee0051 --- /dev/null +++ b/Rover-4.6/Parameters.rst @@ -0,0 +1,109731 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_Rover: + +Rover Parameters +---------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmap of what log types to enable in on\-board logger\. This value is made up of the sum of each of the log types you want to be saved\. On boards supporting microSD cards or other large block\-storage devices it is usually best just to enable all basic log types by setting this to 65535\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Fast Attitude | | +| +-----+---------------------+ | +| | 1 | Medium Attitude | | +| +-----+---------------------+ | +| | 2 | GPS | | +| +-----+---------------------+ | +| | 3 | System Performance | | +| +-----+---------------------+ | +| | 4 | Throttle | | +| +-----+---------------------+ | +| | 5 | Navigation Tuning | | +| +-----+---------------------+ | +| | 7 | IMU | | +| +-----+---------------------+ | +| | 8 | Mission Commands | | +| +-----+---------------------+ | +| | 9 | Battery Monitor | | +| +-----+---------------------+ | +| | 10 | Rangefinder | | +| +-----+---------------------+ | +| | 11 | Compass | | +| +-----+---------------------+ | +| | 12 | Camera | | +| +-----+---------------------+ | +| | 13 | Steering | | +| +-----+---------------------+ | +| | 14 | RC Input-Output | | +| +-----+---------------------+ | +| | 19 | Raw IMU | | +| +-----+---------------------+ | +| | 20 | Video Stabilization | | +| +-----+---------------------+ | +| | 21 | Optical Flow | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _RST_SWITCH_CH: + +RST\_SWITCH\_CH: Reset Switch Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC channel to use to reset to last flight mode after geofence takeover\. + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial driving mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. Usually used in combination with when AUTO\_TRIGGER\_PIN or AUTO\_KICKSTART\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: MAVLink ground station ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol\. Don\'t change this unless you also modify the ground station to match\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | Steering | | +| +-----+----------------+ | +| | 1 | Throttle | | +| +-----+----------------+ | +| | 2 | Pitch | | +| +-----+----------------+ | +| | 3 | Left Wheel | | +| +-----+----------------+ | +| | 4 | Right Wheel | | +| +-----+----------------+ | +| | 5 | Sailboat Heel | | +| +-----+----------------+ | +| | 6 | Velocity North | | +| +-----+----------------+ | +| | 7 | Velocity East | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _AUTO_TRIGGER_PIN: + +AUTO\_TRIGGER\_PIN: Auto mode trigger pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +pin number to use to enable the throttle in auto mode\. If set to \-1 then don\'t use a trigger\, otherwise this is a pin number which if held low in auto mode will enable the motor to run\. If the switch is released while in AUTO then the motor will stop again\. This can be used in combination with INITIAL\_MODE to give a \'press button to start\' rover with no receiver\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | -1 | Disabled | | +| +-------+-----------------+ | +| | 0 | APM TriggerPin0 | | +| +-------+-----------------+ | +| | 1 | APM TriggerPin1 | | +| +-------+-----------------+ | +| | 2 | APM TriggerPin2 | | +| +-------+-----------------+ | +| | 3 | APM TriggerPin3 | | +| +-------+-----------------+ | +| | 4 | APM TriggerPin4 | | +| +-------+-----------------+ | +| | 5 | APM TriggerPin5 | | +| +-------+-----------------+ | +| | 6 | APM TriggerPin6 | | +| +-------+-----------------+ | +| | 7 | APM TriggerPin7 | | +| +-------+-----------------+ | +| | 8 | APM TriggerPin8 | | +| +-------+-----------------+ | +| | 50 | AUX1 | | +| +-------+-----------------+ | +| | 51 | AUX2 | | +| +-------+-----------------+ | +| | 52 | AUX3 | | +| +-------+-----------------+ | +| | 53 | AUX4 | | +| +-------+-----------------+ | +| | 54 | AUX5 | | +| +-------+-----------------+ | +| | 55 | AUX6 | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _AUTO_KICKSTART: + +AUTO\_KICKSTART: Auto mode trigger kickstart acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X acceleration in meters\/second\/second to use to trigger the motor start in auto mode\. If set to zero then auto throttle starts immediately when the mode switch happens\, otherwise the rover waits for the X acceleration to go above this value before it will start the motor + + ++-----------+---------+--------------------------+ +| Increment | Range | Units | ++===========+=========+==========================+ +| 0.1 | 0 to 20 | meters per square second | ++-----------+---------+--------------------------+ + + + + +.. _CRUISE_SPEED: + +CRUISE\_SPEED: Target cruise speed in auto modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The target speed in auto missions\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _CRUISE_THROTTLE: + +CRUISE\_THROTTLE: Base throttle percentage in auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The base throttle percentage to use in auto mode\. The CRUISE\_SPEED parameter controls the target speed\, but the rover starts with the CRUISE\_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed\. It then adjusts the throttle based on how fast the rover is actually going\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _PILOT_STEER_TYPE: + +PILOT\_STEER\_TYPE: Pilot input steering type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot RC input interpretation + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Default | | +| +-------+-------------------------------------+ | +| | 1 | Two Paddles Input | | +| +-------+-------------------------------------+ | +| | 2 | Direction reversed when backing up | | +| +-------+-------------------------------------+ | +| | 3 | Direction unchanged when backing up | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _FS_ACTION: + +FS\_ACTION: Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do on a failsafe event + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Nothing | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL or RTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _FS_TIMEOUT: + +FS\_TIMEOUT: Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition must persist before the failsafe action is triggered + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 100 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_THR_ENABLE: + +FS\_THR\_ENABLE: Throttle Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value\. This can be used to detect the RC transmitter going out of range\. Failsafe will be triggered when the throttle channel goes below the FS\_THR\_VALUE for FS\_TIMEOUT seconds\. + + ++---------------------------------------------------+ +| Values | ++===================================================+ +| +-------+---------------------------------------+ | +| | Value | Meaning | | +| +=======+=======================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------+ | +| | 1 | Enabled | | +| +-------+---------------------------------------+ | +| | 2 | Enabled Continue with Mission in Auto | | +| +-------+---------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _FS_THR_VALUE: + +FS\_THR\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level on the throttle channel below which throttle failsafe triggers\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 910 to 1100 | ++-----------+-------------+ + + + + +.. _FS_GCS_ENABLE: + +FS\_GCS\_ENABLE: GCS failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ground control station telemetry failsafe\. When enabled the Rover will execute the FS\_ACTION when it fails to receive MAVLink heartbeat packets for FS\_TIMEOUT seconds\. + + ++---------------------------------------------------+ +| Values | ++===================================================+ +| +-------+---------------------------------------+ | +| | Value | Meaning | | +| +=======+=======================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------+ | +| | 1 | Enabled | | +| +-------+---------------------------------------+ | +| | 2 | Enabled Continue with Mission in Auto | | +| +-------+---------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _FS_CRASH_CHECK: + +FS\_CRASH\_CHECK: Crash check action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do on a crash event\. When enabled the rover will go to hold if a crash is detected\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | Hold | | +| +-------+---------------+ | +| | 2 | HoldAndDisarm | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _FS_EKF_ACTION: + +FS\_EKF\_ACTION: EKF Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | Hold | | +| +-------+------------+ | +| | 2 | ReportOnly | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0.6 | Strict | | +| +-------+---------+ | +| | 0.8 | Default | | +| +-------+---------+ | +| | 1.0 | Relaxed | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MODE_CH: + +MODE\_CH: Mode channel +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for driving mode control + + +.. _MODE1: + +MODE1: Mode1 +~~~~~~~~~~~~ + + +Driving mode for switch position 1 \(910 to 1230 and above 2049\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MODE2: + +MODE2: Mode2 +~~~~~~~~~~~~ + + +Driving mode for switch position 2 \(1231 to 1360\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MODE3: + +MODE3: Mode3 +~~~~~~~~~~~~ + + +Driving mode for switch position 3 \(1361 to 1490\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MODE4: + +MODE4: Mode4 +~~~~~~~~~~~~ + + +Driving mode for switch position 4 \(1491 to 1620\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MODE5: + +MODE5: Mode5 +~~~~~~~~~~~~ + + +Driving mode for switch position 5 \(1621 to 1749\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _MODE6: + +MODE6: Mode6 +~~~~~~~~~~~~ + + +Driving mode for switch position 6 \(1750 to 2049\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Manual | | +| +-------+----------+ | +| | 1 | Acro | | +| +-------+----------+ | +| | 3 | Steering | | +| +-------+----------+ | +| | 4 | Hold | | +| +-------+----------+ | +| | 5 | Loiter | | +| +-------+----------+ | +| | 6 | Follow | | +| +-------+----------+ | +| | 7 | Simple | | +| +-------+----------+ | +| | 8 | Dock | | +| +-------+----------+ | +| | 9 | Circle | | +| +-------+----------+ | +| | 10 | Auto | | +| +-------+----------+ | +| | 11 | RTL | | +| +-------+----------+ | +| | 12 | SmartRTL | | +| +-------+----------+ | +| | 15 | Guided | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotEnforced | | +| +-------+-------------+ | +| | 1 | Enforced | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _TURN_RADIUS: + +TURN\_RADIUS: Turn radius of vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Turn radius of vehicle in meters while at low speeds\. Lower values produce tighter turns in steering mode + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 10 | meters | ++-----------+---------+--------+ + + + + +.. _ACRO_TURN_RATE: + +ACRO\_TURN\_RATE: Acro mode turn rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode turn rate maximum + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _RTL_SPEED: + +RTL\_SPEED: Return\-to\-Launch speed default +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Return\-to\-Launch speed default\. If zero use WP\_SPEED or CRUISE\_SPEED\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _FRAME_CLASS: + +FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frame Class + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Undefined | | +| +-------+------------+ | +| | 1 | Rover | | +| +-------+------------+ | +| | 2 | Boat | | +| +-------+------------+ | +| | 3 | BalanceBot | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _BAL_PITCH_MAX: + +BAL\_PITCH\_MAX: BalanceBot Maximum Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch angle in degrees at 100\% throttle + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + +.. _CRASH_ANGLE: + +CRASH\_ANGLE: Crash Angle +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch\/Roll angle limit in degrees for crash check\. Zero disables check + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 60 | degrees | ++-----------+---------+---------+ + + + + +.. _FRAME_TYPE: + +FRAME\_TYPE: Frame Type +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Frame Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Undefined | | +| +-------+--------------+ | +| | 1 | Omni3 | | +| +-------+--------------+ | +| | 2 | OmniX | | +| +-------+--------------+ | +| | 3 | OmniPlus | | +| +-------+--------------+ | +| | 4 | Omni3Mecanum | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _LOIT_TYPE: + +LOIT\_TYPE: Loiter type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Loiter behaviour when moving to the target point + + ++----------------------------------------------------+ +| Values | ++====================================================+ +| +-------+----------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================+ | +| | 0 | Forward or reverse to target point | | +| +-------+----------------------------------------+ | +| | 1 | Always face bow towards target point | | +| +-------+----------------------------------------+ | +| | 2 | Always face stern towards target point | | +| +-------+----------------------------------------+ | +| | ++----------------------------------------------------+ + + + + +.. _SIMPLE_TYPE: + +SIMPLE\_TYPE: Simple\_Type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Simple mode types + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | InitialHeading | | +| +-------+--------------------+ | +| | 1 | CardinalDirections | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _LOIT_RADIUS: + +LOIT\_RADIUS: Loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will drift when within this distance of the target position + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 20 | meters | ++-----------+---------+--------+ + + + + +.. _MIS_DONE_BEHAVE: + +MIS\_DONE\_BEHAVE: Mission done behave +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Behaviour after mission completes + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | Hold in Auto Mode | | +| +-------+---------------------+ | +| | 1 | Loiter in Auto Mode | | +| +-------+---------------------+ | +| | 2 | Acro Mode | | +| +-------+---------------------+ | +| | 3 | Manual Mode | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _BAL_PITCH_TRIM: + +BAL\_PITCH\_TRIM: Balance Bot pitch trim angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Balance Bot pitch trim for balancing\. This offsets the tilt of the center of mass\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -2 to 2 | degrees | ++-----------+---------+---------+ + + + + +.. _STICK_MIXING: + +STICK\_MIXING: Stick Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, this adds steering user stick input in auto modes\, allowing the user to have some degree of control without changing modes\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SPEED_MAX: + +SPEED\_MAX: Speed maximum +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum speed vehicle can obtain at full throttle\. If 0\, it will be estimated based on CRUISE\_SPEED and CRUISE\_THROTTLE\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _LOIT_SPEED_GAIN: + +LOIT\_SPEED\_GAIN: Loiter speed gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how agressively LOITER tries to correct for drift from loiter point\. Higher is faster but default should be acceptable\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _FS_OPTIONS: + +FS\_OPTIONS: Failsafe Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask to enable failsafe options + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | Failsafe enabled in Hold mode | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _GUID_OPTIONS: + +GUID\_OPTIONS: Guided mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 6 | SCurves used for navigation | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + +.. _MANUAL_OPTIONS: + +MANUAL\_OPTIONS: Manual mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Manual mode specific options + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | Enable steering speed scaling | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _MANUAL_STR_EXPO: + +MANUAL\_STR\_EXPO: Manual Steering Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Manual steering expo to allow faster steering when stick at edges + + ++--------------+-----------------------+ +| Range | Values | ++==============+=======================+ +| -0.5 to 0.95 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | Disabled | | +| | +-------+-----------+ | +| | | 0.1 | Very Low | | +| | +-------+-----------+ | +| | | 0.2 | Low | | +| | +-------+-----------+ | +| | | 0.3 | Medium | | +| | +-------+-----------+ | +| | | 0.4 | High | | +| | +-------+-----------+ | +| | | 0.5 | Very High | | +| | +-------+-----------+ | +| | | ++--------------+-----------------------+ + + + + +.. _FS_GCS_TIMEOUT: + +FS\_GCS\_TIMEOUT: GCS failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Timeout before triggering the GCS failsafe + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 2 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _CH7_OPTION: + +CH7\_OPTION: Channel 7 option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do use channel 7 for + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Nothing | | +| +-------+------------------+ | +| | 1 | SaveWaypoint | | +| +-------+------------------+ | +| | 2 | LearnCruiseSpeed | | +| +-------+------------------+ | +| | 3 | ArmDisarm | | +| +-------+------------------+ | +| | 4 | Manual | | +| +-------+------------------+ | +| | 5 | Acro | | +| +-------+------------------+ | +| | 6 | Steering | | +| +-------+------------------+ | +| | 7 | Hold | | +| +-------+------------------+ | +| | 8 | Auto | | +| +-------+------------------+ | +| | 9 | RTL | | +| +-------+------------------+ | +| | 10 | SmartRTL | | +| +-------+------------------+ | +| | 11 | Guided | | +| +-------+------------------+ | +| | 12 | Loiter | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _AUX_CH: + +AUX\_CH: Auxiliary switch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for auxiliary functions including saving waypoints + + +.. _PIVOT_TURN_ANGLE: + +PIVOT\_TURN\_ANGLE: Pivot turn angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Navigation angle threshold in degrees to switch to pivot steering\. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle\. An angle of zero means to disable pivot turning\. Note that you will probably also want to set a low value for WP\_RADIUS to get neat turns\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _PIVOT_TURN_RATE: + +PIVOT\_TURN\_RATE: Pivot turn rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pivot turn rate in deg\/s\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Manual | | +| +-----+----------+ | +| | 1 | Acro | | +| +-----+----------+ | +| | 2 | Steering | | +| +-----+----------+ | +| | 3 | Loiter | | +| +-----+----------+ | +| | 4 | Follow | | +| +-----+----------+ | +| | 5 | Simple | | +| +-----+----------+ | +| | 6 | Circle | | +| +-----+----------+ | +| | 7 | Auto | | +| +-----+----------+ | +| | 8 | RTL | | +| +-----+----------+ | +| | 9 | SmartRTL | | +| +-----+----------+ | +| | 10 | Guided | | +| +-----+----------+ | +| | 11 | Dock | | +| +-----+----------+ | +| | ++--------------------+ + + + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | -1 | Disabled | | +| +-------+-------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+-------------------+ | +| | 50 | AUXOUT1 | | +| +-------+-------------------+ | +| | 51 | AUXOUT2 | | +| +-------+-------------------+ | +| | 52 | AUXOUT3 | | +| +-------+-------------------+ | +| | 53 | AUXOUT4 | | +| +-------+-------------------+ | +| | 54 | AUXOUT5 | | +| +-------+-------------------+ | +| | 55 | AUXOUT6 | | +| +-------+-------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+-------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+-------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----------------------------------------------------------------------------------------------------------------------------+ +| Bitmask | ++=============================================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================================================================================+ | +| | 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | 1 | Enable AFS for all autonomous modes (not just AUTO) | | +| +-----+-------------------------------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | Use GPS for DCM position | | +| +-------+-------------------------------------+ | +| | 2 | Use GPS for DCM position and height | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | Enable EKF2 | | +| +-------+--------------+ | +| | 3 | Enable EKF3 | | +| +-------+--------------+ | +| | 11 | ExternalAHRS | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++---------------------------------------+ +| Bitmask | ++=======================================+ +| +-----+-----------------------------+ | +| | Bit | Meaning | | +| +=====+=============================+ | +| | 0 | DisableDCMFallbackFW | | +| +-----+-----------------------------+ | +| | 1 | DisableDCMFallbackVTOL | | +| +-----+-----------------------------+ | +| | 2 | DontDisableAirspeedUsingEKF | | +| +-----+-----------------------------+ | +| | ++---------------------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 1 | NMEA AIVDM message | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----------------------------------------------+ +| Bitmask | ++===============================================+ +| +-----+-------------------------------------+ | +| | Bit | Meaning | | +| +=====+=====================================+ | +| | 0 | Log all AIVDM messages | | +| +-----+-------------------------------------+ | +| | 1 | Log only unsupported AIVDM messages | | +| +-----+-------------------------------------+ | +| | 2 | Log decoded messages | | +| +-----+-------------------------------------+ | +| | ++-----------------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_REQUIRE: + +ARMING\_REQUIRE: Require Arming Motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, send 0 PWM \(no signal\) to throttle channel when disarmed\. On planes with ICE enabled and the throttle while disarmed option set in ICE\_OPTIONS\, the motor will always get THR\_MIN when disarmed\. Arming will occur using either rudder stick arming \(if enabled\) or GCS command when all mandatory and ARMING\_CHECK items are satisfied\. Note\, when setting this parameter to 0\, a reboot is required to immediately arm the plane\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | Disabled | | +| +-------+---------------------------+ | +| | 1 | minimum PWM when disarmed | | +| +-------+---------------------------+ | +| | 2 | 0 PWM when disarmed | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Disabled | | +| +-------+-------------+ | +| | 1 | ArmingOnly | | +| +-------+-------------+ | +| | 2 | ArmOrDisarm | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | Land | | +| +-----+---------------+ | +| | 1 | VTOL Land | | +| +-----+---------------+ | +| | 2 | DO_LAND_START | | +| +-----+---------------+ | +| | 3 | Takeoff | | +| +-----+---------------+ | +| | 4 | VTOL Takeoff | | +| +-----+---------------+ | +| | 5 | Rallypoint | | +| +-----+---------------+ | +| | 6 | RTL | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | All | | +| +-----+------------------------+ | +| | 1 | Barometer | | +| +-----+------------------------+ | +| | 2 | Compass | | +| +-----+------------------------+ | +| | 3 | GPS lock | | +| +-----+------------------------+ | +| | 4 | INS | | +| +-----+------------------------+ | +| | 5 | Parameters | | +| +-----+------------------------+ | +| | 6 | RC Channels | | +| +-----+------------------------+ | +| | 7 | Board voltage | | +| +-----+------------------------+ | +| | 8 | Battery Level | | +| +-----+------------------------+ | +| | 10 | Logging Available | | +| +-----+------------------------+ | +| | 11 | Hardware safety switch | | +| +-----+------------------------+ | +| | 12 | GPS Configuration | | +| +-----+------------------------+ | +| | 13 | System | | +| +-----+------------------------+ | +| | 14 | Mission | | +| +-----+------------------------+ | +| | 15 | Rangefinder | | +| +-----+------------------------+ | +| | 16 | Camera | | +| +-----+------------------------+ | +| | 17 | AuxAuth | | +| +-----+------------------------+ | +| | 18 | VisualOdometry | | +| +-----+------------------------+ | +| | 19 | FFT | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++---------------------------------------------------+ +| Bitmask | ++===================================================+ +| +-----+-----------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================+ | +| | 0 | Disable prearm display | | +| +-----+-----------------------------------------+ | +| | 1 | Do not send status text on state change | | +| +-----+-----------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Crash Dump arming check active | | +| +-------+-------------------------------------+ | +| | 1 | Crash Dump arming check deactivated | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | FirstSensor | | +| +-------+-------------+ | +| | 1 | 2ndSensor | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++--------------------------------------+ +| Bitmask | ++======================================+ +| +-----+----------------------------+ | +| | Bit | Meaning | | +| +=====+============================+ | +| | 0 | SpeedMismatchDisable | | +| +-----+----------------------------+ | +| | 1 | AllowSpeedMismatchRecovery | | +| +-----+----------------------------+ | +| | 2 | DisableVoltageCorrection | | +| +-----+----------------------------+ | +| | 3 | UseEkf3Consistency | | +| +-----+----------------------------+ | +| | 4 | ReportOffset | | +| +-----+----------------------------+ | +| | ++--------------------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | None | | +| +-------+-------------------+ | +| | 1 | I2C-MS4525D0 | | +| +-------+-------------------+ | +| | 2 | Analog | | +| +-------+-------------------+ | +| | 3 | I2C-MS5525 | | +| +-------+-------------------+ | +| | 4 | I2C-MS5525 (0x76) | | +| +-------+-------------------+ | +| | 5 | I2C-MS5525 (0x77) | | +| +-------+-------------------+ | +| | 6 | I2C-SDP3X | | +| +-------+-------------------+ | +| | 7 | I2C-DLVR-5in | | +| +-------+-------------------+ | +| | 8 | DroneCAN | | +| +-------+-------------------+ | +| | 9 | I2C-DLVR-10in | | +| +-------+-------------------+ | +| | 10 | I2C-DLVR-20in | | +| +-------+-------------------+ | +| | 11 | I2C-DLVR-30in | | +| +-------+-------------------+ | +| | 12 | I2C-DLVR-60in | | +| +-------+-------------------+ | +| | 13 | NMEA water speed | | +| +-------+-------------------+ | +| | 14 | MSP | | +| +-------+-------------------+ | +| | 15 | ASP5033 | | +| +-------+-------------------+ | +| | 16 | ExternalAHRS | | +| +-------+-------------------+ | +| | 100 | SITL | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | DoNotUse | | +| +-------+---------------------+ | +| | 1 | Use | | +| +-------+---------------------+ | +| | 2 | UseWhenZeroThrottle | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Normal | | +| +-------+-------------+ | +| | 1 | Swapped | | +| +-------+-------------+ | +| | 2 | Auto Detect | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Bus0 | | +| +-------+---------+ | +| | 1 | Bus1 | | +| +-------+---------+ | +| | 2 | Bus2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ATC: + +ATC Parameters +-------------- + + +.. _ATC_STR_RAT_P: + +ATC\_STR\_RAT\_P: Steering control rate P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control rate P gain\. Converts the turn rate error \(in radians\/sec\) to a steering control output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_I: + +ATC\_STR\_RAT\_I: Steering control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control I gain\. Corrects long term error between the desired turn rate \(in rad\/s\) and actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_IMAX: + +ATC\_STR\_RAT\_IMAX: Steering control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control I gain maximum\. Constrains the steering output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_D: + +ATC\_STR\_RAT\_D: Steering control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control D gain\. Compensates for short\-term change in desired turn rate vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_FF: + +ATC\_STR\_RAT\_FF: Steering control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 3.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_FILT: + +ATC\_STR\_RAT\_FILT: Steering control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTT: + +ATC\_STR\_RAT\_FLTT: Steering control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTE: + +ATC\_STR\_RAT\_FLTE: Steering control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTD: + +ATC\_STR\_RAT\_FLTD: Steering control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_SMAX: + +ATC\_STR\_RAT\_SMAX: Steering slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_STR_RAT_PDMX: + +ATC\_STR\_RAT\_PDMX: Steering control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_D_FF: + +ATC\_STR\_RAT\_D\_FF: Steering control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_STR_RAT_NTF: + +ATC\_STR\_RAT\_NTF: Steering control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_STR_RAT_NEF: + +ATC\_STR\_RAT\_NEF: Steering control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SPEED_P: + +ATC\_SPEED\_P: Speed control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control P gain\. Converts the error between the desired speed \(in m\/s\) and actual speed to a motor output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.010 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_I: + +ATC\_SPEED\_I: Speed control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control I gain\. Corrects long term error between the desired speed \(in m\/s\) and actual speed + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_IMAX: + +ATC\_SPEED\_IMAX: Speed control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_D: + +ATC\_SPEED\_D: Speed control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control D gain\. Compensates for short\-term change in desired speed vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_FF: + +ATC\_SPEED\_FF: Speed control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_FILT: + +ATC\_SPEED\_FILT: Speed control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTT: + +ATC\_SPEED\_FLTT: Speed control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTE: + +ATC\_SPEED\_FLTE: Speed control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTD: + +ATC\_SPEED\_FLTD: Speed control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_SMAX: + +ATC\_SPEED\_SMAX: Speed control slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_SPEED_PDMX: + +ATC\_SPEED\_PDMX: Speed control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_D_FF: + +ATC\_SPEED\_D\_FF: Speed control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_SPEED_NTF: + +ATC\_SPEED\_NTF: Speed control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SPEED_NEF: + +ATC\_SPEED\_NEF: Speed control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_ACCEL_MAX: + +ATC\_ACCEL\_MAX: Speed control acceleration \(and deceleration\) maximum in m\/s\/s +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control acceleration \(and deceleration\) maximum in m\/s\/s\. 0 to disable acceleration limiting + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.0 to 10.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _ATC_BRAKE: + +ATC\_BRAKE: Speed control brake enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control brake enable\/disable\. Allows sending a reversed output to the motors to slow the vehicle\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _ATC_STOP_SPEED: + +ATC\_STOP\_SPEED: Speed control stop speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control stop speed\. Motor outputs to zero once vehicle speed falls below this value + + ++-----------+--------------+-------------------+ +| Increment | Range | Units | ++===========+==============+===================+ +| 0.01 | 0.00 to 0.50 | meters per second | ++-----------+--------------+-------------------+ + + + + +.. _ATC_STR_ANG_P: + +ATC\_STR\_ANG\_P: Steering control angle P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control angle P gain\. Converts the error between the desired heading\/yaw \(in radians\) and actual heading\/yaw to a desired turn rate \(in rad\/sec\) + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 0.1 | 1.000 to 10.000 | ++-----------+-----------------+ + + + + +.. _ATC_STR_ACC_MAX: + +ATC\_STR\_ACC\_MAX: Steering control angular acceleration maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control angular acceleration maximum \(in deg\/s\/s\)\. 0 to disable acceleration limiting + + ++-----------+-----------+---------------------------+ +| Increment | Range | Units | ++===========+===========+===========================+ +| 0.1 | 0 to 1000 | degrees per square second | ++-----------+-----------+---------------------------+ + + + + +.. _ATC_STR_RAT_MAX: + +ATC\_STR\_RAT\_MAX: Steering control rotation rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control rotation rate maximum in deg\/s\. 0 to remove rate limiting + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 0.1 | 0 to 1000 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ATC_DECEL_MAX: + +ATC\_DECEL\_MAX: Speed control deceleration maximum in m\/s\/s +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control and deceleration maximum in m\/s\/s\. 0 to use ATC\_ACCEL\_MAX for deceleration + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.0 to 10.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _ATC_BAL_P: + +ATC\_BAL\_P: Pitch control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control P gain for BalanceBots\. Converts the error between the desired pitch \(in radians\) and actual pitch to a motor output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_I: + +ATC\_BAL\_I: Pitch control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control I gain for BalanceBots\. Corrects long term error between the desired pitch \(in radians\) and actual pitch + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_IMAX: + +ATC\_BAL\_IMAX: Pitch control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_D: + +ATC\_BAL\_D: Pitch control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control D gain\. Compensates for short\-term change in desired pitch vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.100 | ++-----------+----------------+ + + + + +.. _ATC_BAL_FF: + +ATC\_BAL\_FF: Pitch control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_BAL_FILT: + +ATC\_BAL\_FILT: Pitch control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTT: + +ATC\_BAL\_FLTT: Pitch control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTE: + +ATC\_BAL\_FLTE: Pitch control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTD: + +ATC\_BAL\_FLTD: Pitch control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_SMAX: + +ATC\_BAL\_SMAX: Pitch control slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_BAL_PDMX: + +ATC\_BAL\_PDMX: Pitch control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_D_FF: + +ATC\_BAL\_D\_FF: Pitch control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_BAL_NTF: + +ATC\_BAL\_NTF: Pitch control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_BAL_NEF: + +ATC\_BAL\_NEF: Pitch control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_BAL_PIT_FF: + +ATC\_BAL\_PIT\_FF: Pitch control feed forward from current pitch angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control feed forward from current pitch angle + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _ATC_SAIL_P: + +ATC\_SAIL\_P: Sail Heel control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control P gain for sailboats\. Converts the error between the desired heel angle \(in radians\) and actual heel to a main sail output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_I: + +ATC\_SAIL\_I: Sail Heel control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control I gain for sailboats\. Corrects long term error between the desired heel angle \(in radians\) and actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_IMAX: + +ATC\_SAIL\_IMAX: Sail Heel control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control I gain maximum\. Constrains the maximum I term contribution to the main sail output \(range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_D: + +ATC\_SAIL\_D: Sail Heel control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control D gain\. Compensates for short\-term change in desired heel angle vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.100 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_FF: + +ATC\_SAIL\_FF: Sail Heel control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_FILT: + +ATC\_SAIL\_FILT: Sail Heel control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTT: + +ATC\_SAIL\_FLTT: Sail Heel Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTE: + +ATC\_SAIL\_FLTE: Sail Heel Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTD: + +ATC\_SAIL\_FLTD: Sail Heel Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_SMAX: + +ATC\_SAIL\_SMAX: Sail heel slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_SAIL_PDMX: + +ATC\_SAIL\_PDMX: Sail Heel control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_D_FF: + +ATC\_SAIL\_D\_FF: Sail Heel Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_SAIL_NTF: + +ATC\_SAIL\_NTF: Sail Heel Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sail Heel Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SAIL_NEF: + +ATC\_SAIL\_NEF: Sail Heel Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sail Heel Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_TURN_MAX_G: + +ATC\_TURN\_MAX\_G: Turning maximum G force +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum turning acceleration \(in units of gravities\) that the rover can handle while remaining stable\. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns + + ++-----------+-----------+--------------------------------------+ +| Increment | Range | Units | ++===========+===========+======================================+ +| 0.01 | 0.1 to 10 | standard acceleration due to gravity | ++-----------+-----------+--------------------------------------+ + + + + +.. _ATC_BAL_LIM_TC: + +ATC\_BAL\_LIM\_TC: Pitch control limit time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control limit time constant to protect against falling\. Lower values limit pitch more quickly\, higher values limit more slowly\. Set to 0 to disable + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 5.0 | ++-----------+------------+ + + + + +.. _ATC_BAL_LIM_THR: + +ATC\_BAL\_LIM\_THR: Pitch control limit throttle threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control limit throttle threshold\. Pitch angle will be limited if throttle crosses this threshold \(from 0 to 1\) + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 1.0 | ++-----------+------------+ + + + + + +.. _parameters_AVOID_: + +AVOID\_ Parameters +------------------ + + +.. _AVOID_ENABLE: + +AVOID\_ENABLE: Avoidance control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable avoidance input sources + + ++------------------------------+ +| Bitmask | ++==============================+ +| +-----+--------------------+ | +| | Bit | Meaning | | +| +=====+====================+ | +| | 0 | UseFence | | +| +-----+--------------------+ | +| | 1 | UseProximitySensor | | +| +-----+--------------------+ | +| | 2 | UseBeaconFence | | +| +-----+--------------------+ | +| | ++------------------------------+ + + + + +.. _AVOID_MARGIN: + +AVOID\_MARGIN: Avoidance distance margin in GPS modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _AVOID_BEHAVE: + +AVOID\_BEHAVE: Avoidance behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Avoidance behaviour \(slide or stop\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Slide | | +| +-------+---------+ | +| | 1 | Stop | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _AVOID_BACKUP_SPD: + +AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + +.. _AVOID_ACCEL_MAX: + +AVOID\_ACCEL\_MAX: Avoidance maximum acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum acceleration with which obstacles will be avoided with\. Set zero to disable acceleration limits + + ++--------+--------------------------+ +| Range | Units | ++========+==========================+ +| 0 to 9 | meters per square second | ++--------+--------------------------+ + + + + +.. _AVOID_BACKUP_DZ: + +AVOID\_BACKUP\_DZ: Avoidance deadzone between stopping and backing away from obstacle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from obstacles\. Increase this parameter if you see vehicle going back and forth in front of obstacle\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 2 | meters | ++--------+--------+ + + + + +.. _AVOID_BACKZ_SPD: + +AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | FirstBaro | | +| +-------+-----------+ | +| | 1 | 2ndBaro | | +| +-------+-----------+ | +| | 2 | 3rdBaro | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Bus0 | | +| +-------+----------+ | +| | 1 | Bus1 | | +| +-------+----------+ | +| | 6 | Bus6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | BMP085 | | +| +-----+---------+ | +| | 1 | BMP280 | | +| +-----+---------+ | +| | 2 | MS5611 | | +| +-----+---------+ | +| | 3 | MS5607 | | +| +-----+---------+ | +| | 4 | MS5637 | | +| +-----+---------+ | +| | 5 | FBM320 | | +| +-----+---------+ | +| | 6 | DPS280 | | +| +-----+---------+ | +| | 7 | LPS25H | | +| +-----+---------+ | +| | 8 | Keller | | +| +-----+---------+ | +| | 9 | MS5837 | | +| +-----+---------+ | +| | 10 | BMP388 | | +| +-----+---------+ | +| | 11 | SPL06 | | +| +-----+---------+ | +| | 12 | MSP | | +| +-----+---------+ | +| | 13 | BMP581 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Treat MS5611 as MS5607 | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Analog Voltage Only | | +| +-------+--------------------------------------+ | +| | 4 | Analog Voltage and Current | | +| +-------+--------------------------------------+ | +| | 5 | Solo | | +| +-------+--------------------------------------+ | +| | 6 | Bebop | | +| +-------+--------------------------------------+ | +| | 7 | SMBus-Generic | | +| +-------+--------------------------------------+ | +| | 8 | DroneCAN-BatteryInfo | | +| +-------+--------------------------------------+ | +| | 9 | ESC | | +| +-------+--------------------------------------+ | +| | 10 | Sum Of Selected Monitors | | +| +-------+--------------------------------------+ | +| | 11 | FuelFlow | | +| +-------+--------------------------------------+ | +| | 12 | FuelLevelPWM | | +| +-------+--------------------------------------+ | +| | 13 | SMBUS-SUI3 | | +| +-------+--------------------------------------+ | +| | 14 | SMBUS-SUI6 | | +| +-------+--------------------------------------+ | +| | 15 | NeoDesign | | +| +-------+--------------------------------------+ | +| | 16 | SMBus-Maxell | | +| +-------+--------------------------------------+ | +| | 17 | Generator-Elec | | +| +-------+--------------------------------------+ | +| | 18 | Generator-Fuel | | +| +-------+--------------------------------------+ | +| | 19 | Rotoye | | +| +-------+--------------------------------------+ | +| | 20 | MPPT | | +| +-------+--------------------------------------+ | +| | 21 | INA2XX | | +| +-------+--------------------------------------+ | +| | 22 | LTC2946 | | +| +-------+--------------------------------------+ | +| | 23 | Torqeedo | | +| +-------+--------------------------------------+ | +| | 24 | FuelLevelAnalog | | +| +-------+--------------------------------------+ | +| | 25 | Synthetic Current and Analog Voltage | | +| +-------+--------------------------------------+ | +| | 26 | INA239_SPI | | +| +-------+--------------------------------------+ | +| | 27 | EFI | | +| +-------+--------------------------------------+ | +| | 28 | AD7091R5 | | +| +-------+--------------------------------------+ | +| | 29 | Scripting | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Raw Voltage | | +| +-------+-------------------------+ | +| | 1 | Sag Compensated Voltage | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | None | | +| +-------+------------------+ | +| | 1 | RTL | | +| +-------+------------------+ | +| | 2 | Hold | | +| +-------+------------------+ | +| | 3 | SmartRTL | | +| +-------+------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+------------------+ | +| | 5 | Terminate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-------------------------------------------------------------------+ +| Bitmask | ++===================================================================+ +| +-----+---------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=========================================================+ | +| | 0 | Ignore DroneCAN SoC | | +| +-----+---------------------------------------------------------+ | +| | 1 | MPPT reports input voltage and current | | +| +-----+---------------------------------------------------------+ | +| | 2 | MPPT Powered off when disarmed | | +| +-----+---------------------------------------------------------+ | +| | 3 | MPPT Powered on when armed | | +| +-----+---------------------------------------------------------+ | +| | 4 | MPPT Powered off at boot | | +| +-----+---------------------------------------------------------+ | +| | 5 | MPPT Powered on at boot | | +| +-----+---------------------------------------------------------+ | +| | 6 | Send resistance compensated voltage to GCS | | +| +-----+---------------------------------------------------------+ | +| | 7 | Allow DroneCAN InfoAux to be from a different CAN node | | +| +-----+---------------------------------------------------------+ | +| | 9 | Sum monitor measures minimum voltage instead of average | | +| +-----+---------------------------------------------------------+ | +| | ++-------------------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 4 | CubeOrange_PM2/Navigator | | +| +-------+--------------------------------------+ | +| | 14 | Pixhawk2_PM2 | | +| +-------+--------------------------------------+ | +| | 15 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 17 | Durandal | | +| +-------+--------------------------------------+ | +| | 101 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | monitor 1 | | +| +-----+-----------+ | +| | 1 | monitor 2 | | +| +-----+-----------+ | +| | 2 | monitor 3 | | +| +-----+-----------+ | +| | 3 | monitor 4 | | +| +-----+-----------+ | +| | 4 | monitor 5 | | +| +-----+-----------+ | +| | 5 | monitor 6 | | +| +-----+-----------+ | +| | 6 | monitor 7 | | +| +-----+-----------+ | +| | 7 | monitor 8 | | +| +-----+-----------+ | +| | 8 | monitor 9 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_BCN: + +BCN Parameters +-------------- + + +.. _BCN_TYPE: + +BCN\_TYPE: Beacon based position estimation device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Pozyx | | +| +-------+------------+ | +| | 2 | Marvelmind | | +| +-------+------------+ | +| | 3 | Nooploop | | +| +-------+------------+ | +| | 10 | SITL | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _BCN_LATITUDE: + +BCN\_LATITUDE: Beacon origin\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _BCN_LONGITUDE: + +BCN\_LONGITUDE: Beacon origin\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _BCN_ALT: + +BCN\_ALT: Beacon origin\'s altitude above sealevel in meters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s altitude above sealevel in meters + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _BCN_ORIENT_YAW: + +BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | Disabled | | +| +-------+------------------------------+ | +| | 1 | Enabled | | +| +-------+------------------------------+ | +| | 2 | Auto | | +| +-------+------------------------------+ | +| | 3 | RS-485 Driver enable RTS pin | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | 50Hz | | +| +-------+----------+ | +| | 2 | 75Hz | | +| +-------+----------+ | +| | 3 | 100Hz | | +| +-------+----------+ | +| | 4 | 150Hz | | +| +-------+----------+ | +| | 5 | 200Hz | | +| +-------+----------+ | +| | 6 | 250Hz | | +| +-------+----------+ | +| | 7 | 300Hz | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Output1 | | +| +-----+----------+ | +| | 1 | Output2 | | +| +-----+----------+ | +| | 2 | Output3 | | +| +-----+----------+ | +| | 3 | Output4 | | +| +-----+----------+ | +| | 4 | Output5 | | +| +-----+----------+ | +| | 5 | Output6 | | +| +-----+----------+ | +| | 6 | Output7 | | +| +-----+----------+ | +| | 7 | Output8 | | +| +-----+----------+ | +| | 8 | Output9 | | +| +-----+----------+ | +| | 9 | Output10 | | +| +-----+----------+ | +| | 10 | Output11 | | +| +-----+----------+ | +| | 11 | Output12 | | +| +-----+----------+ | +| | 12 | Output13 | | +| +-----+----------+ | +| | 13 | Output14 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | AUTO | | +| +-------+----------------+ | +| | 1 | PX4V1 | | +| +-------+----------------+ | +| | 2 | Pixhawk | | +| +-------+----------------+ | +| | 3 | Cube/Pixhawk2 | | +| +-------+----------------+ | +| | 4 | Pixracer | | +| +-------+----------------+ | +| | 5 | PixhawkMini | | +| +-------+----------------+ | +| | 6 | Pixhawk2Slim | | +| +-------+----------------+ | +| | 13 | Intel Aero FC | | +| +-------+----------------+ | +| | 14 | Pixhawk Pro | | +| +-------+----------------+ | +| | 20 | AUAV2.1 | | +| +-------+----------------+ | +| | 21 | PCNC1 | | +| +-------+----------------+ | +| | 22 | MINDPXV2 | | +| +-------+----------------+ | +| | 23 | SP01 | | +| +-------+----------------+ | +| | 24 | CUAVv5/FMUV5 | | +| +-------+----------------+ | +| | 30 | VRX BRAIN51 | | +| +-------+----------------+ | +| | 32 | VRX BRAIN52 | | +| +-------+----------------+ | +| | 33 | VRX BRAIN52E | | +| +-------+----------------+ | +| | 34 | VRX UBRAIN51 | | +| +-------+----------------+ | +| | 35 | VRX UBRAIN52 | | +| +-------+----------------+ | +| | 36 | VRX CORE10 | | +| +-------+----------------+ | +| | 38 | VRX BRAIN54 | | +| +-------+----------------+ | +| | 39 | PX4 FMUV6 | | +| +-------+----------------+ | +| | 100 | PX4 OLDDRIVERS | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | EnableNoFWUpdate | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----------------------------------------------------+ +| Bitmask | ++=====================================================+ +| +-----+-------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================+ | +| | 0 | ActiveForSafetyDisable | | +| +-----+-------------------------------------------+ | +| | 1 | ActiveForSafetyEnable | | +| +-----+-------------------------------------------+ | +| | 2 | ActiveWhenArmed | | +| +-----+-------------------------------------------+ | +| | 3 | Force safety on when the aircraft disarms | | +| +-----+-------------------------------------------+ | +| | ++-----------------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 3.3V | | +| +-------+---------+ | +| | 1 | 5V | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----------------------------------------------------------------+ +| Bitmask | ++=================================================================+ +| +-----+-------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=======================================================+ | +| | 0 | Enable hardware watchdog | | +| +-----+-------------------------------------------------------+ | +| | 1 | Disable MAVftp | | +| +-----+-------------------------------------------------------+ | +| | 2 | Enable set of internal parameters | | +| +-----+-------------------------------------------------------+ | +| | 3 | Enable Debug Pins | | +| +-----+-------------------------------------------------------+ | +| | 4 | Unlock flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 5 | Write protect firmware flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 6 | Write protect bootloader flash on reboot | | +| +-----+-------------------------------------------------------+ | +| | 7 | Skip board validation | | +| +-----+-------------------------------------------------------+ | +| | 8 | Disable board arming gpio output change on arm/disarm | | +| +-----+-------------------------------------------------------+ | +| | ++-----------------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | StandardFW | | +| +-------+------------+ | +| | 1 | DshotFW | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | CYRF6936 | | +| +-------+----------+ | +| | 2 | CC2500 | | +| +-------+----------+ | +| | 3 | BK2425 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | DSM2 | | +| +-------+---------+ | +| | 2 | DSMX | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | NotDisabled | | +| +-------+-------------+ | +| | 1 | Disabled | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MinChannel | | +| +-------+--------------+ | +| | 2 | MidChannel | | +| +-------+--------------+ | +| | 3 | MaxChannel | | +| +-------+--------------+ | +| | 4 | MinChannelCW | | +| +-------+--------------+ | +| | 5 | MidChannelCW | | +| +-------+--------------+ | +| | 6 | MaxChannelCW | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | Mode1 | | +| +-------+---------+ | +| | 2 | Mode2 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-----------------------+ +| Values | ++=======================+ +| +-------+-----------+ | +| | Value | Meaning | | +| +=======+===========+ | +| | 0 | Disabled | | +| +-------+-----------+ | +| | 1 | TestChan1 | | +| +-------+-----------+ | +| | 2 | TestChan2 | | +| +-------+-----------+ | +| | 3 | TestChan3 | | +| +-------+-----------+ | +| | 4 | TestChan4 | | +| +-------+-----------+ | +| | 5 | TestChan5 | | +| +-------+-----------+ | +| | 6 | TestChan6 | | +| +-------+-----------+ | +| | 7 | TestChan7 | | +| +-------+-----------+ | +| | 8 | TestChan8 | | +| +-------+-----------+ | +| | ++-----------------------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | GPS | | +| +-----+---------------------+ | +| | 1 | MAVLINK_SYSTEM_TIME | | +| +-----+---------------------+ | +| | 2 | HW | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUXOUT1 | | +| +-------+----------+ | +| | 51 | AUXOUT2 | | +| +-------+----------+ | +| | 52 | AUXOUT3 | | +| +-------+----------+ | +| | 53 | AUXOUT4 | | +| +-------+----------+ | +| | 54 | AUXOUT5 | | +| +-------+----------+ | +| | 55 | AUXOUT6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | PWM Input | | +| +-----+-------------+ | +| | 1 | InvertInput | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Always | | +| +-------+-------------------+ | +| | 1 | Only when in AUTO | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Servo | | +| +-------+------------------------------------+ | +| | 2 | Relay | | +| +-------+------------------------------------+ | +| | 3 | GoPro in Solo Gimbal | | +| +-------+------------------------------------+ | +| | 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | | +| +-------+------------------------------------+ | +| | 5 | MAVLink | | +| +-------+------------------------------------+ | +| | 6 | MAVLinkCamV2 | | +| +-------+------------------------------------+ | +| | 7 | Scripting | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Low | | +| +-------+---------+ | +| | 1 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | TriggerLow | | +| +-------+-------------+ | +| | 1 | TriggerHigh | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-------------------------------------------------------------+ +| Bitmask | ++=============================================================+ +| +-----+---------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===================================================+ | +| | 0 | Recording Starts at arming and stops at disarming | | +| +-----+---------------------------------------------------+ | +| | ++-------------------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Disabled | | +| +-------+-------------------------------------+ | +| | 1 | RunCam Split Micro/RunCam with UART | | +| +-------+-------------------------------------+ | +| | 2 | RunCam Split | | +| +-------+-------------------------------------+ | +| | 3 | RunCam Split4 4k | | +| +-------+-------------------------------------+ | +| | 4 | RunCam Hybrid/RunCam Thumb Pro | | +| +-------+-------------------------------------+ | +| | 5 | Runcam 2 4k | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Power Button | | +| +-----+-----------------+ | +| | 1 | WiFi Button | | +| +-----+-----------------+ | +| | 2 | Change Mode | | +| +-----+-----------------+ | +| | 3 | 5-Key OSD | | +| +-----+-----------------+ | +| | 4 | Settings Access | | +| +-----+-----------------+ | +| | 5 | DisplayPort | | +| +-----+-----------------+ | +| | 6 | Start Recording | | +| +-----+-----------------+ | +| | 7 | Stop Recording | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Stick yaw right | | +| +-----+-----------------------+ | +| | 1 | Stick roll right | | +| +-----+-----------------------+ | +| | 2 | 3-position switch | | +| +-----+-----------------------+ | +| | 3 | 2-position switch | | +| +-----+-----------------------+ | +| | 4 | Autorecording enabled | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++--------+-----------------------------------+ +| Range | Values | ++========+===================================+ +| 0 to 4 | +-------+-----------------------+ | +| | | Value | Meaning | | +| | +=======+=======================+ | +| | | 0 | Log None | | +| | +-------+-----------------------+ | +| | | 1 | Log Error | | +| | +-------+-----------------------+ | +| | | 2 | Log Warning and below | | +| | +-------+-----------------------+ | +| | | 3 | Log Info and below | | +| | +-------+-----------------------+ | +| | | 4 | Log Everything | | +| | +-------+-----------------------+ | +| | | ++--------+-----------------------------------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | DroneCAN | | +| +-------+------------+ | +| | 4 | PiccoloCAN | | +| +-------+------------+ | +| | 6 | EFI_NWPMU | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 8 | KDECAN | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 7 | USD1 | | +| +-------+------------+ | +| | 10 | Scripting | | +| +-------+------------+ | +| | 11 | Benewake | | +| +-------+------------+ | +| | 12 | Scripting2 | | +| +-------+------------+ | +| | 13 | TOFSenseP | | +| +-------+------------+ | +| | 14 | NanoRadar | | +| +-------+------------+ | +| | ++------------------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | ClearDNADatabase | | +| +-----+------------------------+ | +| | 1 | IgnoreDNANodeConflicts | | +| +-----+------------------------+ | +| | 2 | EnableCanfd | | +| +-----+------------------------+ | +| | 3 | IgnoreDNANodeUnhealthy | | +| +-----+------------------------+ | +| | 4 | SendServoAsPWM | | +| +-----+------------------------+ | +| | 5 | SendGNSS | | +| +-----+------------------------+ | +| | 6 | UseHimarkServo | | +| +-----+------------------------+ | +| | 7 | HobbyWingESC | | +| +-----+------------------------+ | +| | 8 | EnableStats | | +| +-----+------------------------+ | +| | 9 | EnableFlexDebug | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | ESC 1 | | +| +-----+---------+ | +| | 1 | ESC 2 | | +| +-----+---------+ | +| | 2 | ESC 3 | | +| +-----+---------+ | +| | 3 | ESC 4 | | +| +-----+---------+ | +| | 4 | ESC 5 | | +| +-----+---------+ | +| | 5 | ESC 6 | | +| +-----+---------+ | +| | 6 | ESC 7 | | +| +-----+---------+ | +| | 7 | ESC 8 | | +| +-----+---------+ | +| | 8 | ESC 9 | | +| +-----+---------+ | +| | 9 | ESC 10 | | +| +-----+---------+ | +| | 10 | ESC 11 | | +| +-----+---------+ | +| | 11 | ESC 12 | | +| +-----+---------+ | +| | 12 | ESC 13 | | +| +-----+---------+ | +| | 13 | ESC 14 | | +| +-----+---------+ | +| | 14 | ESC 15 | | +| +-----+---------+ | +| | 15 | ESC 16 | | +| +-----+---------+ | +| | 16 | ESC 17 | | +| +-----+---------+ | +| | 17 | ESC 18 | | +| +-----+---------+ | +| | 18 | ESC 19 | | +| +-----+---------+ | +| | 19 | ESC 20 | | +| +-----+---------+ | +| | 20 | ESC 21 | | +| +-----+---------+ | +| | 21 | ESC 22 | | +| +-----+---------+ | +| | 22 | ESC 23 | | +| +-----+---------+ | +| | 23 | ESC 24 | | +| +-----+---------+ | +| | 24 | ESC 25 | | +| +-----+---------+ | +| | 25 | ESC 26 | | +| +-----+---------+ | +| | 26 | ESC 27 | | +| +-----+---------+ | +| | 27 | ESC 28 | | +| +-----+---------+ | +| | 28 | ESC 29 | | +| +-----+---------+ | +| | 29 | ESC 30 | | +| +-----+---------+ | +| | 30 | ESC 31 | | +| +-----+---------+ | +| | 31 | ESC 32 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++----------+----------------------+ +| Range | Values | ++==========+======================+ +| 0 to 100 | +-------+----------+ | +| | | Value | Meaning | | +| | +=======+==========+ | +| | | -1 | Disabled | | +| | +-------+----------+ | +| | | 0 | Serial0 | | +| | +-------+----------+ | +| | | 1 | Serial1 | | +| | +-------+----------+ | +| | | 2 | Serial2 | | +| | +-------+----------+ | +| | | 3 | Serial3 | | +| | +-------+----------+ | +| | | 4 | Serial4 | | +| | +-------+----------+ | +| | | 5 | Serial5 | | +| | +-------+----------+ | +| | | 6 | Serial6 | | +| | +-------+----------+ | +| | | ++----------+----------------------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Disabled | | +| +-------+---------------+ | +| | 1 | First driver | | +| +-------+---------------+ | +| | 2 | Second driver | | +| +-------+---------------+ | +| | 3 | Third driver | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1M | | +| +-------+---------+ | +| | 2 | 2M | | +| +-------+---------+ | +| | 4 | 4M | | +| +-------+---------+ | +| | 5 | 5M | | +| +-------+---------+ | +| | 8 | 8M | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | First interface | | +| +-------+------------------+ | +| | 2 | Second interface | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CIRC: + +CIRC Parameters +--------------- + + +.. _CIRC_RADIUS: + +CIRC\_RADIUS: Circle Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will circle the center at this distance + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _CIRC_SPEED: + +CIRC\_SPEED: Circle Speed +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will move at this speed around the circle\. If set to zero WP\_SPEED will be used + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 10 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CIRC_DIR: + +CIRC\_DIR: Circle Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle Direction + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Clockwise | | +| +-------+-------------------+ | +| | 1 | Counter-Clockwise | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Disabled | | +| +-------+-------------------+ | +| | 1 | Internal-Learning | | +| +-------+-------------------+ | +| | 2 | EKF-Learning | | +| +-------+-------------------+ | +| | 3 | InFlight-Learning | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------------+--------------------------+ +| Calibration | Values | ++=============+==========================+ +| 1 | +-------+--------------+ | +| | | Value | Meaning | | +| | +=======+==============+ | +| | | 0 | Disabled | | +| | +-------+--------------+ | +| | | 1 | Use Throttle | | +| | +-------+--------------+ | +| | | 2 | Use Current | | +| | +-------+--------------+ | +| | | ++-------------+--------------------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Yaw45 | | +| +-------+----------------------+ | +| | 2 | Yaw90 | | +| +-------+----------------------+ | +| | 3 | Yaw135 | | +| +-------+----------------------+ | +| | 4 | Yaw180 | | +| +-------+----------------------+ | +| | 5 | Yaw225 | | +| +-------+----------------------+ | +| | 6 | Yaw270 | | +| +-------+----------------------+ | +| | 7 | Yaw315 | | +| +-------+----------------------+ | +| | 8 | Roll180 | | +| +-------+----------------------+ | +| | 9 | Yaw45Roll180 | | +| +-------+----------------------+ | +| | 10 | Yaw90Roll180 | | +| +-------+----------------------+ | +| | 11 | Yaw135Roll180 | | +| +-------+----------------------+ | +| | 12 | Pitch180 | | +| +-------+----------------------+ | +| | 13 | Yaw225Roll180 | | +| +-------+----------------------+ | +| | 14 | Yaw270Roll180 | | +| +-------+----------------------+ | +| | 15 | Yaw315Roll180 | | +| +-------+----------------------+ | +| | 16 | Roll90 | | +| +-------+----------------------+ | +| | 17 | Yaw45Roll90 | | +| +-------+----------------------+ | +| | 18 | Yaw90Roll90 | | +| +-------+----------------------+ | +| | 19 | Yaw135Roll90 | | +| +-------+----------------------+ | +| | 20 | Roll270 | | +| +-------+----------------------+ | +| | 21 | Yaw45Roll270 | | +| +-------+----------------------+ | +| | 22 | Yaw90Roll270 | | +| +-------+----------------------+ | +| | 23 | Yaw135Roll270 | | +| +-------+----------------------+ | +| | 24 | Pitch90 | | +| +-------+----------------------+ | +| | 25 | Pitch270 | | +| +-------+----------------------+ | +| | 26 | Yaw90Pitch180 | | +| +-------+----------------------+ | +| | 27 | Yaw270Pitch180 | | +| +-------+----------------------+ | +| | 28 | Pitch90Roll90 | | +| +-------+----------------------+ | +| | 29 | Pitch90Roll180 | | +| +-------+----------------------+ | +| | 30 | Pitch90Roll270 | | +| +-------+----------------------+ | +| | 31 | Pitch180Roll90 | | +| +-------+----------------------+ | +| | 32 | Pitch180Roll270 | | +| +-------+----------------------+ | +| | 33 | Pitch270Roll90 | | +| +-------+----------------------+ | +| | 34 | Pitch270Roll180 | | +| +-------+----------------------+ | +| | 35 | Pitch270Roll270 | | +| +-------+----------------------+ | +| | 36 | Yaw90Pitch180Roll90 | | +| +-------+----------------------+ | +| | 37 | Yaw270Roll90 | | +| +-------+----------------------+ | +| | 38 | Yaw293Pitch68Roll180 | | +| +-------+----------------------+ | +| | 39 | Pitch315 | | +| +-------+----------------------+ | +| | 40 | Pitch315Roll90 | | +| +-------+----------------------+ | +| | 42 | Roll45 | | +| +-------+----------------------+ | +| | 43 | Roll315 | | +| +-------+----------------------+ | +| | 100 | Custom 4.1 and older | | +| +-------+----------------------+ | +| | 101 | Custom 1 | | +| +-------+----------------------+ | +| | 102 | Custom 2 | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Internal | | +| +-------+----------------+ | +| | 1 | External | | +| +-------+----------------+ | +| | 2 | ForcedExternal | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-----------+---------+-------------------------+ +| Increment | Range | Values | ++===========+=========+=========================+ +| 0.1 | 4 to 32 | +-------+-------------+ | +| | | | Value | Meaning | | +| | | +=======+=============+ | +| | | | 4 | Very Strict | | +| | | +-------+-------------+ | +| | | | 8 | Strict | | +| | | +-------+-------------+ | +| | | | 16 | Default | | +| | | +-------+-------------+ | +| | | | 32 | Relaxed | | +| | | +-------+-------------+ | +| | | | ++-----------+---------+-------------------------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++------------------------+ +| Bitmask | ++========================+ +| +-----+--------------+ | +| | Bit | Meaning | | +| +=====+==============+ | +| | 0 | HMC5883 | | +| +-----+--------------+ | +| | 1 | LSM303D | | +| +-----+--------------+ | +| | 2 | AK8963 | | +| +-----+--------------+ | +| | 3 | BMM150 | | +| +-----+--------------+ | +| | 4 | LSM9DS1 | | +| +-----+--------------+ | +| | 5 | LIS3MDL | | +| +-----+--------------+ | +| | 6 | AK09916 | | +| +-----+--------------+ | +| | 7 | IST8310 | | +| +-----+--------------+ | +| | 8 | ICM20948 | | +| +-----+--------------+ | +| | 9 | MMC3416 | | +| +-----+--------------+ | +| | 11 | DroneCAN | | +| +-----+--------------+ | +| | 12 | QMC5883 | | +| +-----+--------------+ | +| | 14 | MAG3110 | | +| +-----+--------------+ | +| | 15 | IST8308 | | +| +-----+--------------+ | +| | 16 | RM3100 | | +| +-----+--------------+ | +| | 17 | MSP | | +| +-----+--------------+ | +| | 18 | ExternalAHRS | | +| +-----+--------------+ | +| | 19 | MMC5XX3 | | +| +-----+--------------+ | +| | 20 | QMC5883P | | +| +-----+--------------+ | +| | 21 | BMM350 | | +| +-----+--------------+ | +| | ++------------------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++----------------------------------------------------------------+ +| Values | ++================================================================+ +| +-------+----------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================+ | +| | 0 | Disabled | | +| +-------+----------------------------------------------------+ | +| | 1 | CheckOnly | | +| +-------+----------------------------------------------------+ | +| | 2 | CheckAndFix | | +| +-------+----------------------------------------------------+ | +| | 3 | use same tolerance to auto rotate 45 deg rotations | | +| +-------+----------------------------------------------------+ | +| | ++----------------------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----------------------------------------------------------------------------------------------------+ +| Bitmask | ++=====================================================================================================+ +| +-----+-------------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================================================+ | +| | 0 | CalRequireGPS | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | | +| +-----+-------------------------------------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Driver1 | | +| +-------+----------+ | +| | 2 | Driver2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | EnforceArming | | +| +-----+---------------------------+ | +| | 1 | AllowNonGPSPosition | | +| +-----+---------------------------+ | +| | 2 | LockUASIDOnFirstBasicIDRx | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_DOCK: + +DOCK Parameters +--------------- + + +.. _DOCK_SPEED: + +DOCK\_SPEED: Dock mode speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle speed limit in dock mode + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _DOCK_DIR: + +DOCK\_DIR: Dock mode direction of approach +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass direction in which vehicle should approach towards dock\. \-1 value represents unset parameter + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _DOCK_HDG_CORR_EN: + +DOCK\_HDG\_CORR\_EN: Dock mode heading correction enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, the autopilot modifies the path to approach the target head\-on along desired line of approch in dock mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _DOCK_HDG_CORR_WT: + +DOCK\_HDG\_CORR\_WT: Dock mode heading correction weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.05 | 0.00 to 0.90 | ++-----------+--------------+ + + + + +.. _DOCK_STOP_DIST: + +DOCK\_STOP\_DIST: Distance from docking target when we should stop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle starts stopping when it is this distance away from docking target + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | VectorNav | | +| +-------+--------------+ | +| | 2 | MicroStrain5 | | +| +-------+--------------+ | +| | 5 | InertialLabs | | +| +-------+--------------+ | +| | 7 | MicroStrain7 | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Vector Nav use uncompensated values for accel gyro and mag. | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | IMU | | +| +-----+---------+ | +| | 2 | Baro | | +| +-----+---------+ | +| | 3 | Compass | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | Serial-MS | | +| +-------+---------------+ | +| | 2 | NWPMU | | +| +-------+---------------+ | +| | 3 | Serial-Lutan | | +| +-------+---------------+ | +| | 5 | DroneCAN | | +| +-------+---------------+ | +| | 6 | Currawong-ECU | | +| +-------+---------------+ | +| | 7 | Scripting | | +| +-------+---------------+ | +| | 8 | Hirth | | +| +-------+---------------+ | +| | 9 | MAVLink | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | GPS 3D Vel and 2D Pos | | +| +-------+-----------------------+ | +| | 1 | GPS 2D vel and 2D pos | | +| +-------+-----------------------+ | +| | 2 | GPS 2D pos | | +| +-------+-----------------------+ | +| | 3 | No GPS | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Use Baro | | +| +-------+------------------+ | +| | 1 | Use Range Finder | | +| +-------+------------------+ | +| | 2 | Use GPS | | +| +-------+------------------+ | +| | 3 | Use Range Beacon | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | When flying | | +| +-------+-----------------------------+ | +| | 1 | When manoeuvring | | +| +-------+-----------------------------+ | +| | 2 | Never | | +| +-------+-----------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+-----------------------------+ | +| | 4 | Always | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | DisableExternalNavigation | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++---------------------------------------------------------------------------------------------+ +| Values | ++=============================================================================================+ +| +-------+---------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=================================================================================+ | +| | 0 | When flying | | +| +-------+---------------------------------------------------------------------------------+ | +| | 1 | When manoeuvring | | +| +-------+---------------------------------------------------------------------------------+ | +| | 2 | Never | | +| +-------+---------------------------------------------------------------------------------+ | +| | 3 | After first climb yaw reset | | +| +-------+---------------------------------------------------------------------------------+ | +| | 4 | Always | | +| +-------+---------------------------------------------------------------------------------+ | +| | 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | | +| +-------+---------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++--------------------------+ +| Bitmask | ++==========================+ +| +-----+----------------+ | +| | Bit | Meaning | | +| +=====+================+ | +| | 0 | NSats | | +| +-----+----------------+ | +| | 1 | HDoP | | +| +-----+----------------+ | +| | 2 | speed error | | +| +-----+----------------+ | +| | 3 | position error | | +| +-----+----------------+ | +| | 4 | yaw error | | +| +-----+----------------+ | +| | 5 | pos drift | | +| +-----+----------------+ | +| | 6 | vert speed | | +| +-----+----------------+ | +| | 7 | horiz speed | | +| +-----+----------------+ | +| | ++--------------------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | 3 | FourthIMU | | +| +-----+-----------+ | +| | 4 | FifthIMU | | +| +-----+-----------+ | +| | 5 | SixthIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Always | | +| +-----+-----------------+ | +| | 1 | WhenNoYawSensor | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Correct when using Baro height | | +| +-----+----------------------------------------+ | +| | 1 | Correct when using range finder height | | +| +-----+----------------------------------------+ | +| | 2 | Apply corrections to local position | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | Navigation | | +| +-------+------------+ | +| | 2 | Terrain | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstEKF | | +| +-----+-----------+ | +| | 1 | SecondEKF | | +| +-----+-----------+ | +| | 2 | ThirdEKF | | +| +-----+-----------+ | +| | 3 | FourthEKF | | +| +-----+-----------+ | +| | 4 | FifthEKF | | +| +-----+-----------+ | +| | 5 | SixthEKF | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | EnableGPSAffinity | | +| +-----+------------------------+ | +| | 1 | EnableBaroAffinity | | +| +-----+------------------------+ | +| | 2 | EnableCompassAffinity | | +| +-----+------------------------+ | +| | 3 | EnableAirspeedAffinity | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | JammingExpected | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 3 | GPS | | +| +-------+--------------+ | +| | 4 | Beacon | | +| +-------+--------------+ | +| | 5 | OpticalFlow | | +| +-------+--------------+ | +| | 6 | ExternalNav | | +| +-------+--------------+ | +| | 7 | WheelEncoder | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Baro | | +| +-------+-------------+ | +| | 2 | RangeFinder | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 3 | GPS | | +| +-------+-------------+ | +| | 4 | Beacon | | +| +-------+-------------+ | +| | 6 | ExternalNav | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | Compass | | +| +-------+---------------------------+ | +| | 2 | GPS | | +| +-------+---------------------------+ | +| | 3 | GPS with Compass Fallback | | +| +-------+---------------------------+ | +| | 6 | ExternalNav | | +| +-------+---------------------------+ | +| | 8 | GSF | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++------------------------------------------+ +| Bitmask | ++==========================================+ +| +-----+--------------------------------+ | +| | Bit | Meaning | | +| +=====+================================+ | +| | 0 | FuseAllVelocities | | +| +-----+--------------------------------+ | +| | 1 | AlignExtNavPosWhenUsingOptFlow | | +| +-----+--------------------------------+ | +| | ++------------------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++------------------------------------------------+ +| Bitmask | ++================================================+ +| +-----+--------------------------------------+ | +| | Bit | Meaning | | +| +=====+======================================+ | +| | 1 | Circle Centered on Home | | +| +-----+--------------------------------------+ | +| | 2 | Inclusion/Exclusion Circles+Polygons | | +| +-----+--------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Report Only | | +| +-------+-------------------------+ | +| | 1 | RTL or Hold | | +| +-------+-------------------------+ | +| | 2 | Hold | | +| +-------+-------------------------+ | +| | 3 | SmartRTL or RTL or Hold | | +| +-------+-------------------------+ | +| | 4 | SmartRTL or Hold | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Auto | | +| +-------+--------------------------+ | +| | 1 | Center Frequency | | +| +-------+--------------------------+ | +| | 2 | Lower-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 3 | Upper-Shoulder Frequency | | +| +-------+--------------------------+ | +| | 4 | Roll-Axis | | +| +-------+--------------------------+ | +| | 5 | Pitch-Axis | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable post-filter FFT | | +| +-----+------------------------+ | +| | 1 | Check motor noise | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disable | | +| +-------+--------------+ | +| | 1 | Notch Filter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | None | | +| +-------+----------+ | +| | 1 | PX4Flow | | +| +-------+----------+ | +| | 2 | Pixart | | +| +-------+----------+ | +| | 3 | Bebop | | +| +-------+----------+ | +| | 4 | CXOF | | +| +-------+----------+ | +| | 5 | MAVLink | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MSP | | +| +-------+----------+ | +| | 8 | UPFLOW | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | 0 | North-East-Down | | +| +-------+----------------------------------+ | +| | 1 | Relative to lead vehicle heading | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | None | | +| +-------+----------------------+ | +| | 1 | Face Lead Vehicle | | +| +-------+----------------------+ | +| | 2 | Same as Lead vehicle | | +| +-------+----------------------+ | +| | 3 | Direction of Flight | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | absolute | | +| +-------+----------+ | +| | 1 | relative | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | None | | +| +-------+------------------------------------------+ | +| | 1 | Mount Follows lead vehicle on mode enter | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | -1 | Disable | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | 15 | 15 | | +| +-------+---------+ | +| | 16 | 16 | | +| +-------+---------+ | +| | 17 | 17 | | +| +-------+---------+ | +| | 18 | 18 | | +| +-------+---------+ | +| | 19 | 19 | | +| +-------+---------+ | +| | 20 | 20 | | +| +-------+---------+ | +| | 21 | 21 | | +| +-------+---------+ | +| | 22 | 22 | | +| +-------+---------+ | +| | 23 | 23 | | +| +-------+---------+ | +| | 24 | 24 | | +| +-------+---------+ | +| | 25 | 25 | | +| +-------+---------+ | +| | 26 | 26 | | +| +-------+---------+ | +| | 27 | 27 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++----------------------------------------+ +| Bitmask | ++========================================+ +| +-----+------------------------------+ | +| | Bit | Meaning | | +| +=====+==============================+ | +| | 0 | EnableAirspeedAndGroundspeed | | +| +-----+------------------------------+ | +| | ++----------------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | Disabled | | +| +-------+------------------------+ | +| | 1 | IE 650w 800w Fuel Cell | | +| +-------+------------------------+ | +| | 2 | IE 2.4kW Fuel Cell | | +| +-------+------------------------+ | +| | 3 | Richenpower | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++--------------------------------------------------+ +| Bitmask | ++==================================================+ +| +-----+----------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================+ | +| | 0 | Suppress Maintenance-Required Warnings | | +| +-----+----------------------------------------+ | +| | ++--------------------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Portable | | +| +-------+------------+ | +| | 2 | Stationary | | +| +-------+------------+ | +| | 3 | Pedestrian | | +| +-------+------------+ | +| | 4 | Automotive | | +| +-------+------------+ | +| | 5 | Sea | | +| +-------+------------+ | +| | 6 | Airborne1G | | +| +-------+------------+ | +| | 7 | Airborne2G | | +| +-------+------------+ | +| | 8 | Airborne4G | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++---------------------------------------------+ +| Values | ++=============================================+ +| +-------+---------------------------------+ | +| | Value | Meaning | | +| +=======+=================================+ | +| | 0 | Use primary | | +| +-------+---------------------------------+ | +| | 1 | UseBest | | +| +-------+---------------------------------+ | +| | 2 | Blend | | +| +-------+---------------------------------+ | +| | 4 | Use primary if 3D fix or better | | +| +-------+---------------------------------+ | +| | ++---------------------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | send to first GPS | | +| +-------+-------------------+ | +| | 1 | send to 2nd GPS | | +| +-------+-------------------+ | +| | 127 | send to all | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None (0x0000) | | +| +-------+------------------------+ | +| | -1 | All (0xFFFF) | | +| +-------+------------------------+ | +| | -256 | External only (0xFF00) | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++------------------------------------------------------+ +| Values | ++======================================================+ +| +-------+------------------------------------------+ | +| | Value | Meaning | | +| +=======+==========================================+ | +| | 0 | Ignore | | +| +-------+------------------------------------------+ | +| | 1 | Always log | | +| +-------+------------------------------------------+ | +| | 2 | Stop logging when disarmed (SBF only) | | +| +-------+------------------------------------------+ | +| | 5 | Only log every five samples (uBlox only) | | +| +-------+------------------------------------------+ | +| | ++------------------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | Do not save config | | +| +-------+-----------------------+ | +| | 1 | Save config | | +| +-------+-----------------------+ | +| | 2 | Save only when needed | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++------------------------------------------------------------------+ +| Values | ++==================================================================+ +| +-------+------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================================+ | +| | 0 | Disables automatic configuration | | +| +-------+------------------------------------------------------+ | +| | 1 | Enable automatic configuration for Serial GPSes only | | +| +-------+------------------------------------------------------+ | +| | 2 | Enable automatic configuration for DroneCAN as well | | +| +-------+------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Horiz Pos | | +| +-----+-----------+ | +| | 1 | Vert Pos | | +| +-----+-----------+ | +| | 2 | Speed | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++---------------------------------------------------------------------------------------+ +| Bitmask | ++=======================================================================================+ +| +-----+-----------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================================+ | +| | 0 | Use UART2 for moving baseline on ublox | | +| +-----+-----------------------------------------------------------------------------+ | +| | 1 | Use base station for GPS yaw on SBF | | +| +-----+-----------------------------------------------------------------------------+ | +| | 2 | Use baudrate 115200 | | +| +-----+-----------------------------------------------------------------------------+ | +| | 3 | Use dedicated CAN port b/w GPSes for moving baseline | | +| +-----+-----------------------------------------------------------------------------+ | +| | 4 | Use ellipsoid height instead of AMSL | | +| +-----+-----------------------------------------------------------------------------+ | +| | 5 | Override GPS satellite health of L5 band from L1 health | | +| +-----+-----------------------------------------------------------------------------+ | +| | 6 | Enable RTCM full parse even for a single channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | | +| +-----+-----------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-----------+-----------------------+ +| Increment | Values | ++===========+=======================+ +| 1 | +-------+-----------+ | +| | | Value | Meaning | | +| | +=======+===========+ | +| | | 0 | FirstGPS | | +| | +-------+-----------+ | +| | | 1 | SecondGPS | | +| | +-------+-----------+ | +| | | ++-----------+-----------------------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------------------------------------------+ +| Values | ++===========================================+ +| +-------+-------------------------------+ | +| | Value | Meaning | | +| +=======+===============================+ | +| | 0 | None | | +| +-------+-------------------------------+ | +| | 1 | AUTO | | +| +-------+-------------------------------+ | +| | 2 | uBlox | | +| +-------+-------------------------------+ | +| | 5 | NMEA | | +| +-------+-------------------------------+ | +| | 6 | SiRF | | +| +-------+-------------------------------+ | +| | 7 | HIL | | +| +-------+-------------------------------+ | +| | 8 | SwiftNav | | +| +-------+-------------------------------+ | +| | 9 | DroneCAN | | +| +-------+-------------------------------+ | +| | 10 | Septentrio(SBF) | | +| +-------+-------------------------------+ | +| | 11 | Trimble(GSOF) | | +| +-------+-------------------------------+ | +| | 13 | ERB | | +| +-------+-------------------------------+ | +| | 14 | MAVLink | | +| +-------+-------------------------------+ | +| | 15 | NOVA | | +| +-------+-------------------------------+ | +| | 16 | HemisphereNMEA | | +| +-------+-------------------------------+ | +| | 17 | uBlox-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 18 | uBlox-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 19 | MSP | | +| +-------+-------------------------------+ | +| | 20 | AllyStar | | +| +-------+-------------------------------+ | +| | 21 | ExternalAHRS | | +| +-------+-------------------------------+ | +| | 22 | DroneCAN-MovingBaseline-Base | | +| +-------+-------------------------------+ | +| | 23 | DroneCAN-MovingBaseline-Rover | | +| +-------+-------------------------------+ | +| | 24 | UnicoreNMEA | | +| +-------+-------------------------------+ | +| | 25 | UnicoreMovingBaselineNMEA | | +| +-------+-------------------------------+ | +| | 26 | Septentrio-DualAntenna(SBF) | | +| +-------+-------------------------------+ | +| | ++-------------------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPS | | +| +-----+---------+ | +| | 1 | SBAS | | +| +-----+---------+ | +| | 2 | Galileo | | +| +-----+---------+ | +| | 3 | Beidou | | +| +-----+---------+ | +| | 4 | IMES | | +| +-----+---------+ | +| | 5 | QZSS | | +| +-----+---------+ | +| | 6 | GLONASS | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-----------+--------------+---------------------+ +| Range | Units | Values | ++===========+==============+=====================+ +| 50 to 200 | milliseconds | +-------+---------+ | +| | | | Value | Meaning | | +| | | +=======+=========+ | +| | | | 100 | 10Hz | | +| | | +-------+---------+ | +| | | | 125 | 8Hz | | +| | | +-------+---------+ | +| | | | 200 | 5Hz | | +| | | +-------+---------+ | +| | | | ++-----------+--------------+---------------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-----------+---------+---------------------------------+ +| Increment | Range | Values | ++===========+=========+=================================+ +| 1 | 0 to 10 | +-------+---------------------+ | +| | | | Value | Meaning | | +| | | +=======+=====================+ | +| | | | 0 | COM1(RS232) on GSOF | | +| | | +-------+---------------------+ | +| | | | 1 | COM2(TTL) on GSOF | | +| | | +-------+---------------------+ | +| | | | ++-----------+---------+---------------------------------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | Relative to alternate GPS instance | | +| +-------+------------------------------------+ | +| | 1 | RelativeToCustomBase | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | Servo | | +| +-------+---------+ | +| | 2 | EPM | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Never | | +| +-------+---------------+ | +| | 1 | Start-up only | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++--------------------------------------------------------------------+ +| Values | ++====================================================================+ +| +-------+--------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================================+ | +| | 0 | Don't adjust the trims | | +| +-------+--------------------------------------------------------+ | +| | 1 | Assume first orientation was level | | +| +-------+--------------------------------------------------------+ | +| | 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | | +| +-------+--------------------------------------------------------+ | +| | ++--------------------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | IMU 1 | | +| +-------+---------+ | +| | 2 | IMU 2 | | +| +-------+---------+ | +| | 3 | IMU 3 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | FirstIMU | | +| +-----+-----------+ | +| | 1 | SecondIMU | | +| +-----+-----------+ | +| | 2 | ThirdIMU | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | FirstIMU | | +| +-----+------------+ | +| | 1 | SecondIMU | | +| +-----+------------+ | +| | 2 | ThirdIMU | | +| +-----+------------+ | +| | 3 | FourthIMU | | +| +-----+------------+ | +| | 4 | FifthIMU | | +| +-----+------------+ | +| | 5 | SixthIMU | | +| +-----+------------+ | +| | 6 | SeventhIMU | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 1kHz | | +| +-------+---------+ | +| | 1 | 2kHz | | +| +-------+---------+ | +| | 2 | 4kHz | | +| +-------+---------+ | +| | 3 | 8kHz | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | PersistTemps | | +| +-----+---------------+ | +| | 1 | PersistAccels | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++---------------------------------+ +| Bitmask | ++=================================+ +| +-----+-----------------------+ | +| | Bit | Meaning | | +| +=====+=======================+ | +| | 0 | Log primary gyro only | | +| +-----+-----------------------+ | +| | 1 | Log all gyros | | +| +-----+-----------------------+ | +| | 2 | Post filter | | +| +-----+-----------------------+ | +| | 3 | Pre and post filter | | +| +-----+-----------------------+ | +| | ++---------------------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | 1st harmonic | | +| +-----+---------------+ | +| | 1 | 2nd harmonic | | +| +-----+---------------+ | +| | 2 | 3rd harmonic | | +| +-----+---------------+ | +| | 3 | 4th harmonic | | +| +-----+---------------+ | +| | 4 | 5th harmonic | | +| +-----+---------------+ | +| | 5 | 6th harmonic | | +| +-----+---------------+ | +| | 6 | 7th harmonic | | +| +-----+---------------+ | +| | 7 | 8th harmonic | | +| +-----+---------------+ | +| | 8 | 9th harmonic | | +| +-----+---------------+ | +| | 9 | 10th harmonic | | +| +-----+---------------+ | +| | 10 | 11th harmonic | | +| +-----+---------------+ | +| | 11 | 12th harmonic | | +| +-----+---------------+ | +| | 12 | 13th harmonic | | +| +-----+---------------+ | +| | 13 | 14th harmonic | | +| +-----+---------------+ | +| | 14 | 15th harmonic | | +| +-----+---------------+ | +| | 15 | 16th harmonic | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++--------+-------------------------------+ +| Range | Values | ++========+===============================+ +| 0 to 5 | +-------+-------------------+ | +| | | Value | Meaning | | +| | +=======+===================+ | +| | | 0 | Fixed | | +| | +-------+-------------------+ | +| | | 1 | Throttle | | +| | +-------+-------------------+ | +| | | 2 | RPM Sensor | | +| | +-------+-------------------+ | +| | | 3 | ESC Telemetry | | +| | +-------+-------------------+ | +| | | 4 | Dynamic FFT | | +| | +-------+-------------------+ | +| | | 5 | Second RPM Sensor | | +| | +-------+-------------------+ | +| | | ++--------+-------------------------------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++----------------------------------------------+ +| Bitmask | ++==============================================+ +| +-----+------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================+ | +| | 0 | Double notch | | +| +-----+------------------------------------+ | +| | 1 | Multi-Source | | +| +-----+------------------------------------+ | +| | 2 | Update at loop rate | | +| +-----+------------------------------------+ | +| | 3 | EnableOnAllIMUs | | +| +-----+------------------------------------+ | +| | 4 | Triple notch | | +| +-----+------------------------------------+ | +| | 5 | Use min freq on RPM source failure | | +| +-----+------------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | IMU1 | | +| +-----+---------+ | +| | 1 | IMU2 | | +| +-----+---------+ | +| | 2 | IMU3 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----------------------------------------------------------------------+ +| Bitmask | ++=======================================================================+ +| +-----+-------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=============================================================+ | +| | 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | | +| +-----+-------------------------------------------------------------+ | +| | 1 | Sample post-filtering | | +| +-----+-------------------------------------------------------------+ | +| | 2 | Sample pre- and post-filter | | +| +-----+-------------------------------------------------------------+ | +| | ++-----------------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Enabled | | +| +-------+------------------+ | +| | 2 | LearnCalibration | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | File | | +| +-----+---------+ | +| | 1 | MAVLink | | +| +-----+---------+ | +| | 2 | Block | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | 0 | Disabled | | +| +-------+--------------------------------------+ | +| | 1 | Enabled | | +| +-------+--------------------------------------+ | +| | 2 | Disabled on USB connection | | +| +-------+--------------------------------------+ | +| | 3 | Discard log on reboot if never armed | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | Resume Mission | | +| +-------+-----------------+ | +| | 1 | Restart Mission | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++-----------------------------------+ +| Bitmask | ++===================================+ +| +-----+-------------------------+ | +| | Bit | Meaning | | +| +=====+=========================+ | +| | 0 | Clear Mission on reboot | | +| +-----+-------------------------+ | +| | ++-----------------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Servo | | +| +-------+-----------------+ | +| | 2 | 3DR Solo | | +| +-------+-----------------+ | +| | 3 | Alexmos Serial | | +| +-------+-----------------+ | +| | 4 | SToRM32 MAVLink | | +| +-------+-----------------+ | +| | 5 | SToRM32 Serial | | +| +-------+-----------------+ | +| | 6 | Gremsy | | +| +-------+-----------------+ | +| | 7 | BrushlessPWM | | +| +-------+-----------------+ | +| | 8 | Siyi | | +| +-------+-----------------+ | +| | 9 | Scripting | | +| +-------+-----------------+ | +| | 10 | Xacti | | +| +-------+-----------------+ | +| | 11 | Viewpro | | +| +-------+-----------------+ | +| | 12 | Topotek | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------------------------------+ +| Values | ++===============================+ +| +-------+-------------------+ | +| | Value | Meaning | | +| +=======+===================+ | +| | 0 | Retracted | | +| +-------+-------------------+ | +| | 1 | Neutral | | +| +-------+-------------------+ | +| | 2 | MavLink Targeting | | +| +-------+-------------------+ | +| | 3 | RC Targeting | | +| +-------+-------------------+ | +| | 4 | GPS Point | | +| +-------+-------------------+ | +| | 5 | SysID Target | | +| +-------+-------------------+ | +| | 6 | Home Location | | +| +-------+-------------------+ | +| | ++-------------------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++--------------------------------------------+ +| Bitmask | ++============================================+ +| +-----+----------------------------------+ | +| | Bit | Meaning | | +| +=====+==================================+ | +| | 0 | RC lock state from previous mode | | +| +-----+----------------------------------+ | +| | ++--------------------------------------------+ + + + + + +.. _parameters_MOT_: + +MOT\_ Parameters +---------------- + + +.. _MOT_PWM_TYPE: + +MOT\_PWM\_TYPE: Motor Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type as regular PWM\, OneShot\, Brushed motor support using PWM \(duty cycle\) with separated direction signal\, Brushed motor support with separate throttle and direction PWM \(duty cyle\) + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Normal | | +| +-------+------------------+ | +| | 1 | OneShot | | +| +-------+------------------+ | +| | 2 | OneShot125 | | +| +-------+------------------+ | +| | 3 | BrushedWithRelay | | +| +-------+------------------+ | +| | 4 | BrushedBiPolar | | +| +-------+------------------+ | +| | 5 | DShot150 | | +| +-------+------------------+ | +| | 6 | DShot300 | | +| +-------+------------------+ | +| | 7 | DShot600 | | +| +-------+------------------+ | +| | 8 | DShot1200 | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _MOT_PWM_FREQ: + +MOT\_PWM\_FREQ: Motor Output PWM freq for brushed motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Motor Output PWM freq for brushed motors + + ++-----------+---------+-----------+ +| Increment | Range | Units | ++===========+=========+===========+ +| 1 | 1 to 20 | kilohertz | ++-----------+---------+-----------+ + + + + +.. _MOT_SAFE_DISARM: + +MOT\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | PWM enabled while disarmed | | +| +-------+-----------------------------+ | +| | 1 | PWM disabled while disarmed | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _MOT_THR_MIN: + +MOT\_THR\_MIN: Throttle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle minimum percentage the autopilot will apply\. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 20 | percent | ++-----------+---------+---------+ + + + + +.. _MOT_THR_MAX: + +MOT\_THR\_MAX: Throttle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle maximum percentage the autopilot will apply\. This can be used to prevent overheating an ESC or motor on an electric rover + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | 30 to 100 | percent | ++-----------+-----------+---------+ + + + + +.. _MOT_SLEWRATE: + +MOT\_SLEWRATE: Throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle slew rate as a percentage of total range per second\. A value of 100 allows the motor to change over its full range in one second\. A value of zero disables the limit\. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1000 | percent per second | ++-----------+-----------+--------------------+ + + + + +.. _MOT_THST_EXPO: + +MOT\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Thrust curve exponent \(\-1 to \+1 with 0 being linear\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _MOT_SPD_SCA_BASE: + +MOT\_SPD\_SCA\_BASE: Motor speed scaling base speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed above which steering is scaled down when using regular steering\/throttle vehicles\. zero to disable speed scaling + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _MOT_STR_THR_MIX: + +MOT\_STR\_THR\_MIX: Motor steering vs throttle prioritisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering vs Throttle priorisation\. Higher numbers prioritise steering\, lower numbers prioritise throttle\. Only valid for Skid Steering vehicles + + ++------------+ +| Range | ++============+ +| 0.2 to 1.0 | ++------------+ + + + + +.. _MOT_VEC_ANGLEMAX: + +MOT\_VEC\_ANGLEMAX: Vector thrust angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The angle between steering\'s middle position and maximum position when using vectored thrust \(boats only\) + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 90 | degrees | ++---------+---------+ + + + + +.. _MOT_THST_ASYM: + +MOT\_THST\_ASYM: Motor Thrust Asymmetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Thrust Asymetry\. Used for skid\-steering\. 2\.0 means your motors move twice as fast forward than they do backwards\. + + ++-------------+ +| Range | ++=============+ +| 1.0 to 10.0 | ++-------------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Auto | | +| +-------+---------+ | +| | 1 | 1 | | +| +-------+---------+ | +| | 2 | 2 | | +| +-------+---------+ | +| | 3 | 3 | | +| +-------+---------+ | +| | 4 | 4 | | +| +-------+---------+ | +| | 5 | 5 | | +| +-------+---------+ | +| | 6 | 6 | | +| +-------+---------+ | +| | 7 | 7 | | +| +-------+---------+ | +| | 8 | 8 | | +| +-------+---------+ | +| | 9 | 9 | | +| +-------+---------+ | +| | 10 | 10 | | +| +-------+---------+ | +| | 11 | 11 | | +| +-------+---------+ | +| | 12 | 12 | | +| +-------+---------+ | +| | 13 | 13 | | +| +-------+---------+ | +| | 14 | 14 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | EnableTelemetryMode | | +| +-----+---------------------+ | +| | 1 | unused | | +| +-----+---------------------+ | +| | 2 | EnableBTFLFonts | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 0 | UDP echo test | | +| +-----+------------------+ | +| | 1 | TCP echo test | | +| +-----+------------------+ | +| | 2 | TCP discard test | | +| +-----+------------------+ | +| | 3 | TCP reflect test | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | EnablePPP Ethernet gateway | | +| +-----+-------------------------------+ | +| | 1 | Enable CAN1 multicast gateway | | +| +-----+-------------------------------+ | +| | 2 | Enable CAN2 multicast gateway | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | UDP client | | +| +-------+------------+ | +| | 2 | UDP server | | +| +-------+------------+ | +| | 3 | TCP client | | +| +-------+------------+ | +| | 4 | TCP server | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | GPGGA | | +| +-----+---------+ | +| | 1 | GPRMC | | +| +-----+---------+ | +| | 2 | PASHR | | +| +-----+---------+ | +| | ++-------------------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Off | | +| +-------+---------+ | +| | 1 | Low | | +| +-------+---------+ | +| | 2 | Medium | | +| +-------+---------+ | +| | 3 | High | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++---------------------------+ +| Bitmask | ++===========================+ +| +-----+-----------------+ | +| | Bit | Meaning | | +| +=====+=================+ | +| | 0 | Built-in buzzer | | +| +-----+-----------------+ | +| | 1 | DShot | | +| +-----+-----------------+ | +| | 2 | DroneCAN | | +| +-----+-----------------+ | +| | ++---------------------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-----------------------------------------+ +| Values | ++=========================================+ +| +-------+-----------------------------+ | +| | Value | Meaning | | +| +=======+=============================+ | +| | 0 | Standard | | +| +-------+-----------------------------+ | +| | 1 | MAVLink/Scripting/AP_Periph | | +| +-------+-----------------------------+ | +| | 2 | OutbackChallenge | | +| +-------+-----------------------------+ | +| | 3 | TrafficLight | | +| +-------+-----------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | ssd1306 | | +| +-------+---------+ | +| | 2 | sh1106 | | +| +-------+---------+ | +| | 10 | SITL | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Aircraft | | +| +-------+----------+ | +| | 2 | Rover | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-------------------------------+ +| Bitmask | ++===============================+ +| +-----+---------------------+ | +| | Bit | Meaning | | +| +=====+=====================+ | +| | 0 | Built-in LED | | +| +-----+---------------------+ | +| | 1 | Internal ToshibaLED | | +| +-----+---------------------+ | +| | 2 | External ToshibaLED | | +| +-----+---------------------+ | +| | 3 | External PCA9685 | | +| +-----+---------------------+ | +| | 4 | Oreo LED | | +| +-----+---------------------+ | +| | 5 | DroneCAN | | +| +-----+---------------------+ | +| | 6 | NCP5623 External | | +| +-----+---------------------+ | +| | 7 | NCP5623 Internal | | +| +-----+---------------------+ | +| | 8 | NeoPixel | | +| +-----+---------------------+ | +| | 9 | ProfiLED | | +| +-----+---------------------+ | +| | 10 | Scripting | | +| +-----+---------------------+ | +| | 11 | DShot | | +| +-----+---------------------+ | +| | 12 | ProfiLED_SPI | | +| +-----+---------------------+ | +| | 13 | LP5562 External | | +| +-----+---------------------+ | +| | 14 | LP5562 Internal | | +| +-----+---------------------+ | +| | 15 | IS31FL3195 External | | +| +-----+---------------------+ | +| | 16 | IS31FL3195 Internal | | +| +-----+---------------------+ | +| | 17 | DiscreteRGB | | +| +-----+---------------------+ | +| | 18 | NeoPixelRGB | | +| +-----+---------------------+ | +| | ++-------------------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | LowIsOn | | +| +-------+----------+ | +| | 1 | HighIsOn | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OA_: + +OA\_ Parameters +--------------- + + +.. _OA_TYPE: + +OA\_TYPE: Object Avoidance Path Planning algorithm to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable path planning around obstacles + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | Disabled | | +| +-------+--------------------------+ | +| | 1 | BendyRuler | | +| +-------+--------------------------+ | +| | 2 | Dijkstra | | +| +-------+--------------------------+ | +| | 3 | Dijkstra with BendyRuler | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _OA_MARGIN_MAX: + +OA\_MARGIN\_MAX: Object Avoidance wide margin distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will ignore objects more than this many meters from vehicle + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0.1 to 100 | meters | ++-----------+------------+--------+ + + + + +.. _OA_OPTIONS: + +OA\_OPTIONS: Options while recovering from Object Avoidance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance \(i\.e Avoidance is turned off after the path ahead is clear\)\. + + ++--------------------------------------------------------------------+ +| Bitmask | ++====================================================================+ +| +-----+----------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+==========================================================+ | +| | 0 | Reset the origin of the waypoint to the present location | | +| +-----+----------------------------------------------------------+ | +| | 1 | log Dijkstra points | | +| +-----+----------------------------------------------------------+ | +| | ++--------------------------------------------------------------------+ + + + + + +.. _parameters_OA_BR_: + +OA\_BR\_ Parameters +------------------- + + +.. _OA_BR_LOOKAHEAD: + +OA\_BR\_LOOKAHEAD: Object Avoidance look ahead distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will look this many meters ahead of vehicle + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _OA_BR_CONT_RATIO: + +OA\_BR\_CONT\_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle \(or fence\) to present calculated margin is atleast this much\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 1.1 to 2 | ++-----------+----------+ + + + + +.. _OA_BR_CONT_ANGLE: + +OA\_BR\_CONT\_ANGLE: BendyRuler\'s bearing change resistance threshold angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 5 | 20 to 180 | ++-----------+-----------+ + + + + + +.. _parameters_OA_DB_: + +OA\_DB\_ Parameters +------------------- + + +.. _OA_DB_SIZE: + +OA\_DB\_SIZE: OADatabase maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase maximum number of points\. Set to 0 to disable the OA Database\. Larger means more points but is more cpu intensive to process + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _OA_DB_EXPIRE: + +OA\_DB\_EXPIRE: OADatabase item timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase item timeout\. The time an item will linger without any updates before it expires\. Zero means never expires which is useful for a sent\-once static environment but terrible for dynamic ones\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _OA_DB_QUEUE_SIZE: + +OA\_DB\_QUEUE\_SIZE: OADatabase queue maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase queue maximum number of points\. This in an input buffer size\. Larger means it can handle larger bursts of incoming data points to filter into the database\. No impact on cpu\, only RAM\. Recommend larger for faster datalinks or for sensors that generate a lot of data\. + + ++----------+ +| Range | ++==========+ +| 1 to 200 | ++----------+ + + + + +.. _OA_DB_OUTPUT: + +OA\_DB\_OUTPUT: OADatabase output level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station\. All data is always available internally for avoidance algorithms\. + + ++---------------------------------------------------+ +| Values | ++===================================================+ +| +-------+---------------------------------------+ | +| | Value | Meaning | | +| +=======+=======================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------+ | +| | 1 | Send only HIGH importance items | | +| +-------+---------------------------------------+ | +| | 2 | Send HIGH and NORMAL importance items | | +| +-------+---------------------------------------+ | +| | 3 | Send all items | | +| +-------+---------------------------------------+ | +| | ++---------------------------------------------------+ + + + + +.. _OA_DB_BEAM_WIDTH: + +OA\_DB\_BEAM\_WIDTH: OADatabase beam width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Beam width of incoming lidar data + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | degrees | ++---------+---------+ + + + + +.. _OA_DB_RADIUS_MIN: + +OA\_DB\_RADIUS\_MIN: OADatabase Minimum radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum radius of objects held in database + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_DIST_MAX: + +OA\_DB\_DIST\_MAX: OADatabase Distance Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance of objects held in database\. Set to zero to disable the limits + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 5 | Chan5 | | +| +-------+---------+ | +| | 6 | Chan6 | | +| +-------+---------+ | +| | 7 | Chan7 | | +| +-------+---------+ | +| | 8 | Chan8 | | +| +-------+---------+ | +| | 9 | Chan9 | | +| +-------+---------+ | +| | 10 | Chan10 | | +| +-------+---------+ | +| | 11 | Chan11 | | +| +-------+---------+ | +| | 12 | Chan12 | | +| +-------+---------+ | +| | 13 | Chan13 | | +| +-------+---------+ | +| | 14 | Chan14 | | +| +-------+---------+ | +| | 15 | Chan15 | | +| +-------+---------+ | +| | 16 | Chan16 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++---------------------------------------------------------------------------------------------------------+ +| Values | ++=========================================================================================================+ +| +-------+---------------------------------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+=============================================================================================+ | +| | 0 | switch to next screen if channel value was changed | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 1 | select screen based on pwm ranges specified for each screen | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | 2 | switch to next screen after low to high transition and every 1s while channel value is high | | +| +-------+---------------------------------------------------------------------------------------------+ | +| | ++---------------------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++--------------------------------------------------------------+ +| Bitmask | ++==============================================================+ +| +-----+----------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================+ | +| | 0 | UseDecimalPack | | +| +-----+----------------------------------------------------+ | +| | 1 | InvertedWindArrow | | +| +-----+----------------------------------------------------+ | +| | 2 | InvertedAHRoll | | +| +-----+----------------------------------------------------+ | +| | 3 | Convert feet to miles at 5280ft instead of 10000ft | | +| +-----+----------------------------------------------------+ | +| | 4 | DisableCrosshair | | +| +-----+----------------------------------------------------+ | +| | 5 | TranslateArrows | | +| +-----+----------------------------------------------------+ | +| | 6 | AviationStyleAH | | +| +-----+----------------------------------------------------+ | +| | 7 | Prefix LQ with RF Mode | | +| +-----+----------------------------------------------------+ | +| | ++--------------------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Metric | | +| +-------+----------+ | +| | 1 | Imperial | | +| +-------+----------+ | +| | 2 | SI | | +| +-------+----------+ | +| | 3 | Aviation | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | MAX7456 | | +| +-------+-----------------+ | +| | 2 | SITL | | +| +-------+-----------------+ | +| | 3 | MSP | | +| +-------+-----------------+ | +| | 4 | TXONLY | | +| +-------+-----------------+ | +| | 5 | MSP_DISPLAYPORT | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | 30x16 | | +| +-------+---------+ | +| | 1 | 50x18 | | +| +-------+---------+ | +| | 2 | 60x22 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | MAVLink | | +| +-------+-------------+ | +| | 2 | IRLock | | +| +-------+-------------+ | +| | 3 | SITL_Gazebo | | +| +-------+-------------+ | +| | 4 | SITL | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | RawSensor | | +| +-------+--------------+ | +| | 1 | KalmanFilter | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | -1 | DefaultBus | | +| +-------+-------------+ | +| | 0 | InternalI2C | | +| +-------+-------------+ | +| | 1 | ExternalI2C | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++----------------------------------------------------+ +| Values | ++====================================================+ +| +-------+----------------------------------------+ | +| | Value | Meaning | | +| +=======+========================================+ | +| | 0 | Land Vertically (Not strict) | | +| +-------+----------------------------------------+ | +| | 1 | Retry Landing(Normal Strictness) | | +| +-------+----------------------------------------+ | +| | 2 | Do not land (just Hover) (Very Strict) | | +| +-------+----------------------------------------+ | +| | ++----------------------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++--------------------------------------------------------------------------------+ +| Values | ++================================================================================+ +| +-------+--------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================================================+ | +| | 0 | Go to the last location where landing target was detected | | +| +-------+--------------------------------------------------------------------+ | +| | 1 | Go towards the approximate location of the detected landing target | | +| +-------+--------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----------------------------------------------------------+ +| Bitmask | ++===========================================================+ +| +-----+-------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+=================================================+ | +| | 0 | Moving Landing Target | | +| +-----+-------------------------------------------------+ | +| | 1 | Allow Precision Landing after manual reposition | | +| +-----+-------------------------------------------------+ | +| | 2 | Maintain high speed in final descent | | +| +-----+-------------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + + +.. _parameters_PRX: + +PRX Parameters +-------------- + + +.. _PRX_LOG_RAW: + +PRX\_LOG\_RAW: Proximity raw distances log +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered\(raw\) distances from sensor should be enabled + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Off | | +| +-------+---------+ | +| | 1 | On | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _PRX_FILT: + +PRX\_FILT: Proximity filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 20 | hertz | ++---------+-------+ + + + + + +.. _parameters_PRX1: + +PRX1 Parameters +--------------- + + +.. _PRX1_TYPE: + +PRX1\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX1_ORIENT: + +PRX1\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX1_YAW_CORR: + +PRX1\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX1_IGN_ANG1: + +PRX1\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID1: + +PRX1\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG2: + +PRX1\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID2: + +PRX1\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG3: + +PRX1\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID3: + +PRX1\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG4: + +PRX1\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID4: + +PRX1\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_MIN: + +PRX1\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_MAX: + +PRX1\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_ADDR: + +PRX1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX1_: + +PRX1\_ Parameters +----------------- + + +.. _PRX1_RECV_ID: + +PRX1\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX2: + +PRX2 Parameters +--------------- + + +.. _PRX2_TYPE: + +PRX2\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX2_ORIENT: + +PRX2\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX2_YAW_CORR: + +PRX2\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX2_IGN_ANG1: + +PRX2\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID1: + +PRX2\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG2: + +PRX2\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID2: + +PRX2\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG3: + +PRX2\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID3: + +PRX2\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG4: + +PRX2\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID4: + +PRX2\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_MIN: + +PRX2\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_MAX: + +PRX2\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_ADDR: + +PRX2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX2_: + +PRX2\_ Parameters +----------------- + + +.. _PRX2_RECV_ID: + +PRX2\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX3: + +PRX3 Parameters +--------------- + + +.. _PRX3_TYPE: + +PRX3\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX3_ORIENT: + +PRX3\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX3_YAW_CORR: + +PRX3\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX3_IGN_ANG1: + +PRX3\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID1: + +PRX3\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG2: + +PRX3\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID2: + +PRX3\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG3: + +PRX3\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID3: + +PRX3\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG4: + +PRX3\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID4: + +PRX3\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_MIN: + +PRX3\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_MAX: + +PRX3\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_ADDR: + +PRX3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX3_: + +PRX3\_ Parameters +----------------- + + +.. _PRX3_RECV_ID: + +PRX3\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX4: + +PRX4 Parameters +--------------- + + +.. _PRX4_TYPE: + +PRX4\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | None | | +| +-------+--------------------+ | +| | 7 | LightwareSF40c | | +| +-------+--------------------+ | +| | 2 | MAVLink | | +| +-------+--------------------+ | +| | 3 | TeraRangerTower | | +| +-------+--------------------+ | +| | 4 | RangeFinder | | +| +-------+--------------------+ | +| | 5 | RPLidarA2 | | +| +-------+--------------------+ | +| | 6 | TeraRangerTowerEvo | | +| +-------+--------------------+ | +| | 8 | LightwareSF45B | | +| +-------+--------------------+ | +| | 10 | SITL | | +| +-------+--------------------+ | +| | 12 | AirSimSITL | | +| +-------+--------------------+ | +| | 13 | CygbotD1 | | +| +-------+--------------------+ | +| | 14 | DroneCAN | | +| +-------+--------------------+ | +| | 15 | Scripting | | +| +-------+--------------------+ | +| | 16 | LD06 | | +| +-------+--------------------+ | +| | 17 | MR72_CAN | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _PRX4_ORIENT: + +PRX4\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | Default | | +| +-------+-------------+ | +| | 1 | Upside Down | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _PRX4_YAW_CORR: + +PRX4\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX4_IGN_ANG1: + +PRX4\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID1: + +PRX4\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG2: + +PRX4\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID2: + +PRX4\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG3: + +PRX4\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID3: + +PRX4\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG4: + +PRX4\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID4: + +PRX4\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_MIN: + +PRX4\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_MAX: + +PRX4\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_ADDR: + +PRX4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX4_: + +PRX4\_ Parameters +----------------- + + +.. _PRX4_RECV_ID: + +PRX4\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PSC: + +PSC Parameters +-------------- + + +.. _PSC_POS_P: + +PSC\_POS\_P: Position controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _PSC_VEL_P: + +PSC\_VEL\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _PSC_VEL_I: + +PSC\_VEL\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VEL_D: + +PSC\_VEL\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VEL_IMAX: + +PSC\_VEL\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _PSC_VEL_FLTE: + +PSC\_VEL\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VEL_FLTD: + +PSC\_VEL\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VEL_FF: + +PSC\_VEL\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | DoNotIncludeHome | | +| +-------+------------------+ | +| | 1 | IncludeHome | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++------------------------------------------------------------------------------+ +| Bitmask | ++==============================================================================+ +| +-----+--------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+====================================================================+ | +| | 0 | Ignore RC Receiver | | +| +-----+--------------------------------------------------------------------+ | +| | 1 | Ignore MAVLink Overrides | | +| +-----+--------------------------------------------------------------------+ | +| | 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | | +| +-----+--------------------------------------------------------------------+ | +| | 3 | FPort Pad | | +| +-----+--------------------------------------------------------------------+ | +| | 4 | Log RC input bytes | | +| +-----+--------------------------------------------------------------------+ | +| | 5 | Arming check throttle for 0 input | | +| +-----+--------------------------------------------------------------------+ | +| | 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | | +| +-----+--------------------------------------------------------------------+ | +| | 7 | Allow Switch reverse | | +| +-----+--------------------------------------------------------------------+ | +| | 8 | Use passthrough for CRSF telemetry | | +| +-----+--------------------------------------------------------------------+ | +| | 9 | Suppress CRSF mode/rate message for ELRS systems | | +| +-----+--------------------------------------------------------------------+ | +| | 10 | Enable multiple receiver support | | +| +-----+--------------------------------------------------------------------+ | +| | 11 | Use Link Quality for RSSI with CRSF | | +| +-----+--------------------------------------------------------------------+ | +| | 12 | Annotate CRSF flight mode with * on disarm | | +| +-----+--------------------------------------------------------------------+ | +| | 13 | Use 420kbaud for ELRS protocol | | +| +-----+--------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | All | | +| +-----+----------+ | +| | 1 | PPM | | +| +-----+----------+ | +| | 2 | IBUS | | +| +-----+----------+ | +| | 3 | SBUS | | +| +-----+----------+ | +| | 4 | SBUS_NI | | +| +-----+----------+ | +| | 5 | DSM | | +| +-----+----------+ | +| | 6 | SUMD | | +| +-----+----------+ | +| | 7 | SRXL | | +| +-----+----------+ | +| | 8 | SRXL2 | | +| +-----+----------+ | +| | 9 | CRSF | | +| +-----+----------+ | +| | 10 | ST24 | | +| +-----+----------+ | +| | 11 | FPORT | | +| +-----+----------+ | +| | 12 | FPORT2 | | +| +-----+----------+ | +| | 13 | FastSBUS | | +| +-----+----------+ | +| | 14 | DroneCAN | | +| +-----+----------+ | +| | 15 | Ghost | | +| +-----+----------+ | +| | 16 | MAVRadio | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------------------------------------------------------+ +| Values | ++=======================================================+ +| +-------+-------------------------------------------+ | +| | Value | Meaning | | +| +=======+===========================================+ | +| | 0 | Do Nothing | | +| +-------+-------------------------------------------+ | +| | 4 | RTL | | +| +-------+-------------------------------------------+ | +| | 5 | Save Trim (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 7 | Save WP | | +| +-------+-------------------------------------------+ | +| | 9 | Camera Trigger | | +| +-------+-------------------------------------------+ | +| | 11 | Fence Enable | | +| +-------+-------------------------------------------+ | +| | 16 | AUTO Mode | | +| +-------+-------------------------------------------+ | +| | 19 | Gripper Release | | +| +-------+-------------------------------------------+ | +| | 24 | Auto Mission Reset | | +| +-------+-------------------------------------------+ | +| | 27 | Retract Mount1 | | +| +-------+-------------------------------------------+ | +| | 28 | Relay1 On/Off | | +| +-------+-------------------------------------------+ | +| | 30 | Lost Rover Sound | | +| +-------+-------------------------------------------+ | +| | 31 | Motor Emergency Stop | | +| +-------+-------------------------------------------+ | +| | 34 | Relay2 On/Off | | +| +-------+-------------------------------------------+ | +| | 35 | Relay3 On/Off | | +| +-------+-------------------------------------------+ | +| | 36 | Relay4 On/Off | | +| +-------+-------------------------------------------+ | +| | 40 | Proximity Avoidance Enable | | +| +-------+-------------------------------------------+ | +| | 41 | ArmDisarm (4.1 and lower) | | +| +-------+-------------------------------------------+ | +| | 42 | SMARTRTL Mode | | +| +-------+-------------------------------------------+ | +| | 46 | RC Override Enable | | +| +-------+-------------------------------------------+ | +| | 50 | LearnCruise Speed | | +| +-------+-------------------------------------------+ | +| | 51 | MANUAL Mode | | +| +-------+-------------------------------------------+ | +| | 52 | ACRO Mode | | +| +-------+-------------------------------------------+ | +| | 53 | STEERING Mode | | +| +-------+-------------------------------------------+ | +| | 54 | HOLD Mode | | +| +-------+-------------------------------------------+ | +| | 55 | GUIDED Mode | | +| +-------+-------------------------------------------+ | +| | 56 | LOITER Mode | | +| +-------+-------------------------------------------+ | +| | 57 | FOLLOW Mode | | +| +-------+-------------------------------------------+ | +| | 58 | Clear Waypoints | | +| +-------+-------------------------------------------+ | +| | 59 | Simple Mode | | +| +-------+-------------------------------------------+ | +| | 62 | Compass Learn | | +| +-------+-------------------------------------------+ | +| | 63 | Sailboat Tack | | +| +-------+-------------------------------------------+ | +| | 65 | GPS Disable | | +| +-------+-------------------------------------------+ | +| | 66 | Relay5 On/Off | | +| +-------+-------------------------------------------+ | +| | 67 | Relay6 On/Off | | +| +-------+-------------------------------------------+ | +| | 72 | CIRCLE Mode | | +| +-------+-------------------------------------------+ | +| | 74 | Sailboat motoring 3pos | | +| +-------+-------------------------------------------+ | +| | 78 | RunCam Control | | +| +-------+-------------------------------------------+ | +| | 79 | RunCam OSD Control | | +| +-------+-------------------------------------------+ | +| | 80 | VisoOdom Align | | +| +-------+-------------------------------------------+ | +| | 81 | Disarm | | +| +-------+-------------------------------------------+ | +| | 90 | EKF Source Set | | +| +-------+-------------------------------------------+ | +| | 94 | VTX Power | | +| +-------+-------------------------------------------+ | +| | 97 | Windvane home heading direction offset | | +| +-------+-------------------------------------------+ | +| | 100 | KillIMU1 | | +| +-------+-------------------------------------------+ | +| | 101 | KillIMU2 | | +| +-------+-------------------------------------------+ | +| | 102 | Camera Mode Toggle | | +| +-------+-------------------------------------------+ | +| | 105 | GPS Disable Yaw | | +| +-------+-------------------------------------------+ | +| | 106 | Disable Airspeed Use | | +| +-------+-------------------------------------------+ | +| | 110 | KillIMU3 | | +| +-------+-------------------------------------------+ | +| | 112 | SwitchExternalAHRS | | +| +-------+-------------------------------------------+ | +| | 113 | Retract Mount2 | | +| +-------+-------------------------------------------+ | +| | 153 | ArmDisarm (4.2 and higher) | | +| +-------+-------------------------------------------+ | +| | 155 | Set steering trim to current servo and RC | | +| +-------+-------------------------------------------+ | +| | 156 | Torqeedo Clear Err | | +| +-------+-------------------------------------------+ | +| | 162 | FFT Tune | | +| +-------+-------------------------------------------+ | +| | 163 | Mount Lock | | +| +-------+-------------------------------------------+ | +| | 164 | Pause Stream Logging | | +| +-------+-------------------------------------------+ | +| | 165 | Arm/Emergency Motor Stop | | +| +-------+-------------------------------------------+ | +| | 166 | Camera Record Video | | +| +-------+-------------------------------------------+ | +| | 167 | Camera Zoom | | +| +-------+-------------------------------------------+ | +| | 168 | Camera Manual Focus | | +| +-------+-------------------------------------------+ | +| | 169 | Camera Auto Focus | | +| +-------+-------------------------------------------+ | +| | 171 | Calibrate Compasses | | +| +-------+-------------------------------------------+ | +| | 172 | Battery MPPT Enable | | +| +-------+-------------------------------------------+ | +| | 174 | Camera Image Tracking | | +| +-------+-------------------------------------------+ | +| | 175 | Camera Lens | | +| +-------+-------------------------------------------+ | +| | 177 | Mount LRF enable | | +| +-------+-------------------------------------------+ | +| | 201 | Roll | | +| +-------+-------------------------------------------+ | +| | 202 | Pitch | | +| +-------+-------------------------------------------+ | +| | 207 | MainSail | | +| +-------+-------------------------------------------+ | +| | 208 | Flap | | +| +-------+-------------------------------------------+ | +| | 211 | Walking Height | | +| +-------+-------------------------------------------+ | +| | 212 | Mount1 Roll | | +| +-------+-------------------------------------------+ | +| | 213 | Mount1 Pitch | | +| +-------+-------------------------------------------+ | +| | 214 | Mount1 Yaw | | +| +-------+-------------------------------------------+ | +| | 215 | Mount2 Roll | | +| +-------+-------------------------------------------+ | +| | 216 | Mount2 Pitch | | +| +-------+-------------------------------------------+ | +| | 217 | Mount2 Yaw | | +| +-------+-------------------------------------------+ | +| | 300 | Scripting1 | | +| +-------+-------------------------------------------+ | +| | 301 | Scripting2 | | +| +-------+-------------------------------------------+ | +| | 302 | Scripting3 | | +| +-------+-------------------------------------------+ | +| | 303 | Scripting4 | | +| +-------+-------------------------------------------+ | +| | 304 | Scripting5 | | +| +-------+-------------------------------------------+ | +| | 305 | Scripting6 | | +| +-------+-------------------------------------------+ | +| | 306 | Scripting7 | | +| +-------+-------------------------------------------+ | +| | 307 | Scripting8 | | +| +-------+-------------------------------------------+ | +| | ++-------------------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++------------------------------------------------------------------------------+ +| Values | ++==============================================================================+ +| +-------+------------------------------------------------------------------+ | +| | Value | Meaning | | +| +=======+==================================================================+ | +| | 0 | None | | +| +-------+------------------------------------------------------------------+ | +| | 1 | Relay | | +| +-------+------------------------------------------------------------------+ | +| | 4 | Camera | | +| +-------+------------------------------------------------------------------+ | +| | 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | | +| +-------+------------------------------------------------------------------+ | +| | 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | | +| +-------+------------------------------------------------------------------+ | +| | 7 | Bushed motor reverse 3 omni motor 3 | | +| +-------+------------------------------------------------------------------+ | +| | 8 | Bushed motor reverse 4 omni motor 4 | | +| +-------+------------------------------------------------------------------+ | +| | ++------------------------------------------------------------------------------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | -1 | Disabled | | +| +-------+--------------------------+ | +| | 49 | BB Blue GP0 pin 4 | | +| +-------+--------------------------+ | +| | 50 | AUXOUT1 | | +| +-------+--------------------------+ | +| | 51 | AUXOUT2 | | +| +-------+--------------------------+ | +| | 52 | AUXOUT3 | | +| +-------+--------------------------+ | +| | 53 | AUXOUT4 | | +| +-------+--------------------------+ | +| | 54 | AUXOUT5 | | +| +-------+--------------------------+ | +| | 55 | AUXOUT6 | | +| +-------+--------------------------+ | +| | 57 | BB Blue GP0 pin 3 | | +| +-------+--------------------------+ | +| | 113 | BB Blue GP0 pin 6 | | +| +-------+--------------------------+ | +| | 116 | BB Blue GP0 pin 5 | | +| +-------+--------------------------+ | +| | 62 | BBBMini Pin P8.13 | | +| +-------+--------------------------+ | +| | 101 | MainOut1 | | +| +-------+--------------------------+ | +| | 102 | MainOut2 | | +| +-------+--------------------------+ | +| | 103 | MainOut3 | | +| +-------+--------------------------+ | +| | 104 | MainOut4 | | +| +-------+--------------------------+ | +| | 105 | MainOut5 | | +| +-------+--------------------------+ | +| | 106 | MainOut6 | | +| +-------+--------------------------+ | +| | 107 | MainOut7 | | +| +-------+--------------------------+ | +| | 108 | MainOut8 | | +| +-------+--------------------------+ | +| | 1000 | DroneCAN Hardpoint ID 0 | | +| +-------+--------------------------+ | +| | 1001 | DroneCAN Hardpoint ID 1 | | +| +-------+--------------------------+ | +| | 1002 | DroneCAN Hardpoint ID 2 | | +| +-------+--------------------------+ | +| | 1003 | DroneCAN Hardpoint ID 3 | | +| +-------+--------------------------+ | +| | 1004 | DroneCAN Hardpoint ID 4 | | +| +-------+--------------------------+ | +| | 1005 | DroneCAN Hardpoint ID 5 | | +| +-------+--------------------------+ | +| | 1006 | DroneCAN Hardpoint ID 6 | | +| +-------+--------------------------+ | +| | 1007 | DroneCAN Hardpoint ID 7 | | +| +-------+--------------------------+ | +| | 1008 | DroneCAN Hardpoint ID 8 | | +| +-------+--------------------------+ | +| | 1009 | DroneCAN Hardpoint ID 9 | | +| +-------+--------------------------+ | +| | 1010 | DroneCAN Hardpoint ID 10 | | +| +-------+--------------------------+ | +| | 1011 | DroneCAN Hardpoint ID 11 | | +| +-------+--------------------------+ | +| | 1012 | DroneCAN Hardpoint ID 12 | | +| +-------+--------------------------+ | +| | 1013 | DroneCAN Hardpoint ID 13 | | +| +-------+--------------------------+ | +| | 1014 | DroneCAN Hardpoint ID 14 | | +| +-------+--------------------------+ | +| | 1015 | DroneCAN Hardpoint ID 15 | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Off | | +| +-------+----------+ | +| | 1 | On | | +| +-------+----------+ | +| | 2 | NoChange | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Inverted | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | Analog | | +| +-------+------------------------+ | +| | 2 | MaxbotixI2C | | +| +-------+------------------------+ | +| | 3 | LidarLite-I2C | | +| +-------+------------------------+ | +| | 5 | PWM | | +| +-------+------------------------+ | +| | 6 | BBB-PRU | | +| +-------+------------------------+ | +| | 7 | LightWareI2C | | +| +-------+------------------------+ | +| | 8 | LightWareSerial | | +| +-------+------------------------+ | +| | 9 | Bebop | | +| +-------+------------------------+ | +| | 10 | MAVLink | | +| +-------+------------------------+ | +| | 11 | USD1_Serial | | +| +-------+------------------------+ | +| | 12 | LeddarOne | | +| +-------+------------------------+ | +| | 13 | MaxbotixSerial | | +| +-------+------------------------+ | +| | 14 | TeraRangerI2C | | +| +-------+------------------------+ | +| | 15 | LidarLiteV3-I2C | | +| +-------+------------------------+ | +| | 16 | VL53L0X or VL53L1X | | +| +-------+------------------------+ | +| | 17 | NMEA | | +| +-------+------------------------+ | +| | 18 | WASP-LRF | | +| +-------+------------------------+ | +| | 19 | BenewakeTF02 | | +| +-------+------------------------+ | +| | 20 | Benewake-Serial | | +| +-------+------------------------+ | +| | 21 | LidarLightV3HP | | +| +-------+------------------------+ | +| | 22 | PWM | | +| +-------+------------------------+ | +| | 23 | BlueRoboticsPing | | +| +-------+------------------------+ | +| | 24 | DroneCAN | | +| +-------+------------------------+ | +| | 25 | BenewakeTFminiPlus-I2C | | +| +-------+------------------------+ | +| | 26 | LanbaoPSK-CM8JL65-CC5 | | +| +-------+------------------------+ | +| | 27 | BenewakeTF03 | | +| +-------+------------------------+ | +| | 28 | VL53L1X-ShortRange | | +| +-------+------------------------+ | +| | 29 | LeddarVu8-Serial | | +| +-------+------------------------+ | +| | 30 | HC-SR04 | | +| +-------+------------------------+ | +| | 31 | GYUS42v2 | | +| +-------+------------------------+ | +| | 32 | MSP | | +| +-------+------------------------+ | +| | 33 | USD1_CAN | | +| +-------+------------------------+ | +| | 34 | Benewake_CAN | | +| +-------+------------------------+ | +| | 35 | TeraRangerSerial | | +| +-------+------------------------+ | +| | 36 | Lua_Scripting | | +| +-------+------------------------+ | +| | 37 | NoopLoop_TOFSense | | +| +-------+------------------------+ | +| | 38 | NoopLoop_TOFSense_CAN | | +| +-------+------------------------+ | +| | 39 | NRA24_CAN | | +| +-------+------------------------+ | +| | 40 | NoopLoop_TOFSenseF_I2C | | +| +-------+------------------------+ | +| | 41 | JRE_Serial | | +| +-------+------------------------+ | +| | 42 | Ainstein_LR_D1 | | +| +-------+------------------------+ | +| | 43 | RDS02UF | | +| +-------+------------------------+ | +| | 100 | SITL | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | -1 | Not Used | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Linear | | +| +-------+------------+ | +| | 1 | Inverted | | +| +-------+------------+ | +| | 2 | Hyperbolic | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | -1 | Not Used | | +| +-------+----------------+ | +| | 50 | AUX1 | | +| +-------+----------------+ | +| | 51 | AUX2 | | +| +-------+----------------+ | +| | 52 | AUX3 | | +| +-------+----------------+ | +| | 53 | AUX4 | | +| +-------+----------------+ | +| | 54 | AUX5 | | +| +-------+----------------+ | +| | 55 | AUX6 | | +| +-------+----------------+ | +| | 111 | PX4 FMU Relay1 | | +| +-------+----------------+ | +| | 112 | PX4 FMU Relay2 | | +| +-------+----------------+ | +| | 113 | PX4IO Relay1 | | +| +-------+----------------+ | +| | 114 | PX4IO Relay2 | | +| +-------+----------------+ | +| | 115 | PX4IO ACC1 | | +| +-------+----------------+ | +| | 116 | PX4IO ACC2 | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | No | | +| +-------+---------+ | +| | 1 | Yes | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Forward | | +| +-------+---------------+ | +| | 1 | Forward-Right | | +| +-------+---------------+ | +| | 2 | Right | | +| +-------+---------------+ | +| | 3 | Back-Right | | +| +-------+---------------+ | +| | 4 | Back | | +| +-------+---------------+ | +| | 5 | Back-Left | | +| +-------+---------------+ | +| | 6 | Left | | +| +-------+---------------+ | +| | 7 | Forward-Left | | +| +-------+---------------+ | +| | 24 | Up | | +| +-------+---------------+ | +| | 25 | Down | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Low Speed | | +| +-------+------------+ | +| | 1 | High Speed | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++------------------------------------------+ +| Values | ++==========================================+ +| +-------+------------------------------+ | +| | Value | Meaning | | +| +=======+==============================+ | +| | 0 | None | | +| +-------+------------------------------+ | +| | 1 | Not Used | | +| +-------+------------------------------+ | +| | 2 | GPIO | | +| +-------+------------------------------+ | +| | 3 | EFI | | +| +-------+------------------------------+ | +| | 4 | Harmonic Notch | | +| +-------+------------------------------+ | +| | 5 | ESC Telemetry Motors Bitmask | | +| +-------+------------------------------+ | +| | 6 | Generator | | +| +-------+------------------------------+ | +| | 7 | DroneCAN | | +| +-------+------------------------------+ | +| | ++------------------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | AnalogPin | | +| +-------+--------------------+ | +| | 2 | RCChannelPwmValue | | +| +-------+--------------------+ | +| | 3 | ReceiverProtocol | | +| +-------+--------------------+ | +| | 4 | PWMInputPin | | +| +-------+--------------------+ | +| | 5 | TelemetryRadioRSSI | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 8 | V5 Nano | | +| +-------+---------------------------+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SAIL_: + +SAIL\_ Parameters +----------------- + + +.. _SAIL_ENABLE: + +SAIL\_ENABLE: Enable Sailboat +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Sailboat functionality + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SAIL_ANGLE_MIN: + +SAIL\_ANGLE\_MIN: Sail min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mainsheet tight\, angle between centerline and boom + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_ANGLE_MAX: + +SAIL\_ANGLE\_MAX: Sail max angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mainsheet loose\, angle between centerline and boom\. For direct\-control rotating masts\, the rotation angle at SERVOx\_MAX\/\_MIN\; for rotating masts\, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_ANGLE_IDEAL: + +SAIL\_ANGLE\_IDEAL: Sail ideal angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ideal angle between sail and apparent wind + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_HEEL_MAX: + +SAIL\_HEEL\_MAX: Sailing maximum heel angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in auto sail trim modes the heel will be limited to this value using PID control + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_NO_GO_ANGLE: + +SAIL\_NO\_GO\_ANGLE: Sailing no go zone angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The typical closest angle to the wind the vehicle will sail at\. the vehicle will sail at this angle when going upwind + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_WNDSPD_MIN: + +SAIL\_WNDSPD\_MIN: Sailboat minimum wind speed to sail in +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sailboat minimum wind speed to continue sail in\, at lower wind speeds the sailboat will motor if one is fitted + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _SAIL_XTRACK_MAX: + +SAIL\_XTRACK\_MAX: Sailing vehicle max cross track error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The sail boat will tack when it reaches this cross track error\, defines a corridor of 2 times this value wide\, 0 disables + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 5 to 25 | meters | ++-----------+---------+--------+ + + + + +.. _SAIL_LOIT_RADIUS: + +SAIL\_LOIT\_RADIUS: Loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in sailing modes the vehicle will keep moving within this loiter radius + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 20 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 2 | ShowSlips | | +| +-------+--------------+ | +| | 3 | ShowOverruns | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-------------------------------------+ +| Bitmask | ++=====================================+ +| +-----+---------------------------+ | +| | Bit | Meaning | | +| +=====+===========================+ | +| | 0 | Enable per-task perf info | | +| +-----+---------------------------+ | +| | ++-------------------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------------------------+ +| Values | ++=========================+ +| +-------+-------------+ | +| | Value | Meaning | | +| +=======+=============+ | +| | 0 | None | | +| +-------+-------------+ | +| | 1 | Lua Scripts | | +| +-------+-------------+ | +| | ++-------------------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++--------------------------------------------------------------------------------------------------+ +| Bitmask | ++==================================================================================================+ +| +-----+----------------------------------------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================================================+ | +| | 0 | No Scripts to run message if all scripts have stopped | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 1 | Runtime messages for memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 2 | Suppress logging scripts to dataflash | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 3 | log runtime memory usage and execution time | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 4 | Disable pre-arm check | | +| +-----+----------------------------------------------------------------------------------------+ | +| | 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | | +| +-----+----------------------------------------------------------------------------------------+ | +| | ++--------------------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | ROMFS | | +| +-----+-------------+ | +| | 1 | APM/scripts | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Normal | | +| +-------+------------------+ | +| | 1 | IO Priority | | +| +-------+------------------+ | +| | 2 | Storage Priority | | +| +-------+------------------+ | +| | 3 | UART Priority | | +| +-------+------------------+ | +| | 4 | I2C Priority | | +| +-------+------------------+ | +| | 5 | SPI Priority | | +| +-------+------------------+ | +| | 6 | Timer Priority | | +| +-------+------------------+ | +| | 7 | Main Priority | | +| +-------+------------------+ | +| | 8 | Boost Priority | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 1 | MAVLink1 | | +| +-------+----------+ | +| | 2 | MAVLink2 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 0 | Serial0 | | +| +-------+----------+ | +| | 1 | Serial1 | | +| +-------+----------+ | +| | 2 | Serial2 | | +| +-------+----------+ | +| | 3 | Serial3 | | +| +-------+----------+ | +| | 4 | Serial4 | | +| +-------+----------+ | +| | 5 | Serial5 | | +| +-------+----------+ | +| | 6 | Serial6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++----------------------------------------------+ +| Values | ++==============================================+ +| +-------+----------------------------------+ | +| | Value | Meaning | | +| +=======+==================================+ | +| | -1 | None | | +| +-------+----------------------------------+ | +| | 1 | MAVLink1 | | +| +-------+----------------------------------+ | +| | 2 | MAVLink2 | | +| +-------+----------------------------------+ | +| | 3 | Frsky D | | +| +-------+----------------------------------+ | +| | 4 | Frsky SPort | | +| +-------+----------------------------------+ | +| | 5 | GPS | | +| +-------+----------------------------------+ | +| | 7 | Alexmos Gimbal Serial | | +| +-------+----------------------------------+ | +| | 8 | Gimbal | | +| +-------+----------------------------------+ | +| | 9 | Rangefinder | | +| +-------+----------------------------------+ | +| | 10 | FrSky SPort Passthrough (OpenTX) | | +| +-------+----------------------------------+ | +| | 11 | Lidar360 | | +| +-------+----------------------------------+ | +| | 13 | Beacon | | +| +-------+----------------------------------+ | +| | 14 | Volz servo out | | +| +-------+----------------------------------+ | +| | 15 | SBus servo out | | +| +-------+----------------------------------+ | +| | 16 | ESC Telemetry | | +| +-------+----------------------------------+ | +| | 17 | Devo Telemetry | | +| +-------+----------------------------------+ | +| | 18 | OpticalFlow | | +| +-------+----------------------------------+ | +| | 19 | RobotisServo | | +| +-------+----------------------------------+ | +| | 20 | NMEA Output | | +| +-------+----------------------------------+ | +| | 21 | WindVane | | +| +-------+----------------------------------+ | +| | 22 | SLCAN | | +| +-------+----------------------------------+ | +| | 23 | RCIN | | +| +-------+----------------------------------+ | +| | 24 | EFI Serial | | +| +-------+----------------------------------+ | +| | 25 | LTM | | +| +-------+----------------------------------+ | +| | 26 | RunCam | | +| +-------+----------------------------------+ | +| | 27 | HottTelem | | +| +-------+----------------------------------+ | +| | 28 | Scripting | | +| +-------+----------------------------------+ | +| | 29 | Crossfire VTX | | +| +-------+----------------------------------+ | +| | 30 | Generator | | +| +-------+----------------------------------+ | +| | 31 | Winch | | +| +-------+----------------------------------+ | +| | 32 | MSP | | +| +-------+----------------------------------+ | +| | 33 | DJI FPV | | +| +-------+----------------------------------+ | +| | 34 | AirSpeed | | +| +-------+----------------------------------+ | +| | 35 | ADSB | | +| +-------+----------------------------------+ | +| | 36 | AHRS | | +| +-------+----------------------------------+ | +| | 37 | SmartAudio | | +| +-------+----------------------------------+ | +| | 38 | FETtecOneWire | | +| +-------+----------------------------------+ | +| | 39 | Torqeedo | | +| +-------+----------------------------------+ | +| | 40 | AIS | | +| +-------+----------------------------------+ | +| | 41 | CoDevESC | | +| +-------+----------------------------------+ | +| | 42 | DisplayPort | | +| +-------+----------------------------------+ | +| | 43 | MAVLink High Latency | | +| +-------+----------------------------------+ | +| | 44 | IRC Tramp | | +| +-------+----------------------------------+ | +| | 45 | DDS XRCE | | +| +-------+----------------------------------+ | +| | 46 | IMUDATA | | +| +-------+----------------------------------+ | +| | 48 | PPP | | +| +-------+----------------------------------+ | +| | ++----------------------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 1 | 1200 | | +| +-------+---------+ | +| | 2 | 2400 | | +| +-------+---------+ | +| | 4 | 4800 | | +| +-------+---------+ | +| | 9 | 9600 | | +| +-------+---------+ | +| | 19 | 19200 | | +| +-------+---------+ | +| | 38 | 38400 | | +| +-------+---------+ | +| | 57 | 57600 | | +| +-------+---------+ | +| | 111 | 111100 | | +| +-------+---------+ | +| | 115 | 115200 | | +| +-------+---------+ | +| | 230 | 230400 | | +| +-------+---------+ | +| | 256 | 256000 | | +| +-------+---------+ | +| | 460 | 460800 | | +| +-------+---------+ | +| | 500 | 500000 | | +| +-------+---------+ | +| | 921 | 921600 | | +| +-------+---------+ | +| | 1500 | 1500000 | | +| +-------+---------+ | +| | 2000 | 2000000 | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----------------------------------------+ +| Bitmask | ++=========================================+ +| +-----+-------------------------------+ | +| | Bit | Meaning | | +| +=====+===============================+ | +| | 0 | InvertRX | | +| +-----+-------------------------------+ | +| | 1 | InvertTX | | +| +-----+-------------------------------+ | +| | 2 | HalfDuplex | | +| +-----+-------------------------------+ | +| | 3 | SwapTXRX | | +| +-----+-------------------------------+ | +| | 4 | RX_PullDown | | +| +-----+-------------------------------+ | +| | 5 | RX_PullUp | | +| +-----+-------------------------------+ | +| | 6 | TX_PullDown | | +| +-----+-------------------------------+ | +| | 7 | TX_PullUp | | +| +-----+-------------------------------+ | +| | 8 | RX_NoDMA | | +| +-----+-------------------------------+ | +| | 9 | TX_NoDMA | | +| +-----+-------------------------------+ | +| | 10 | Don't forward mavlink to/from | | +| +-----+-------------------------------+ | +| | 11 | DisableFIFO | | +| +-----+-------------------------------+ | +| | 12 | Ignore Streamrate | | +| +-----+-------------------------------+ | +| | ++-----------------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | 1Khz | | +| +-------+---------------------+ | +| | 1 | loop-rate | | +| +-------+---------------------+ | +| | 2 | double loop-rate | | +| +-------+---------------------+ | +| | 3 | triple loop-rate | | +| +-------+---------------------+ | +| | 4 | quadruple loop rate | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | None | | +| +-------+------------------------+ | +| | 1 | BLHeli32/Kiss/AM32 | | +| +-------+------------------------+ | +| | 2 | BLHeli_S/BlueJay | | +| +-------+------------------------+ | +| | 3 | BLHeli32/AM32/Kiss+EDT | | +| +-------+------------------------+ | +| | 4 | BLHeli_S/BlueJay+EDT | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-------------------------+ +| Bitmask | ++=========================+ +| +-----+---------------+ | +| | Bit | Meaning | | +| +=====+===============+ | +| | 0 | RCIN1Scaled | | +| +-----+---------------+ | +| | 1 | RCIN2Scaled | | +| +-----+---------------+ | +| | 2 | RCIN3Scaled | | +| +-----+---------------+ | +| | 3 | RCIN4Scaled | | +| +-----+---------------+ | +| | 4 | RCIN5Scaled | | +| +-----+---------------+ | +| | 5 | RCIN6Scaled | | +| +-----+---------------+ | +| | 6 | RCIN7Scaled | | +| +-----+---------------+ | +| | 7 | RCIN8Scaled | | +| +-----+---------------+ | +| | 8 | RCIN9Scaled | | +| +-----+---------------+ | +| | 9 | RCIN10Scaled | | +| +-----+---------------+ | +| | 10 | RCIN11Scaled | | +| +-----+---------------+ | +| | 11 | SRCIN12Scaled | | +| +-----+---------------+ | +| | 12 | RCIN13Scaled | | +| +-----+---------------+ | +| | 13 | RCIN14Scaled | | +| +-----+---------------+ | +| | 14 | RCIN15Scaled | | +| +-----+---------------+ | +| | 15 | RCIN16Scaled | | +| +-----+---------------+ | +| | ++-------------------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Normal | | +| +-------+----------+ | +| | 1 | Reversed | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++--------------------------------+ +| Values | ++================================+ +| +-------+--------------------+ | +| | Value | Meaning | | +| +=======+====================+ | +| | -1 | GPIO | | +| +-------+--------------------+ | +| | 0 | Disabled | | +| +-------+--------------------+ | +| | 1 | RCPassThru | | +| +-------+--------------------+ | +| | 6 | Mount1Yaw | | +| +-------+--------------------+ | +| | 7 | Mount1Pitch | | +| +-------+--------------------+ | +| | 8 | Mount1Roll | | +| +-------+--------------------+ | +| | 9 | Mount1Retract | | +| +-------+--------------------+ | +| | 10 | CameraTrigger | | +| +-------+--------------------+ | +| | 12 | Mount2Yaw | | +| +-------+--------------------+ | +| | 13 | Mount2Pitch | | +| +-------+--------------------+ | +| | 14 | Mount2Roll | | +| +-------+--------------------+ | +| | 15 | Mount2Retract | | +| +-------+--------------------+ | +| | 22 | SprayerPump | | +| +-------+--------------------+ | +| | 23 | SprayerSpinner | | +| +-------+--------------------+ | +| | 26 | GroundSteering | | +| +-------+--------------------+ | +| | 28 | Gripper | | +| +-------+--------------------+ | +| | 33 | Motor1 | | +| +-------+--------------------+ | +| | 34 | Motor2 | | +| +-------+--------------------+ | +| | 35 | Motor3 | | +| +-------+--------------------+ | +| | 36 | Motor4 | | +| +-------+--------------------+ | +| | 51 | RCIN1 | | +| +-------+--------------------+ | +| | 52 | RCIN2 | | +| +-------+--------------------+ | +| | 53 | RCIN3 | | +| +-------+--------------------+ | +| | 54 | RCIN4 | | +| +-------+--------------------+ | +| | 55 | RCIN5 | | +| +-------+--------------------+ | +| | 56 | RCIN6 | | +| +-------+--------------------+ | +| | 57 | RCIN7 | | +| +-------+--------------------+ | +| | 58 | RCIN8 | | +| +-------+--------------------+ | +| | 59 | RCIN9 | | +| +-------+--------------------+ | +| | 60 | RCIN10 | | +| +-------+--------------------+ | +| | 61 | RCIN11 | | +| +-------+--------------------+ | +| | 62 | RCIN12 | | +| +-------+--------------------+ | +| | 63 | RCIN13 | | +| +-------+--------------------+ | +| | 64 | RCIN14 | | +| +-------+--------------------+ | +| | 65 | RCIN15 | | +| +-------+--------------------+ | +| | 66 | RCIN16 | | +| +-------+--------------------+ | +| | 70 | Throttle | | +| +-------+--------------------+ | +| | 73 | ThrottleLeft | | +| +-------+--------------------+ | +| | 74 | ThrottleRight | | +| +-------+--------------------+ | +| | 88 | Winch | | +| +-------+--------------------+ | +| | 89 | Main Sail | | +| +-------+--------------------+ | +| | 90 | CameraISO | | +| +-------+--------------------+ | +| | 91 | CameraAperture | | +| +-------+--------------------+ | +| | 92 | CameraFocus | | +| +-------+--------------------+ | +| | 93 | CameraShutterSpeed | | +| +-------+--------------------+ | +| | 94 | Script1 | | +| +-------+--------------------+ | +| | 95 | Script2 | | +| +-------+--------------------+ | +| | 96 | Script3 | | +| +-------+--------------------+ | +| | 97 | Script4 | | +| +-------+--------------------+ | +| | 98 | Script5 | | +| +-------+--------------------+ | +| | 99 | Script6 | | +| +-------+--------------------+ | +| | 100 | Script7 | | +| +-------+--------------------+ | +| | 101 | Script8 | | +| +-------+--------------------+ | +| | 102 | Script9 | | +| +-------+--------------------+ | +| | 103 | Script10 | | +| +-------+--------------------+ | +| | 104 | Script11 | | +| +-------+--------------------+ | +| | 105 | Script12 | | +| +-------+--------------------+ | +| | 106 | Script13 | | +| +-------+--------------------+ | +| | 107 | Script14 | | +| +-------+--------------------+ | +| | 108 | Script15 | | +| +-------+--------------------+ | +| | 109 | Script16 | | +| +-------+--------------------+ | +| | 120 | NeoPixel1 | | +| +-------+--------------------+ | +| | 121 | NeoPixel2 | | +| +-------+--------------------+ | +| | 122 | NeoPixel3 | | +| +-------+--------------------+ | +| | 123 | NeoPixel4 | | +| +-------+--------------------+ | +| | 128 | WingSailElevator | | +| +-------+--------------------+ | +| | 129 | ProfiLED1 | | +| +-------+--------------------+ | +| | 130 | ProfiLED2 | | +| +-------+--------------------+ | +| | 131 | ProfiLED3 | | +| +-------+--------------------+ | +| | 132 | ProfiLEDClock | | +| +-------+--------------------+ | +| | 133 | Winch Clutch | | +| +-------+--------------------+ | +| | 134 | SERVOn_MIN | | +| +-------+--------------------+ | +| | 135 | SERVOn_TRIM | | +| +-------+--------------------+ | +| | 136 | SERVOn_MAX | | +| +-------+--------------------+ | +| | 137 | SailMastRotation | | +| +-------+--------------------+ | +| | 138 | Alarm | | +| +-------+--------------------+ | +| | 139 | Alarm Inverted | | +| +-------+--------------------+ | +| | 140 | RCIN1Scaled | | +| +-------+--------------------+ | +| | 141 | RCIN2Scaled | | +| +-------+--------------------+ | +| | 142 | RCIN3Scaled | | +| +-------+--------------------+ | +| | 143 | RCIN4Scaled | | +| +-------+--------------------+ | +| | 144 | RCIN5Scaled | | +| +-------+--------------------+ | +| | 145 | RCIN6Scaled | | +| +-------+--------------------+ | +| | 146 | RCIN7Scaled | | +| +-------+--------------------+ | +| | 147 | RCIN8Scaled | | +| +-------+--------------------+ | +| | 148 | RCIN9Scaled | | +| +-------+--------------------+ | +| | 149 | RCIN10Scaled | | +| +-------+--------------------+ | +| | 150 | RCIN11Scaled | | +| +-------+--------------------+ | +| | 151 | RCIN12Scaled | | +| +-------+--------------------+ | +| | 152 | RCIN13Scaled | | +| +-------+--------------------+ | +| | 153 | RCIN14Scaled | | +| +-------+--------------------+ | +| | 154 | RCIN15Scaled | | +| +-------+--------------------+ | +| | 155 | RCIN16Scaled | | +| +-------+--------------------+ | +| | ++--------------------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | Disabled | | +| +-------+------------+ | +| | 1 | TestMotor1 | | +| +-------+------------+ | +| | 2 | TestMotor2 | | +| +-------+------------+ | +| | 3 | TestMotor3 | | +| +-------+------------+ | +| | 4 | TestMotor4 | | +| +-------+------------+ | +| | 5 | TestMotor5 | | +| +-------+------------+ | +| | 6 | TestMotor6 | | +| +-------+------------+ | +| | 7 | TestMotor7 | | +| +-------+------------+ | +| | 8 | TestMotor8 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++------------------------+ +| Values | ++========================+ +| +-------+------------+ | +| | Value | Meaning | | +| +=======+============+ | +| | 0 | None | | +| +-------+------------+ | +| | 1 | OneShot | | +| +-------+------------+ | +| | 2 | OneShot125 | | +| +-------+------------+ | +| | 3 | Brushed | | +| +-------+------------+ | +| | 4 | DShot150 | | +| +-------+------------+ | +| | 5 | DShot300 | | +| +-------+------------+ | +| | 6 | DShot600 | | +| +-------+------------+ | +| | 7 | DShot1200 | | +| +-------+------------+ | +| | ++------------------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------------------------------------+ +| Values | ++=====================================+ +| +-------+-------------------------+ | +| | Value | Meaning | | +| +=======+=========================+ | +| | 0 | Console | | +| +-------+-------------------------+ | +| | 1 | Mavlink Serial Channel1 | | +| +-------+-------------------------+ | +| | 2 | Mavlink Serial Channel2 | | +| +-------+-------------------------+ | +| | 3 | Mavlink Serial Channel3 | | +| +-------+-------------------------+ | +| | 4 | Mavlink Serial Channel4 | | +| +-------+-------------------------+ | +| | 5 | Mavlink Serial Channel5 | | +| +-------+-------------------------+ | +| | ++-------------------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++----------------------+ +| Bitmask | ++======================+ +| +-----+------------+ | +| | Bit | Meaning | | +| +=====+============+ | +| | 0 | Channel1 | | +| +-----+------------+ | +| | 1 | Channel2 | | +| +-----+------------+ | +| | 2 | Channel3 | | +| +-----+------------+ | +| | 3 | Channel4 | | +| +-----+------------+ | +| | 4 | Channel5 | | +| +-----+------------+ | +| | 5 | Channel6 | | +| +-----+------------+ | +| | 6 | Channel7 | | +| +-----+------------+ | +| | 7 | Channel8 | | +| +-----+------------+ | +| | 8 | Channel9 | | +| +-----+------------+ | +| | 9 | Channel10 | | +| +-----+------------+ | +| | 10 | Channel11 | | +| +-----+------------+ | +| | 11 | Channel12 | | +| +-----+------------+ | +| | 12 | Channel13 | | +| +-----+------------+ | +| | 13 | Channel14 | | +| +-----+------------+ | +| | 14 | Channel15 | | +| +-----+------------+ | +| | 15 | Channel16 | | +| +-----+------------+ | +| | 16 | Channel 17 | | +| +-----+------------+ | +| | 17 | Channel 18 | | +| +-----+------------+ | +| | 18 | Channel 19 | | +| +-----+------------+ | +| | 19 | Channel 20 | | +| +-----+------------+ | +| | 20 | Channel 21 | | +| +-----+------------+ | +| | 21 | Channel 22 | | +| +-----+------------+ | +| | 22 | Channel 23 | | +| +-----+------------+ | +| | 23 | Channel 24 | | +| +-----+------------+ | +| | 24 | Channel 25 | | +| +-----+------------+ | +| | 25 | Channel 26 | | +| +-----+------------+ | +| | 26 | Channel 27 | | +| +-----+------------+ | +| | 27 | Channel 28 | | +| +-----+------------+ | +| | 28 | Channel 29 | | +| +-----+------------+ | +| | 29 | Channel 30 | | +| +-----+------------+ | +| | 30 | Channel 31 | | +| +-----+------------+ | +| | 31 | Channel 32 | | +| +-----+------------+ | +| | ++----------------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | SERVO1 | | +| +-----+---------+ | +| | 1 | SERVO2 | | +| +-----+---------+ | +| | 2 | SERVO3 | | +| +-----+---------+ | +| | 3 | SERVO4 | | +| +-----+---------+ | +| | 4 | SERVO5 | | +| +-----+---------+ | +| | 5 | SERVO6 | | +| +-----+---------+ | +| | 6 | SERVO7 | | +| +-----+---------+ | +| | 7 | SERVO8 | | +| +-----+---------+ | +| | 8 | SERVO9 | | +| +-----+---------+ | +| | 9 | SERVO10 | | +| +-----+---------+ | +| | 10 | SERVO11 | | +| +-----+---------+ | +| | 11 | SERVO12 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++---------------------+ +| Bitmask | ++=====================+ +| +-----+-----------+ | +| | Bit | Meaning | | +| +=====+===========+ | +| | 0 | Channel1 | | +| +-----+-----------+ | +| | 1 | Channel2 | | +| +-----+-----------+ | +| | 2 | Channel3 | | +| +-----+-----------+ | +| | 3 | Channel4 | | +| +-----+-----------+ | +| | 4 | Channel5 | | +| +-----+-----------+ | +| | 5 | Channel6 | | +| +-----+-----------+ | +| | 6 | Channel7 | | +| +-----+-----------+ | +| | 7 | Channel8 | | +| +-----+-----------+ | +| | 8 | Channel9 | | +| +-----+-----------+ | +| | 9 | Channel10 | | +| +-----+-----------+ | +| | 10 | Channel11 | | +| +-----+-----------+ | +| | 11 | Channel12 | | +| +-----+-----------+ | +| | 12 | Channel13 | | +| +-----+-----------+ | +| | 13 | Channel14 | | +| +-----+-----------+ | +| | 14 | Channel15 | | +| +-----+-----------+ | +| | 15 | Channel16 | | +| +-----+-----------+ | +| | 16 | Channel17 | | +| +-----+-----------+ | +| | 17 | Channel18 | | +| +-----+-----------+ | +| | 18 | Channel19 | | +| +-----+-----------+ | +| | 19 | Channel20 | | +| +-----+-----------+ | +| | 20 | Channel21 | | +| +-----+-----------+ | +| | 21 | Channel22 | | +| +-----+-----------+ | +| | 22 | Channel23 | | +| +-----+-----------+ | +| | 23 | Channel24 | | +| +-----+-----------+ | +| | 24 | Channel25 | | +| +-----+-----------+ | +| | 25 | Channel26 | | +| +-----+-----------+ | +| | 26 | Channel27 | | +| +-----+-----------+ | +| | 28 | Channel29 | | +| +-----+-----------+ | +| | 29 | Channel30 | | +| +-----+-----------+ | +| | 30 | Channel31 | | +| +-----+-----------+ | +| | 31 | Channel32 | | +| +-----+-----------+ | +| | ++---------------------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL1 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL2 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL3 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL4 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++----------------------------+ +| Values | ++============================+ +| +-------+----------------+ | +| | Value | Meaning | | +| +=======+================+ | +| | 0 | Disabled | | +| +-------+----------------+ | +| | 1 | ACCEL5 Failure | | +| +-------+----------------+ | +| | ++----------------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++----------------------------------+ +| Values | ++==================================+ +| +-------+----------------------+ | +| | Value | Meaning | | +| +=======+======================+ | +| | 0 | Transceiever disable | | +| +-------+----------------------+ | +| | 1 | Transceiever enable | | +| +-------+----------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----------------------+ +| Bitmask | ++=======================+ +| +-----+-------------+ | +| | Bit | Meaning | | +| +=====+=============+ | +| | 0 | MAVLink | | +| +-----+-------------+ | +| | 3 | SageTechMXS | | +| +-----+-------------+ | +| | ++-----------------------+ + + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++--------------------+ +| Bitmask | ++====================+ +| +-----+----------+ | +| | Bit | Meaning | | +| +=====+==========+ | +| | 0 | Servo 1 | | +| +-----+----------+ | +| | 1 | Servo 2 | | +| +-----+----------+ | +| | 2 | Servo 3 | | +| +-----+----------+ | +| | 3 | Servo 4 | | +| +-----+----------+ | +| | 4 | Servo 5 | | +| +-----+----------+ | +| | 5 | Servo 6 | | +| +-----+----------+ | +| | 6 | Servo 7 | | +| +-----+----------+ | +| | 7 | Servo 8 | | +| +-----+----------+ | +| | 8 | Servo 9 | | +| +-----+----------+ | +| | 9 | Servo 10 | | +| +-----+----------+ | +| | 10 | Servo 11 | | +| +-----+----------+ | +| | 11 | Servo 12 | | +| +-----+----------+ | +| | 12 | Servo 13 | | +| +-----+----------+ | +| | 13 | Servo 14 | | +| +-----+----------+ | +| | 14 | Servo 15 | | +| +-----+----------+ | +| | 15 | Servo 16 | | +| +-----+----------+ | +| | 16 | Servo 17 | | +| +-----+----------+ | +| | 17 | Servo 18 | | +| +-----+----------+ | +| | 18 | Servo 19 | | +| +-----+----------+ | +| | 19 | Servo 20 | | +| +-----+----------+ | +| | 20 | Servo 21 | | +| +-----+----------+ | +| | 21 | Servo 22 | | +| +-----+----------+ | +| | 22 | Servo 23 | | +| +-----+----------+ | +| | 23 | Servo 24 | | +| +-----+----------+ | +| | 24 | Servo 25 | | +| +-----+----------+ | +| | 25 | Servo 26 | | +| +-----+----------+ | +| | 26 | Servo 27 | | +| +-----+----------+ | +| | 27 | Servo 28 | | +| +-----+----------+ | +| | 28 | Servo 29 | | +| +-----+----------+ | +| | 29 | Servo 30 | | +| +-----+----------+ | +| | 30 | Servo 31 | | +| +-----+----------+ | +| | 31 | Servo 32 | | +| +-----+----------+ | +| | ++--------------------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | None | | +| +-------+--------------+ | +| | 1 | MulticastUDP | | +| +-------+--------------+ | +| | 2 | SocketCAN | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-----------------------------------+ +| Values | ++===================================+ +| +-------+-----------------------+ | +| | Value | Meaning | | +| +=======+=======================+ | +| | 0 | None | | +| +-------+-----------------------+ | +| | 1 | MegaSquirt EFI system | | +| +-------+-----------------------+ | +| | 2 | Löweheiser EFI system | | +| +-------+-----------------------+ | +| | 8 | Hirth engines | | +| +-------+-----------------------+ | +| | ++-----------------------------------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-------------------+ +| Bitmask | ++===================+ +| +-----+---------+ | +| | Bit | Meaning | | +| +=====+=========+ | +| | 0 | Servo 1 | | +| +-----+---------+ | +| | 1 | Servo 2 | | +| +-----+---------+ | +| | 2 | Servo 3 | | +| +-----+---------+ | +| | 3 | Servo 4 | | +| +-----+---------+ | +| | 4 | Servo 5 | | +| +-----+---------+ | +| | 5 | Servo 6 | | +| +-----+---------+ | +| | 6 | Servo 7 | | +| +-----+---------+ | +| | 7 | Servo 8 | | +| +-----+---------+ | +| | ++-------------------+ + + + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Enable | | +| +-------+--------------+ | +| | 1 | GPS Disabled | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | None | | +| +-------+---------+ | +| | 1 | UBlox | | +| +-------+---------+ | +| | 5 | NMEA | | +| +-------+---------+ | +| | 6 | SBP | | +| +-------+---------+ | +| | 7 | File | | +| +-------+---------+ | +| | 8 | Nova | | +| +-------+---------+ | +| | 9 | SBP2 | | +| +-------+---------+ | +| | 11 | Trimble | | +| +-------+---------+ | +| | 19 | MSP | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Normal | | +| +-------+---------+ | +| | 1 | Reverse | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++------------------------------+ +| Values | ++==============================+ +| +-------+------------------+ | +| | Value | Meaning | | +| +=======+==================+ | +| | 0 | Disabled | | +| +-------+------------------+ | +| | 1 | Readings stopped | | +| +-------+------------------+ | +| | ++------------------------------+ + + + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------------------------------------------------+ +| Values | ++=================================================+ +| +-------+-------------------------------------+ | +| | Value | Meaning | | +| +=======+=====================================+ | +| | 0 | Stop writing data | | +| +-------+-------------------------------------+ | +| | 1 | Read data from file | | +| +-------+-------------------------------------+ | +| | 2 | Write data to a file | | +| +-------+-------------------------------------+ | +| | 3 | Read data from file and stop on EOF | | +| +-------+-------------------------------------+ | +| | ++-------------------------------------------------+ + + + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG1 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG2 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Disabled | | +| +-------+--------------+ | +| | 1 | MAG3 Failure | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++----------------------------------+ +| Bitmask | ++==================================+ +| +-----+------------------------+ | +| | Bit | Meaning | | +| +=====+========================+ | +| | 0 | Enable target distance | | +| +-----+------------------------+ | +| | ++----------------------------------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Front | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | cylinder | | +| +-------+----------+ | +| | 1 | cone | | +| +-------+----------+ | +| | 2 | sphere | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-----------------------------------------------------------+ +| Values | ++===========================================================+ +| +-------+-----------------------------------------------+ | +| | Value | Meaning | | +| +=======+===============================================+ | +| | 0 | Disabled | | +| +-------+-----------------------------------------------+ | +| | 1 | No RC pusles | | +| +-------+-----------------------------------------------+ | +| | 2 | All Channels neutral except Throttle is 950us | | +| +-------+-----------------------------------------------+ | +| | ++-----------------------------------------------------------+ + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++------------------------------------------------------------------+ +| Bitmask | ++==================================================================+ +| +-----+--------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+========================================================+ | +| | 0 | Reset position on startup | | +| +-----+--------------------------------------------------------+ | +| | 1 | Swap first 4 and last 4 servos (for quadplane testing) | | +| +-----+--------------------------------------------------------+ | +| | 2 | Demix heli servos and send roll/pitch/collective/yaw | | +| +-----+--------------------------------------------------------+ | +| | 3 | Don't print frame rate stats | | +| +-----+--------------------------------------------------------+ | +| | ++------------------------------------------------------------------+ + + + + +.. _SIM_SAIL_TYPE: + +SIM\_SAIL\_TYPE: Sailboat simulation sail type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: mainsail with sheet\, 1\: directly actuated wing + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enabled | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | Vicon Healthy | | +| +-------+---------------+ | +| | 1 | Vicon Failed | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++------------------------------------+ +| Bitmask | ++====================================+ +| +-----+--------------------------+ | +| | Bit | Meaning | | +| +=====+==========================+ | +| | 0 | VISION_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 1 | VISION_SPEED_ESTIMATE | | +| +-----+--------------------------+ | +| | 2 | VICON_POSITION_ESTIMATE | | +| +-----+--------------------------+ | +| | 3 | VISION_POSITION_DELTA | | +| +-----+--------------------------+ | +| | 4 | ODOMETRY | | +| +-----+--------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++--------------------------------------+ +| Values | ++======================================+ +| +-------+--------------------------+ | +| | Value | Meaning | | +| +=======+==========================+ | +| | 0 | disabled | | +| +-------+--------------------------+ | +| | 1 | roll and pitch | | +| +-------+--------------------------+ | +| | 2 | roll and pitch and heave | | +| +-------+--------------------------+ | +| | ++--------------------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++------------------------------------+ +| Values | ++====================================+ +| +-------+------------------------+ | +| | Value | Meaning | | +| +=======+========================+ | +| | 0 | square law | | +| +-------+------------------------+ | +| | 1 | none | | +| +-------+------------------------+ | +| | 2 | linear-see WIND_T_COEF | | +| +-------+------------------------+ | +| | ++------------------------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + + +.. _parameters_SPRAY_: + +SPRAY\_ Parameters +------------------ + + +.. _SPRAY_ENABLE: + +SPRAY\_ENABLE: Sprayer enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the sprayer + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _SPRAY_PUMP_RATE: + +SPRAY\_PUMP\_RATE: Pump speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pump speed when travelling 1m\/s expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _SPRAY_SPINNER: + +SPRAY\_SPINNER: Spinner rotation speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Spinner\'s rotation speed in PWM \(a higher rate will disperse the spray over a wider area horizontally\) + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 1000 to 2000 | milliseconds | ++--------------+--------------+ + + + + +.. _SPRAY_SPEED_MIN: + +SPRAY\_SPEED\_MIN: Speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed minimum at which we will begin spraying + + ++-----------+------------------------+ +| Range | Units | ++===========+========================+ +| 0 to 1000 | centimeters per second | ++-----------+------------------------+ + + + + +.. _SPRAY_PUMP_MIN: + +SPRAY\_PUMP\_MIN: Pump speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum pump speed expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SRTL_: + +SRTL\_ Parameters +----------------- + + +.. _SRTL_ACCURACY: + +SRTL\_ACCURACY: SmartRTL accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SmartRTL accuracy\. The minimum distance between points\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SRTL_POINTS: + +SRTL\_POINTS: SmartRTL maximum number of points on path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +SmartRTL maximum number of points on path\. Set to 0 to disable SmartRTL\. 100 points consumes about 3k of memory\. + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + +.. _SRTL_OPTIONS: + +SRTL\_OPTIONS: SmartRTL options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of SmartRTL options\. + + ++----------------------------+ +| Bitmask | ++============================+ +| +-----+------------------+ | +| | Bit | Meaning | | +| +=====+==================+ | +| | 2 | Ignore pilot yaw | | +| +-----+------------------+ | +| | ++----------------------------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++---------------------------------------------------------------+ +| Values | ++===============================================================+ +| +-------+---------------------------------------------------+ | +| | Value | Meaning | | +| +=======+===================================================+ | +| | 0 | Disabled | | +| +-------+---------------------------------------------------+ | +| | 1 | Log all instances | | +| +-------+---------------------------------------------------+ | +| | 2 | Log only instances with sensor source set to None | | +| +-------+---------------------------------------------------+ | +| | ++---------------------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | TSYS01 | | +| +-------+----------+ | +| | 2 | MCP9600 | | +| +-------+----------+ | +| | 3 | MAX31865 | | +| +-------+----------+ | +| | 4 | TSYS03 | | +| +-------+----------+ | +| | 5 | Analog | | +| +-------+----------+ | +| | 6 | DroneCAN | | +| +-------+----------+ | +| | 7 | MLX90614 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 0 | None | | +| +-------+---------------------------+ | +| | 1 | ESC | | +| +-------+---------------------------+ | +| | 2 | Motor | | +| +-------+---------------------------+ | +| | 3 | Battery Index | | +| +-------+---------------------------+ | +| | 4 | Battery ID/SerialNumber | | +| +-------+---------------------------+ | +| | 5 | CAN based Pitot tube | | +| +-------+---------------------------+ | +| | 6 | DroneCAN-out on AP_Periph | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++--------------------------------------------------+ +| Values | ++==================================================+ +| +-------+--------------------------------------+ | +| | Value | Meaning | | +| +=======+======================================+ | +| | -1 | Disabled | | +| +-------+--------------------------------------+ | +| | 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | | +| +-------+--------------------------------------+ | +| | 5 | Navigator | | +| +-------+--------------------------------------+ | +| | 13 | Pixhawk2_PM2/CubeOrange_PM2 | | +| +-------+--------------------------------------+ | +| | 14 | CubeOrange | | +| +-------+--------------------------------------+ | +| | 16 | Durandal | | +| +-------+--------------------------------------+ | +| | 100 | PX4-v1 | | +| +-------+--------------------------------------+ | +| | ++--------------------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TRQ1_: + +TRQ1\_ Parameters +----------------- + + +.. _TRQ1_TYPE: + +TRQ1\_TYPE: Torqeedo connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Torqeedo connection type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Tiller | | +| +-------+----------+ | +| | 2 | Motor | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ1_ONOFF_PIN: + +TRQ1\_ONOFF\_PIN: Torqeedo ON\/Off pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ1_DE_PIN: + +TRQ1\_DE\_PIN: Torqeedo DE pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ1_OPTIONS: + +TRQ1\_OPTIONS: Torqeedo Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + + ++-----------------------------+ +| Bitmask | ++=============================+ +| +-----+-------------------+ | +| | Bit | Meaning | | +| +=====+===================+ | +| | 0 | Log | | +| +-----+-------------------+ | +| | 1 | Send debug to GCS | | +| +-----+-------------------+ | +| | ++-----------------------------+ + + + + +.. _TRQ1_POWER: + +TRQ1\_POWER: Torqeedo Motor Power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TRQ1_SLEW_TIME: + +TRQ1\_SLEW\_TIME: Torqeedo Throttle Slew Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ1_DIR_DELAY: + +TRQ1\_DIR\_DELAY: Torqeedo Direction Change Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ1_SERVO_FN: + +TRQ1\_SERVO\_FN: Torqeedo Servo Output Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + + ++-----------+---------------------------+ +| Increment | Values | ++===========+===========================+ +| 0.1 | +-------+---------------+ | +| | | Value | Meaning | | +| | +=======+===============+ | +| | | 70 | Throttle | | +| | +-------+---------------+ | +| | | 73 | ThrottleLeft | | +| | +-------+---------------+ | +| | | 74 | ThrottleRight | | +| | +-------+---------------+ | +| | | ++-----------+---------------------------+ + + + + + +.. _parameters_TRQ2_: + +TRQ2\_ Parameters +----------------- + + +.. _TRQ2_TYPE: + +TRQ2\_TYPE: Torqeedo connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Torqeedo connection type + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Tiller | | +| +-------+----------+ | +| | 2 | Motor | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ2_ONOFF_PIN: + +TRQ2\_ONOFF\_PIN: Torqeedo ON\/Off pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ2_DE_PIN: + +TRQ2\_DE\_PIN: Torqeedo DE pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _TRQ2_OPTIONS: + +TRQ2\_OPTIONS: Torqeedo Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + + ++-----------------------------+ +| Bitmask | ++=============================+ +| +-----+-------------------+ | +| | Bit | Meaning | | +| +=====+===================+ | +| | 0 | Log | | +| +-----+-------------------+ | +| | 1 | Send debug to GCS | | +| +-----+-------------------+ | +| | ++-----------------------------+ + + + + +.. _TRQ2_POWER: + +TRQ2\_POWER: Torqeedo Motor Power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TRQ2_SLEW_TIME: + +TRQ2\_SLEW\_TIME: Torqeedo Throttle Slew Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ2_DIR_DELAY: + +TRQ2\_DIR\_DELAY: Torqeedo Direction Change Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ2_SERVO_FN: + +TRQ2\_SERVO\_FN: Torqeedo Servo Output Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + + ++-----------+---------------------------+ +| Increment | Values | ++===========+===========================+ +| 0.1 | +-------+---------------+ | +| | | Value | Meaning | | +| | +=======+===============+ | +| | | 70 | Throttle | | +| | +-------+---------------+ | +| | | 73 | ThrottleLeft | | +| | +-------+---------------+ | +| | | 74 | ThrottleRight | | +| | +-------+---------------+ | +| | | ++-----------+---------------------------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++---------------------------+ +| Values | ++===========================+ +| +-------+---------------+ | +| | Value | Meaning | | +| +=======+===============+ | +| | 0 | None | | +| +-------+---------------+ | +| | 1 | MAVLink | | +| +-------+---------------+ | +| | 2 | IntelT265 | | +| +-------+---------------+ | +| | 3 | VOXL(ModalAI) | | +| +-------+---------------+ | +| | ++---------------------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Forward | | +| +-------+---------+ | +| | 2 | Right | | +| +-------+---------+ | +| | 4 | Back | | +| +-------+---------+ | +| | 6 | Left | | +| +-------+---------+ | +| | 24 | Up | | +| +-------+---------+ | +| | 25 | Down | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++---------------------+ +| Values | ++=====================+ +| +-------+---------+ | +| | Value | Meaning | | +| +=======+=========+ | +| | 0 | Disable | | +| +-------+---------+ | +| | 1 | Enable | | +| +-------+---------+ | +| | ++---------------------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++--------------------------+ +| Values | ++==========================+ +| +-------+--------------+ | +| | Value | Meaning | | +| +=======+==============+ | +| | 0 | Band A | | +| +-------+--------------+ | +| | 1 | Band B | | +| +-------+--------------+ | +| | 2 | Band E | | +| +-------+--------------+ | +| | 3 | Airwave | | +| +-------+--------------+ | +| | 4 | RaceBand | | +| +-------+--------------+ | +| | 5 | Low RaceBand | | +| +-------+--------------+ | +| | 6 | 1G3 Band A | | +| +-------+--------------+ | +| | 7 | 1G3 Band B | | +| +-------+--------------+ | +| | 8 | Band X | | +| +-------+--------------+ | +| | 9 | 3G3 Band A | | +| +-------+--------------+ | +| | 10 | 3G3 Band B | | +| +-------+--------------+ | +| | ++--------------------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++---------------------------------------------------------------------+ +| Bitmask | ++=====================================================================+ +| +-----+-----------------------------------------------------------+ | +| | Bit | Meaning | | +| +=====+===========================================================+ | +| | 0 | Pitmode | | +| +-----+-----------------------------------------------------------+ | +| | 1 | Pitmode until armed | | +| +-----+-----------------------------------------------------------+ | +| | 2 | Pitmode when disarmed | | +| +-----+-----------------------------------------------------------+ | +| | 3 | Unlocked | | +| +-----+-----------------------------------------------------------+ | +| | 4 | Add leading zero byte to requests | | +| +-----+-----------------------------------------------------------+ | +| | 5 | Use 1 stop-bit in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 6 | Ignore CRC in SmartAudio | | +| +-----+-----------------------------------------------------------+ | +| | 7 | Ignore status updates in CRSF and blindly set VTX options | | +| +-----+-----------------------------------------------------------+ | +| | ++---------------------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_WENC: + +WENC Parameters +--------------- + + +.. _WENC_TYPE: + +WENC\_TYPE: WheelEncoder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What type of WheelEncoder is connected + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Quadrature | | +| +-------+-----------------+ | +| | 10 | SITL Quadrature | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _WENC_CPR: + +WENC\_CPR: WheelEncoder counts per revolution +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WheelEncoder counts per full revolution of the wheel + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _WENC_RADIUS: + +WENC\_RADIUS: Wheel radius +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel radius + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.001 | meters | ++-----------+--------+ + + + + +.. _WENC_POS_X: + +WENC\_POS\_X: Wheel\'s X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X position of the center of the wheel in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_POS_Y: + +WENC\_POS\_Y: Wheel\'s Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Y position of the center of the wheel in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_POS_Z: + +WENC\_POS\_Z: Wheel\'s Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Z position of the center of the wheel in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_PINA: + +WENC\_PINA: Input Pin A +~~~~~~~~~~~~~~~~~~~~~~~ + + +Input Pin A + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _WENC_PINB: + +WENC\_PINB: Input Pin B +~~~~~~~~~~~~~~~~~~~~~~~ + + +Input Pin B + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _WENC2_TYPE: + +WENC2\_TYPE: Second WheelEncoder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What type of WheelEncoder sensor is connected + + ++-----------------------------+ +| Values | ++=============================+ +| +-------+-----------------+ | +| | Value | Meaning | | +| +=======+=================+ | +| | 0 | None | | +| +-------+-----------------+ | +| | 1 | Quadrature | | +| +-------+-----------------+ | +| | 10 | SITL Quadrature | | +| +-------+-----------------+ | +| | ++-----------------------------+ + + + + +.. _WENC2_CPR: + +WENC2\_CPR: WheelEncoder 2 counts per revolution +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WheelEncoder 2 counts per full revolution of the wheel + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _WENC2_RADIUS: + +WENC2\_RADIUS: Wheel2\'s radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel2\'s radius + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.001 | meters | ++-----------+--------+ + + + + +.. _WENC2_POS_X: + +WENC2\_POS\_X: Wheel2\'s X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X position of the center of the second wheel in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_POS_Y: + +WENC2\_POS\_Y: Wheel2\'s Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Y position of the center of the second wheel in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_POS_Z: + +WENC2\_POS\_Z: Wheel2\'s Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Z position of the center of the second wheel in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_PINA: + +WENC2\_PINA: Second Encoder Input Pin A +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second Encoder Input Pin A + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _WENC2_PINB: + +WENC2\_PINB: Second Encoder Input Pin B +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second Encoder Input Pin B + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | -1 | Disabled | | +| +-------+----------+ | +| | 50 | AUX1 | | +| +-------+----------+ | +| | 51 | AUX2 | | +| +-------+----------+ | +| | 52 | AUX3 | | +| +-------+----------+ | +| | 53 | AUX4 | | +| +-------+----------+ | +| | 54 | AUX5 | | +| +-------+----------+ | +| | 55 | AUX6 | | +| +-------+----------+ | +| | ++----------------------+ + + + + + +.. _parameters_WNDVN_: + +WNDVN\_ Parameters +------------------ + + +.. _WNDVN_TYPE: + +WNDVN\_TYPE: Wind Vane Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Wind Vane type + + ++------------------------------------------------+ +| Values | ++================================================+ +| +-------+------------------------------------+ | +| | Value | Meaning | | +| +=======+====================================+ | +| | 0 | None | | +| +-------+------------------------------------+ | +| | 1 | Heading when armed | | +| +-------+------------------------------------+ | +| | 2 | RC input offset heading when armed | | +| +-------+------------------------------------+ | +| | 3 | Analog | | +| +-------+------------------------------------+ | +| | 4 | NMEA | | +| +-------+------------------------------------+ | +| | 10 | SITL true | | +| +-------+------------------------------------+ | +| | 11 | SITL apparent | | +| +-------+------------------------------------+ | +| | ++------------------------------------------------+ + + + + +.. _WNDVN_DIR_PIN: + +WNDVN\_DIR\_PIN: Wind vane analog voltage pin for direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin to read as wind vane direction + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _WNDVN_DIR_V_MIN: + +WNDVN\_DIR\_V\_MIN: Wind vane voltage minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_DIR_V_MAX: + +WNDVN\_DIR\_V\_MAX: Wind vane voltage maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_DIR_OFS: + +WNDVN\_DIR\_OFS: Wind vane headwind offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Angle offset when analog windvane is indicating a headwind\, ie 0 degress relative to vehicle + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WNDVN_DIR_FILT: + +WNDVN\_DIR\_FILT: apparent Wind vane direction low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +apparent Wind vane direction low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _WNDVN_CAL: + +WNDVN\_CAL: Wind vane calibration start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Start wind vane calibration by setting this to 1 or 2 + + ++---------------------------------+ +| Values | ++=================================+ +| +-------+---------------------+ | +| | Value | Meaning | | +| +=======+=====================+ | +| | 0 | None | | +| +-------+---------------------+ | +| | 1 | Calibrate direction | | +| +-------+---------------------+ | +| | 2 | Calibrate speed | | +| +-------+---------------------+ | +| | ++---------------------------------+ + + + + +.. _WNDVN_DIR_DZ: + +WNDVN\_DIR\_DZ: Wind vane deadzone when using analog sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind vane deadzone when using analog sensor + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WNDVN_SPEED_MIN: + +WNDVN\_SPEED\_MIN: Wind vane cut off wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind vane direction will be ignored when apparent wind speeds are below this value \(if wind speed sensor is present\)\. If the apparent wind is consistently below this value the vane will not work + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _WNDVN_SPEED_TYPE: + +WNDVN\_SPEED\_TYPE: Wind speed sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Wind speed sensor type + + ++----------------------------------------+ +| Values | ++========================================+ +| +-------+----------------------------+ | +| | Value | Meaning | | +| +=======+============================+ | +| | 0 | None | | +| +-------+----------------------------+ | +| | 1 | Airspeed library | | +| +-------+----------------------------+ | +| | 2 | Modern Devices Wind Sensor | | +| +-------+----------------------------+ | +| | 3 | RPM library | | +| +-------+----------------------------+ | +| | 4 | NMEA | | +| +-------+----------------------------+ | +| | 10 | SITL true | | +| +-------+----------------------------+ | +| | 11 | SITL apparent | | +| +-------+----------------------------+ | +| | ++----------------------------------------+ + + + + +.. _WNDVN_SPEED_PIN: + +WNDVN\_SPEED\_PIN: Wind vane speed sensor analog pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind speed analog speed input pin for Modern Devices Wind Sensor rev\. p + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _WNDVN_TEMP_PIN: + +WNDVN\_TEMP\_PIN: Wind vane speed sensor analog temp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev\. p\, set to \-1 to diasble temp readings + + ++---------------------------------------+ +| Values | ++=======================================+ +| +-------+---------------------------+ | +| | Value | Meaning | | +| +=======+===========================+ | +| | 11 | Pixracer | | +| +-------+---------------------------+ | +| | 13 | Pixhawk ADC4 | | +| +-------+---------------------------+ | +| | 14 | Pixhawk ADC3 | | +| +-------+---------------------------+ | +| | 15 | Pixhawk ADC6/Pixhawk2 ADC | | +| +-------+---------------------------+ | +| | 50 | AUX1 | | +| +-------+---------------------------+ | +| | 51 | AUX2 | | +| +-------+---------------------------+ | +| | 52 | AUX3 | | +| +-------+---------------------------+ | +| | 53 | AUX4 | | +| +-------+---------------------------+ | +| | 54 | AUX5 | | +| +-------+---------------------------+ | +| | 55 | AUX6 | | +| +-------+---------------------------+ | +| | 103 | Pixhawk SBUS | | +| +-------+---------------------------+ | +| | ++---------------------------------------+ + + + + +.. _WNDVN_SPEED_OFS: + +WNDVN\_SPEED\_OFS: Wind speed sensor analog voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind sensor analog voltage offset at zero wind speed + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 3.3 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_SPEED_FILT: + +WNDVN\_SPEED\_FILT: apparent wind speed low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +apparent Wind speed low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _WNDVN_TRUE_FILT: + +WNDVN\_TRUE\_FILT: True speed and direction low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +True speed and direction low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_WP_: + +WP\_ Parameters +--------------- + + +.. _WP_SPEED: + +WP\_SPEED: Waypoint speed default +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint speed default + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _WP_RADIUS: + +WP\_RADIUS: Waypoint radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance in meters from a waypoint when we consider the waypoint has been reached\. This determines when the vehicle will turn toward the next waypoint\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 0.1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _WP_ACCEL: + +WP\_ACCEL: Waypoint acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint acceleration\. If zero then ATC\_ACCEL\_MAX is used + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0 to 100 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _WP_JERK: + +WP\_JERK: Waypoint jerk +~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint jerk \(change in acceleration\)\. If zero then jerk is same as acceleration + + ++-----------+----------+-------------------------+ +| Increment | Range | Units | ++===========+==========+=========================+ +| 0.1 | 0 to 100 | meters per cubic second | ++-----------+----------+-------------------------+ + + + + + +.. _parameters_WP_PIVOT_: + +WP\_PIVOT\_ Parameters +---------------------- + + +.. _WP_PIVOT_ANGLE: + +WP\_PIVOT\_ANGLE: Pivot Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pivot when the difference between the vehicle\'s heading and its target heading is more than this many degrees\. Set to zero to disable pivot turns\. This parameter should be greater than 5 degrees for pivot turns to work\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WP_PIVOT_RATE: + +WP\_PIVOT\_RATE: Pivot Turn Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Turn rate during pivot turns + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _WP_PIVOT_DELAY: + +WP\_PIVOT\_DELAY: Pivot Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle waits this many seconds after completing a pivot turn before proceeding + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 60 | seconds | ++-----------+---------+---------+ + + + + + +.. _parameters_WRC: + +WRC Parameters +-------------- + + +.. _WRC_ENABLE: + +WRC\_ENABLE: Wheel rate control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable or disable wheel rate control + + ++----------------------+ +| Values | ++======================+ +| +-------+----------+ | +| | Value | Meaning | | +| +=======+==========+ | +| | 0 | Disabled | | +| +-------+----------+ | +| | 1 | Enabled | | +| +-------+----------+ | +| | ++----------------------+ + + + + +.. _WRC_RATE_MAX: + +WRC\_RATE\_MAX: Wheel max rotation rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel max rotation rate + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 0 to 200 | radians per second | ++----------+--------------------+ + + + + +.. _WRC_RATE_FF: + +WRC\_RATE\_FF: Wheel rate control feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_P: + +WRC\_RATE\_P: Wheel rate control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_I: + +WRC\_RATE\_I: Wheel rate control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_IMAX: + +WRC\_RATE\_IMAX: Wheel rate control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC_RATE_D: + +WRC\_RATE\_D: Wheel rate control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _WRC_RATE_FILT: + +WRC\_RATE\_FILT: Wheel rate control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control input filter\. Lower values reduce noise but add delay\. + + ++------------------+-------+ +| Range | Units | ++==================+=======+ +| 1.000 to 100.000 | hertz | ++------------------+-------+ + + + + +.. _WRC_RATE_FLTT: + +WRC\_RATE\_FLTT: Wheel rate control target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_FLTE: + +WRC\_RATE\_FLTE: Wheel rate control error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_FLTD: + +WRC\_RATE\_FLTD: Wheel rate control derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_SMAX: + +WRC\_RATE\_SMAX: Wheel rate slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _WRC_RATE_PDMX: + +WRC\_RATE\_PDMX: Wheel rate control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC_RATE_D_FF: + +WRC\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the error + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _WRC_RATE_NTF: + +WRC\_RATE\_NTF: Wheel rate Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC_RATE_NEF: + +WRC\_RATE\_NEF: Wheel rate Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC2_RATE_FF: + +WRC2\_RATE\_FF: Wheel rate control feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_P: + +WRC2\_RATE\_P: Wheel rate control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_I: + +WRC2\_RATE\_I: Wheel rate control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_IMAX: + +WRC2\_RATE\_IMAX: Wheel rate control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC2_RATE_D: + +WRC2\_RATE\_D: Wheel rate control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _WRC2_RATE_FILT: + +WRC2\_RATE\_FILT: Wheel rate control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control input filter\. Lower values reduce noise but add delay\. + + ++------------------+-------+ +| Range | Units | ++==================+=======+ +| 1.000 to 100.000 | hertz | ++------------------+-------+ + + + + +.. _WRC2_RATE_FLTT: + +WRC2\_RATE\_FLTT: Wheel rate control target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_FLTE: + +WRC2\_RATE\_FLTE: Wheel rate control error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_FLTD: + +WRC2\_RATE\_FLTD: Wheel rate control derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_SMAX: + +WRC2\_RATE\_SMAX: Wheel rate slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _WRC2_RATE_PDMX: + +WRC2\_RATE\_PDMX: Wheel rate control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC2_RATE_D_FF: + +WRC2\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _WRC2_RATE_NTF: + +WRC2\_RATE\_NTF: Wheel rate Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC2_RATE_NEF: + +WRC2\_RATE\_NEF: Wheel rate Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + diff --git a/Rover-4.6/ParametersLatex.rst b/Rover-4.6/ParametersLatex.rst new file mode 100644 index 0000000..fe2124d --- /dev/null +++ b/Rover-4.6/ParametersLatex.rst @@ -0,0 +1,107209 @@ +.. Dynamically generated list of documented parameters +.. This page was generated using Tools\/autotest\/param\_metadata\/param\_parse\.py + +.. DO NOT EDIT + + +.. _parameters: + +Complete Parameter List +======================= + +This is a complete list of the parameters which can be set \(e\.g\. via the MAVLink protocol\) to control vehicle behaviour\. They are stored in persistent storage on the vehicle\. + +This list is automatically generated from the latest ardupilot source code\, and so may contain parameters which are not yet in the stable released versions of the code\. + + + + +.. _parameters_Rover: + +Rover Parameters +---------------- + + +.. _FORMAT_VERSION: + +FORMAT\_VERSION: Eeprom format version number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value is incremented when changes are made to the eeprom format + + +.. _LOG_BITMASK: + +LOG\_BITMASK: Log bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmap of what log types to enable in on\-board logger\. This value is made up of the sum of each of the log types you want to be saved\. On boards supporting microSD cards or other large block\-storage devices it is usually best just to enable all basic log types by setting this to 65535\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Fast Attitude | ++-----+---------------------+ +| 1 | Medium Attitude | ++-----+---------------------+ +| 2 | GPS | ++-----+---------------------+ +| 3 | System Performance | ++-----+---------------------+ +| 4 | Throttle | ++-----+---------------------+ +| 5 | Navigation Tuning | ++-----+---------------------+ +| 7 | IMU | ++-----+---------------------+ +| 8 | Mission Commands | ++-----+---------------------+ +| 9 | Battery Monitor | ++-----+---------------------+ +| 10 | Rangefinder | ++-----+---------------------+ +| 11 | Compass | ++-----+---------------------+ +| 12 | Camera | ++-----+---------------------+ +| 13 | Steering | ++-----+---------------------+ +| 14 | RC Input-Output | ++-----+---------------------+ +| 19 | Raw IMU | ++-----+---------------------+ +| 20 | Video Stabilization | ++-----+---------------------+ +| 21 | Optical Flow | ++-----+---------------------+ + + + + +.. _RST_SWITCH_CH: + +RST\_SWITCH\_CH: Reset Switch Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC channel to use to reset to last flight mode after geofence takeover\. + + +.. _INITIAL_MODE: + +INITIAL\_MODE: Initial driving mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the mode to start in on boot\. This is useful for when you want to start in AUTO mode on boot without a receiver\. Usually used in combination with when AUTO\_TRIGGER\_PIN or AUTO\_KICKSTART\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _SYSID_THISMAV: + +SYSID\_THISMAV: MAVLink system ID of this vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _SYSID_MYGCS: + +SYSID\_MYGCS: MAVLink ground station ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The identifier of the ground station in the MAVLink protocol\. Don\'t change this unless you also modify the ground station to match\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 255 | ++-----------+----------+ + + + + +.. _TELEM_DELAY: + +TELEM\_DELAY: Telemetry startup delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The amount of time \(in seconds\) to delay radio telemetry to prevent an Xbee bricking on power up + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 30 | seconds | ++-----------+---------+---------+ + + + + +.. _GCS_PID_MASK: + +GCS\_PID\_MASK: GCS PID tuning mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bitmask of PIDs to send MAVLink PID\_TUNING messages for + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | Steering | ++-----+----------------+ +| 1 | Throttle | ++-----+----------------+ +| 2 | Pitch | ++-----+----------------+ +| 3 | Left Wheel | ++-----+----------------+ +| 4 | Right Wheel | ++-----+----------------+ +| 5 | Sailboat Heel | ++-----+----------------+ +| 6 | Velocity North | ++-----+----------------+ +| 7 | Velocity East | ++-----+----------------+ + + + + +.. _AUTO_TRIGGER_PIN: + +AUTO\_TRIGGER\_PIN: Auto mode trigger pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +pin number to use to enable the throttle in auto mode\. If set to \-1 then don\'t use a trigger\, otherwise this is a pin number which if held low in auto mode will enable the motor to run\. If the switch is released while in AUTO then the motor will stop again\. This can be used in combination with INITIAL\_MODE to give a \'press button to start\' rover with no receiver\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| -1 | Disabled | ++-------+-----------------+ +| 0 | APM TriggerPin0 | ++-------+-----------------+ +| 1 | APM TriggerPin1 | ++-------+-----------------+ +| 2 | APM TriggerPin2 | ++-------+-----------------+ +| 3 | APM TriggerPin3 | ++-------+-----------------+ +| 4 | APM TriggerPin4 | ++-------+-----------------+ +| 5 | APM TriggerPin5 | ++-------+-----------------+ +| 6 | APM TriggerPin6 | ++-------+-----------------+ +| 7 | APM TriggerPin7 | ++-------+-----------------+ +| 8 | APM TriggerPin8 | ++-------+-----------------+ +| 50 | AUX1 | ++-------+-----------------+ +| 51 | AUX2 | ++-------+-----------------+ +| 52 | AUX3 | ++-------+-----------------+ +| 53 | AUX4 | ++-------+-----------------+ +| 54 | AUX5 | ++-------+-----------------+ +| 55 | AUX6 | ++-------+-----------------+ + + + + +.. _AUTO_KICKSTART: + +AUTO\_KICKSTART: Auto mode trigger kickstart acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X acceleration in meters\/second\/second to use to trigger the motor start in auto mode\. If set to zero then auto throttle starts immediately when the mode switch happens\, otherwise the rover waits for the X acceleration to go above this value before it will start the motor + + ++-----------+---------+--------------------------+ +| Increment | Range | Units | ++===========+=========+==========================+ +| 0.1 | 0 to 20 | meters per square second | ++-----------+---------+--------------------------+ + + + + +.. _CRUISE_SPEED: + +CRUISE\_SPEED: Target cruise speed in auto modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The target speed in auto missions\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _CRUISE_THROTTLE: + +CRUISE\_THROTTLE: Base throttle percentage in auto +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The base throttle percentage to use in auto mode\. The CRUISE\_SPEED parameter controls the target speed\, but the rover starts with the CRUISE\_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed\. It then adjusts the throttle based on how fast the rover is actually going\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _PILOT_STEER_TYPE: + +PILOT\_STEER\_TYPE: Pilot input steering type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot RC input interpretation + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Default | ++-------+-------------------------------------+ +| 1 | Two Paddles Input | ++-------+-------------------------------------+ +| 2 | Direction reversed when backing up | ++-------+-------------------------------------+ +| 3 | Direction unchanged when backing up | ++-------+-------------------------------------+ + + + + +.. _FS_ACTION: + +FS\_ACTION: Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do on a failsafe event + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Nothing | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL or RTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _FS_TIMEOUT: + +FS\_TIMEOUT: Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The time in seconds that a failsafe condition must persist before the failsafe action is triggered + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 0.5 | 1 to 100 | seconds | ++-----------+----------+---------+ + + + + +.. _FS_THR_ENABLE: + +FS\_THR\_ENABLE: Throttle Failsafe Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value\. This can be used to detect the RC transmitter going out of range\. Failsafe will be triggered when the throttle channel goes below the FS\_THR\_VALUE for FS\_TIMEOUT seconds\. + + ++-------+---------------------------------------+ +| Value | Meaning | ++=======+=======================================+ +| 0 | Disabled | ++-------+---------------------------------------+ +| 1 | Enabled | ++-------+---------------------------------------+ +| 2 | Enabled Continue with Mission in Auto | ++-------+---------------------------------------+ + + + + +.. _FS_THR_VALUE: + +FS\_THR\_VALUE: Throttle Failsafe Value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The PWM level on the throttle channel below which throttle failsafe triggers\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 910 to 1100 | ++-----------+-------------+ + + + + +.. _FS_GCS_ENABLE: + +FS\_GCS\_ENABLE: GCS failsafe enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ground control station telemetry failsafe\. When enabled the Rover will execute the FS\_ACTION when it fails to receive MAVLink heartbeat packets for FS\_TIMEOUT seconds\. + + ++-------+---------------------------------------+ +| Value | Meaning | ++=======+=======================================+ +| 0 | Disabled | ++-------+---------------------------------------+ +| 1 | Enabled | ++-------+---------------------------------------+ +| 2 | Enabled Continue with Mission in Auto | ++-------+---------------------------------------+ + + + + +.. _FS_CRASH_CHECK: + +FS\_CRASH\_CHECK: Crash check action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do on a crash event\. When enabled the rover will go to hold if a crash is detected\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | Hold | ++-------+---------------+ +| 2 | HoldAndDisarm | ++-------+---------------+ + + + + +.. _FS_EKF_ACTION: + +FS\_EKF\_ACTION: EKF Failsafe Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls the action that will be taken when an EKF failsafe is invoked + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | Hold | ++-------+------------+ +| 2 | ReportOnly | ++-------+------------+ + + + + +.. _FS_EKF_THRESH: + +FS\_EKF\_THRESH: EKF failsafe variance threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows setting the maximum acceptable compass and velocity variance + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0.6 | Strict | ++-------+---------+ +| 0.8 | Default | ++-------+---------+ +| 1.0 | Relaxed | ++-------+---------+ + + + + +.. _MODE_CH: + +MODE\_CH: Mode channel +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for driving mode control + + +.. _MODE1: + +MODE1: Mode1 +~~~~~~~~~~~~ + + +Driving mode for switch position 1 \(910 to 1230 and above 2049\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _MODE2: + +MODE2: Mode2 +~~~~~~~~~~~~ + + +Driving mode for switch position 2 \(1231 to 1360\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _MODE3: + +MODE3: Mode3 +~~~~~~~~~~~~ + + +Driving mode for switch position 3 \(1361 to 1490\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _MODE4: + +MODE4: Mode4 +~~~~~~~~~~~~ + + +Driving mode for switch position 4 \(1491 to 1620\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _MODE5: + +MODE5: Mode5 +~~~~~~~~~~~~ + + +Driving mode for switch position 5 \(1621 to 1749\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _MODE6: + +MODE6: Mode6 +~~~~~~~~~~~~ + + +Driving mode for switch position 6 \(1750 to 2049\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Manual | ++-------+----------+ +| 1 | Acro | ++-------+----------+ +| 3 | Steering | ++-------+----------+ +| 4 | Hold | ++-------+----------+ +| 5 | Loiter | ++-------+----------+ +| 6 | Follow | ++-------+----------+ +| 7 | Simple | ++-------+----------+ +| 8 | Dock | ++-------+----------+ +| 9 | Circle | ++-------+----------+ +| 10 | Auto | ++-------+----------+ +| 11 | RTL | ++-------+----------+ +| 12 | SmartRTL | ++-------+----------+ +| 15 | Guided | ++-------+----------+ + + + + +.. _SYSID_ENFORCE: + +SYSID\_ENFORCE: GCS sysid enforcement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether packets from other than the expected GCS system ID will be accepted + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotEnforced | ++-------+-------------+ +| 1 | Enforced | ++-------+-------------+ + + + + +.. _TURN_RADIUS: + +TURN\_RADIUS: Turn radius of vehicle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Turn radius of vehicle in meters while at low speeds\. Lower values produce tighter turns in steering mode + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.1 | 0 to 10 | meters | ++-----------+---------+--------+ + + + + +.. _ACRO_TURN_RATE: + +ACRO\_TURN\_RATE: Acro mode turn rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acro mode turn rate maximum + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _RTL_SPEED: + +RTL\_SPEED: Return\-to\-Launch speed default +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Return\-to\-Launch speed default\. If zero use WP\_SPEED or CRUISE\_SPEED\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _FRAME_CLASS: + +FRAME\_CLASS: Frame Class +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Frame Class + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Undefined | ++-------+------------+ +| 1 | Rover | ++-------+------------+ +| 2 | Boat | ++-------+------------+ +| 3 | BalanceBot | ++-------+------------+ + + + + +.. _BAL_PITCH_MAX: + +BAL\_PITCH\_MAX: BalanceBot Maximum Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch angle in degrees at 100\% throttle + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 15 | degrees | ++-----------+---------+---------+ + + + + +.. _CRASH_ANGLE: + +CRASH\_ANGLE: Crash Angle +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch\/Roll angle limit in degrees for crash check\. Zero disables check + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 60 | degrees | ++-----------+---------+---------+ + + + + +.. _FRAME_TYPE: + +FRAME\_TYPE: Frame Type +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Frame Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Undefined | ++-------+--------------+ +| 1 | Omni3 | ++-------+--------------+ +| 2 | OmniX | ++-------+--------------+ +| 3 | OmniPlus | ++-------+--------------+ +| 4 | Omni3Mecanum | ++-------+--------------+ + + + + +.. _LOIT_TYPE: + +LOIT\_TYPE: Loiter type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Loiter behaviour when moving to the target point + + ++-------+----------------------------------------+ +| Value | Meaning | ++=======+========================================+ +| 0 | Forward or reverse to target point | ++-------+----------------------------------------+ +| 1 | Always face bow towards target point | ++-------+----------------------------------------+ +| 2 | Always face stern towards target point | ++-------+----------------------------------------+ + + + + +.. _SIMPLE_TYPE: + +SIMPLE\_TYPE: Simple\_Type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Simple mode types + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | InitialHeading | ++-------+--------------------+ +| 1 | CardinalDirections | ++-------+--------------------+ + + + + +.. _LOIT_RADIUS: + +LOIT\_RADIUS: Loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will drift when within this distance of the target position + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 20 | meters | ++-----------+---------+--------+ + + + + +.. _MIS_DONE_BEHAVE: + +MIS\_DONE\_BEHAVE: Mission done behave +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Behaviour after mission completes + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | Hold in Auto Mode | ++-------+---------------------+ +| 1 | Loiter in Auto Mode | ++-------+---------------------+ +| 2 | Acro Mode | ++-------+---------------------+ +| 3 | Manual Mode | ++-------+---------------------+ + + + + +.. _BAL_PITCH_TRIM: + +BAL\_PITCH\_TRIM: Balance Bot pitch trim angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Balance Bot pitch trim for balancing\. This offsets the tilt of the center of mass\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | -2 to 2 | degrees | ++-----------+---------+---------+ + + + + +.. _STICK_MIXING: + +STICK\_MIXING: Stick Mixing +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, this adds steering user stick input in auto modes\, allowing the user to have some degree of control without changing modes\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SPEED_MAX: + +SPEED\_MAX: Speed maximum +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum speed vehicle can obtain at full throttle\. If 0\, it will be estimated based on CRUISE\_SPEED and CRUISE\_THROTTLE\. + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 30 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _LOIT_SPEED_GAIN: + +LOIT\_SPEED\_GAIN: Loiter speed gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how agressively LOITER tries to correct for drift from loiter point\. Higher is faster but default should be acceptable\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 5 | ++-----------+--------+ + + + + +.. _FS_OPTIONS: + +FS\_OPTIONS: Failsafe Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask to enable failsafe options + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | Failsafe enabled in Hold mode | ++-----+-------------------------------+ + + + + +.. _GUID_OPTIONS: + +GUID\_OPTIONS: Guided mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change guided mode behaviour + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 6 | SCurves used for navigation | ++-----+-----------------------------+ + + + + +.. _MANUAL_OPTIONS: + +MANUAL\_OPTIONS: Manual mode options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Manual mode specific options + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | Enable steering speed scaling | ++-----+-------------------------------+ + + + + +.. _MANUAL_STR_EXPO: + +MANUAL\_STR\_EXPO: Manual Steering Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Manual steering expo to allow faster steering when stick at edges + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 0.1 | Very Low | ++-------+-----------+ +| 0.2 | Low | ++-------+-----------+ +| 0.3 | Medium | ++-------+-----------+ +| 0.4 | High | ++-------+-----------+ +| 0.5 | Very High | ++-------+-----------+ + + + + ++--------------+ +| Range | ++==============+ +| -0.5 to 0.95 | ++--------------+ + + + + +.. _FS_GCS_TIMEOUT: + +FS\_GCS\_TIMEOUT: GCS failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Timeout before triggering the GCS failsafe + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 2 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _CH7_OPTION: + +CH7\_OPTION: Channel 7 option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What to do use channel 7 for + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Nothing | ++-------+------------------+ +| 1 | SaveWaypoint | ++-------+------------------+ +| 2 | LearnCruiseSpeed | ++-------+------------------+ +| 3 | ArmDisarm | ++-------+------------------+ +| 4 | Manual | ++-------+------------------+ +| 5 | Acro | ++-------+------------------+ +| 6 | Steering | ++-------+------------------+ +| 7 | Hold | ++-------+------------------+ +| 8 | Auto | ++-------+------------------+ +| 9 | RTL | ++-------+------------------+ +| 10 | SmartRTL | ++-------+------------------+ +| 11 | Guided | ++-------+------------------+ +| 12 | Loiter | ++-------+------------------+ + + + + +.. _AUX_CH: + +AUX\_CH: Auxiliary switch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC Channel to use for auxiliary functions including saving waypoints + + +.. _PIVOT_TURN_ANGLE: + +PIVOT\_TURN\_ANGLE: Pivot turn angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Navigation angle threshold in degrees to switch to pivot steering\. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle\. An angle of zero means to disable pivot turning\. Note that you will probably also want to set a low value for WP\_RADIUS to get neat turns\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _PIVOT_TURN_RATE: + +PIVOT\_TURN\_RATE: Pivot turn rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pivot turn rate in deg\/s\. + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + + +.. _parameters_VEHICLE: + +VEHICLE Parameters +------------------ + + +.. _FLTMODE_GCSBLOCK: + +FLTMODE\_GCSBLOCK: Flight mode block from GCS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of flight modes to disable for GCS selection\. Mode can still be accessed via RC or failsafe\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Manual | ++-----+----------+ +| 1 | Acro | ++-----+----------+ +| 2 | Steering | ++-----+----------+ +| 3 | Loiter | ++-----+----------+ +| 4 | Follow | ++-----+----------+ +| 5 | Simple | ++-----+----------+ +| 6 | Circle | ++-----+----------+ +| 7 | Auto | ++-----+----------+ +| 8 | RTL | ++-----+----------+ +| 9 | SmartRTL | ++-----+----------+ +| 10 | Guided | ++-----+----------+ +| 11 | Dock | ++-----+----------+ + + + + + +.. _parameters_Lua Script: + +Lua Script Parameters +--------------------- + + +.. _RCK_FORCEHL: + +RCK\_FORCEHL: Force enable High Latency mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Automatically enables High Latency mode if not already enabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_PERIOD: + +RCK\_PERIOD: Update rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in High Latency mode\, send Rockblock updates every N seconds + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 600 | seconds | ++----------+---------+ + + + + +.. _RCK_DEBUG: + +RCK\_DEBUG: Display Rockblock debugging text +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sends Rockblock debug text to GCS via statustexts + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RCK_ENABLE: + +RCK\_ENABLE: Enable Message transmission +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables the Rockblock sending and recieving + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_ENABLE: + +PREV\_ENABLE: parameter reversion enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable parameter reversion system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PREV_RC_FUNC: + +PREV\_RC\_FUNC: param reversion RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to used to trigger parameter reversion + + +.. _PLND_ALT_CUTOFF: + +PLND\_ALT\_CUTOFF: Precland altitude cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The altitude \(rangefinder distance\) below which we stop using the precision landing sensor and continue landing + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 20 | meters | ++---------+--------+ + + + + +.. _DIST_CUTOFF: + +DIST\_CUTOFF: Precland distance cutoff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance from target beyond which the target is ignored + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _POI_DIST_MAX: + +POI\_DIST\_MAX: Mount POI distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +POI\'s max distance \(in meters\) from the vehicle + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _CAM1_THERM_PAL: + +CAM1\_THERM\_PAL: Camera1 Thermal Palette +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image colour palette + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| -1 | Leave Unchanged | ++-------+-----------------+ +| 0 | WhiteHot | ++-------+-----------------+ +| 2 | Sepia | ++-------+-----------------+ +| 3 | IronBow | ++-------+-----------------+ +| 4 | Rainbow | ++-------+-----------------+ +| 5 | Night | ++-------+-----------------+ +| 6 | Aurora | ++-------+-----------------+ +| 7 | RedHot | ++-------+-----------------+ +| 8 | Jungle | ++-------+-----------------+ +| 9 | Medical | ++-------+-----------------+ +| 10 | BlackHot | ++-------+-----------------+ +| 11 | GloryHot | ++-------+-----------------+ + + + + +.. _CAM1_THERM_GAIN: + +CAM1\_THERM\_GAIN: Camera1 Thermal Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thermal image temperature range + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| -1 | Leave Unchanged | ++-------+-------------------------+ +| 0 | LowGain (50C to 550C) | ++-------+-------------------------+ +| 1 | HighGain (-20C to 150C) | ++-------+-------------------------+ + + + + +.. _CAM1_THERM_RAW: + +CAM1\_THERM\_RAW: Camera1 Thermal Raw Data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +save images with raw temperatures + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| -1 | Leave Unchanged | ++-------+------------------+ +| 0 | Disabled (30fps) | ++-------+------------------+ +| 1 | Enabled (25 fps) | ++-------+------------------+ + + + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _TERR_BRK_ENABLE: + +TERR\_BRK\_ENABLE: terrain brake enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _TERR_BRK_ALT: + +TERR\_BRK\_ALT: terrain brake altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake altitude\. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 100 | meters | ++----------+--------+ + + + + +.. _TERR_BRK_HDIST: + +TERR\_BRK\_HDIST: terrain brake home distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake home distance\. The distance from home where the auto BRAKE will be enabled\. When within this distance of home the script will not activate + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _TERR_BRK_SPD: + +TERR\_BRK\_SPD: terrain brake speed threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +terrain brake speed threshold\. Don\'t trigger BRAKE if both horizontal speed and descent rate are below this threshold\. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode\. A value of 0\.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 5 | meters per second | ++--------+-------------------+ + + + + +.. _QUIK_ENABLE: + +QUIK\_ENABLE: Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AXES: + +QUIK\_AXES: Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Roll | ++-----+---------+ +| 1 | Pitch | ++-----+---------+ +| 2 | Yaw | ++-----+---------+ + + + + +.. _QUIK_DOUBLE_TIME: + +QUIK\_DOUBLE\_TIME: Quicktune doubling time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to double a tuning parameter\. Raise this for a slower tune\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 20 | seconds | ++---------+---------+ + + + + +.. _QUIK_GAIN_MARGIN: + +QUIK\_GAIN\_MARGIN: Quicktune gain margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reduction in gain after oscillation detected\. Raise this number to get a more conservative tune + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 20 to 80 | percent | ++----------+---------+ + + + + +.. _QUIK_OSC_SMAX: + +QUIK\_OSC\_SMAX: Quicktune oscillation rate threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Threshold for oscillation detection\. A lower value will lead to a more conservative tune\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _QUIK_YAW_P_MAX: + +QUIK\_YAW\_P\_MAX: Quicktune Yaw P max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw P gain + + ++----------+ +| Range | ++==========+ +| 0.1 to 3 | ++----------+ + + + + +.. _QUIK_YAW_D_MAX: + +QUIK\_YAW\_D\_MAX: Quicktune Yaw D max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum value for yaw D gain + + ++------------+ +| Range | ++============+ +| 0.001 to 1 | ++------------+ + + + + +.. _QUIK_RP_PI_RATIO: + +QUIK\_RP\_PI\_RATIO: Quicktune roll\/pitch PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for roll and pitch\. Raise this to get a lower I gain + + ++------------+ +| Range | ++============+ +| 0.5 to 1.0 | ++------------+ + + + + +.. _QUIK_Y_PI_RATIO: + +QUIK\_Y\_PI\_RATIO: Quicktune Yaw PI ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between P and I gains for yaw\. Raise this to get a lower I gain + + ++-----------+ +| Range | ++===========+ +| 0.5 to 20 | ++-----------+ + + + + +.. _QUIK_AUTO_FILTER: + +QUIK\_AUTO\_FILTER: Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _QUIK_AUTO_SAVE: + +QUIK\_AUTO\_SAVE: Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _QUIK_RC_FUNC: + +QUIK\_RC\_FUNC: Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + +.. _QUIK_MAX_REDUCE: + +QUIK\_MAX\_REDUCE: Quicktune maximum gain reduction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much quicktune is allowed to lower gains from the original gains\. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions\. The default of 20\% is reasonable for most vehicles\. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain\, which can result in very low rate gains and a dangerous angle P oscillation\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _QUIK_OPTIONS: + +QUIK\_OPTIONS: Quicktune options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Additional options\. When the Two Position Switch option is enabled then a high switch position will start the tune\, low will disable the tune\. you should also set a QUIK\_AUTO\_SAVE time so that you will be able to save the tune\. + + ++-----+----------------------+ +| Bit | Meaning | ++=====+======================+ +| 0 | UseTwoPositionSwitch | ++-----+----------------------+ + + + + +.. _SHIP_ENABLE: + +SHIP\_ENABLE: Ship landing enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ship landing system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SHIP_LAND_ANGLE: + +SHIP\_LAND\_ANGLE: Ship landing angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Angle from the stern of the ship for landing approach\. Use this to ensure that on a go\-around that ship superstructure and cables are avoided\. A value of zero means to approach from the rear of the ship\. A value of 90 means the landing will approach from the port \(left\) side of the ship\. A value of \-90 will mean approaching from the starboard \(right\) side of the ship\. A value of 180 will approach from the bow of the ship\. This parameter is combined with the sign of the RTL\_RADIUS parameter to determine the holdoff pattern\. If RTL\_RADIUS is positive then a clockwise loiter is performed\, if RTL\_RADIUS is negative then a counter\-clockwise loiter is used\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SHIP_AUTO_OFS: + +SHIP\_AUTO\_OFS: Ship automatic offset trigger +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target\. NOTE\: This parameter will auto\-reset to zero once the offset has been calculated\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Trigger | ++-------+----------+ + + + + +.. _CGA_RATIO: + +CGA\_RATIO: CoG adjustment ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The ratio between the front and back motor outputs during steady\-state hover\. Positive when the CoG is in front of the motors midpoint \(front motors work harder\)\. + + ++----------+ +| Range | ++==========+ +| 0.5 to 2 | ++----------+ + + + + +.. _WEB_ENABLE: + +WEB\_ENABLE: enable web server +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +enable web server + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BIND_PORT: + +WEB\_BIND\_PORT: web server TCP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +web server TCP port + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_DEBUG: + +WEB\_DEBUG: web server debugging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server debugging + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WEB_BLOCK_SIZE: + +WEB\_BLOCK\_SIZE: web server block size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +web server block size for download + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _WEB_TIMEOUT: + +WEB\_TIMEOUT: web server timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +timeout for inactive connections + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 0.1 to 60 | seconds | ++-----------+---------+ + + + + +.. _WEB_SENDFILE_MIN: + +WEB\_SENDFILE\_MIN: web server minimum file size for sendfile +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +sendfile is an offloading mechanism for faster file download\. If this is non\-zero and the file is larger than this size then sendfile will be used for file download + + ++---------------+ +| Range | ++===============+ +| 0 to 10000000 | ++---------------+ + + + + +.. _SLUP_ENABLE: + +SLUP\_ENABLE: Slung Payload enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SLUP_VEL_P: + +SLUP\_VEL\_P: Slung Payload Velocity P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload Velocity P gain\, higher values will result in faster movements in sync with payload + + ++----------+ +| Range | ++==========+ +| 0 to 0.8 | ++----------+ + + + + +.. _SLUP_DIST_MAX: + +SLUP\_DIST\_MAX: Slung Payload horizontal distance max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Oscillation is suppressed when vehicle and payload are no more than this distance horizontally\. Set to 0 to always suppress + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _SLUP_SYSID: + +SLUP\_SYSID: Slung Payload mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung Payload mavlink system id\. 0 to use any\/all system ids + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _SLUP_WP_POS_P: + +SLUP\_WP\_POS\_P: Slung Payload return to WP position P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WP position P gain\. higher values will result in vehicle moving more quickly back to the original waypoint + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SLUP_RESTOFS_TC: + +SLUP\_RESTOFS\_TC: Slung Payload resting offset estimate filter time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +payload\'s position estimator\'s time constant used to compensate for GPS errors and wind\. Higher values result in smoother estimate but slower response + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _SLUP_DEBUG: + +SLUP\_DEBUG: Slung Payload debug output +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Slung payload debug output\, set to 1 to enable debug + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_ENABLE: + +RTUN\_ENABLE: Rover Quicktune enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable quicktune system + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AXES: + +RTUN\_AXES: Rover Quicktune axes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +axes to tune + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Steering | ++-----+----------+ +| 1 | Speed | ++-----+----------+ + + + + +.. _RTUN_STR_FFRATIO: + +RTUN\_STR\_FFRATIO: Rover Quicktune Steering Rate FeedForward ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and FF gain\. Raise this to get a higher FF gain + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_STR_P_RATIO: + +RTUN\_STR\_P\_RATIO: Rover Quicktune Steering FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and P gains\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_STR_I_RATIO: + +RTUN\_STR\_I\_RATIO: Rover Quicktune Steering FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between steering FF and I gains\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_FFRATIO: + +RTUN\_SPD\_FFRATIO: Rover Quicktune Speed FeedForward \(equivalent\) ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between measured response and CRUISE\_THROTTLE value\. Raise this to get a higher CRUISE\_THROTTLE value + + ++----------+ +| Range | ++==========+ +| 0 to 1.0 | ++----------+ + + + + +.. _RTUN_SPD_P_RATIO: + +RTUN\_SPD\_P\_RATIO: Rover Quicktune Speed FF to P ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and P gain\. Raise this to get a higher P gain\, 0 to leave P unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_SPD_I_RATIO: + +RTUN\_SPD\_I\_RATIO: Rover Quicktune Speed FF to I ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ratio between speed FF and I gain\. Raise this to get a higher I gain\, 0 to leave I unchanged + + ++----------+ +| Range | ++==========+ +| 0 to 2.0 | ++----------+ + + + + +.. _RTUN_AUTO_FILTER: + +RTUN\_AUTO\_FILTER: Rover Quicktune auto filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled the PID filter settings are automatically set based on INS\_GYRO\_FILTER + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _RTUN_AUTO_SAVE: + +RTUN\_AUTO\_SAVE: Rover Quicktune auto save +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of seconds after completion of tune to auto\-save\. This is useful when using a 2 position switch for quicktune + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _RTUN_RC_FUNC: + +RTUN\_RC\_FUNC: Rover Quicktune RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control tuning stop\/start\/save + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _WINCH_RATE_UP: + +WINCH\_RATE\_UP: WinchControl Rate Up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when retracting line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RATE_DN: + +WINCH\_RATE\_DN: WinchControl Rate Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum rate when releasing line + + ++------------+ +| Range | ++============+ +| 0.1 to 5.0 | ++------------+ + + + + +.. _WINCH_RC_FUNC: + +WINCH\_RC\_FUNC: Winch Rate Control RC function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RCn\_OPTION number to use to control winch rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 300 | Scripting1 | ++-------+------------+ +| 301 | Scripting2 | ++-------+------------+ +| 302 | Scripting3 | ++-------+------------+ +| 303 | Scripting4 | ++-------+------------+ +| 304 | Scripting5 | ++-------+------------+ +| 305 | Scripting6 | ++-------+------------+ +| 306 | Scripting7 | ++-------+------------+ +| 307 | Scripting8 | ++-------+------------+ + + + + +.. _ESRC_EXTN_THRESH: + +ESRC\_EXTN\_THRESH: EKF Source ExternalNav Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_EXTN_QUAL: + +ESRC\_EXTN\_QUAL: EKF Source ExternalNav Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ExternalNav may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_FLOW_THRESH: + +ESRC\_FLOW\_THRESH: EKF Source OpticalFlow Innovation Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if innovations are below this threshold + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _ESRC_FLOW_QUAL: + +ESRC\_FLOW\_QUAL: EKF Source OpticalFlow Quality Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if quality is above this threshold + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _ESRC_RNGFND_MAX: + +ESRC\_RNGFND\_MAX: EKF Source Rangefinder Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +OpticalFlow may be used if rangefinder distance is below this threshold + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _BATT_SOC_COUNT: + +BATT\_SOC\_COUNT: Count of SOC estimators +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of battery SOC estimators + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_IDX: + +BATT\_SOC1\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC1_NCELL: + +BATT\_SOC1\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC1_C1: + +BATT\_SOC1\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC1_C2: + +BATT\_SOC1\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC1_C3: + +BATT\_SOC1\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC2_IDX: + +BATT\_SOC2\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC2_NCELL: + +BATT\_SOC2\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC2_C1: + +BATT\_SOC2\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC2_C2: + +BATT\_SOC2\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC2_C3: + +BATT\_SOC2\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC3_IDX: + +BATT\_SOC3\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC3_NCELL: + +BATT\_SOC3\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC3_C1: + +BATT\_SOC3\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC3_C2: + +BATT\_SOC3\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC3_C3: + +BATT\_SOC3\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _BATT_SOC4_IDX: + +BATT\_SOC4\_IDX: Battery estimator index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator index + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BATT_SOC4_NCELL: + +BATT\_SOC4\_NCELL: Battery estimator cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator cell count + + ++---------+ +| Range | ++=========+ +| 0 to 48 | ++---------+ + + + + +.. _BATT_SOC4_C1: + +BATT\_SOC4\_C1: Battery estimator coefficient1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient1 + + ++------------+ +| Range | ++============+ +| 100 to 200 | ++------------+ + + + + +.. _BATT_SOC4_C2: + +BATT\_SOC4\_C2: Battery estimator coefficient2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient2 + + ++--------+ +| Range | ++========+ +| 2 to 5 | ++--------+ + + + + +.. _BATT_SOC4_C3: + +BATT\_SOC4\_C3: Battery estimator coefficient3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery estimator coefficient3 + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.5 | ++-------------+ + + + + +.. _DR_ENABLE: + +DR\_ENABLE: Deadreckoning Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Deadreckoning Enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DR_ENABLE_DIST: + +DR\_ENABLE\_DIST: Deadreckoning Enable Distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance from home \(in meters\) beyond which the dead reckoning will be enabled + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _DR_GPS_SACC_MAX: + +DR\_GPS\_SACC\_MAX: Deadreckoning GPS speed accuracy maximum threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS speed accuracy maximum\, above which deadreckoning home will begin \(default is 0\.8\)\. Lower values trigger with good GPS quality\, higher values will allow poorer GPS before triggering\. Set to 0 to disable use of GPS speed accuracy + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _DR_GPS_SAT_MIN: + +DR\_GPS\_SAT\_MIN: Deadreckoning GPS satellite count min threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS satellite count threshold below which deadreckoning home will begin \(default is 6\)\. Higher values trigger with good GPS quality\, Lower values trigger with worse GPS quality\. Set to 0 to disable use of GPS satellite count + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _DR_GPS_TRIGG_SEC: + +DR\_GPS\_TRIGG\_SEC: Deadreckoning GPS check trigger seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS checks must fail for this many seconds before dead reckoning will be triggered + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_FLY_ANGLE: + +DR\_FLY\_ANGLE: Deadreckoning Lean Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +lean angle \(in degrees\) during deadreckoning + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 45 | degrees | ++---------+---------+ + + + + +.. _DR_FLY_ALT_MIN: + +DR\_FLY\_ALT\_MIN: Deadreckoning Altitude Min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will fly at at least this altitude \(in meters\) above home during deadreckoning + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _DR_FLY_TIMEOUT: + +DR\_FLY\_TIMEOUT: Deadreckoning flight timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter will attempt to switch to NEXT\_MODE after this many seconds of deadreckoning\. If it cannot switch modes it will continue in Guided\_NoGPS\. Set to 0 to disable timeout + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _DR_NEXT_MODE: + +DR\_NEXT\_MODE: Deadreckoning Next Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Copter switch to this mode after GPS recovers or DR\_FLY\_TIMEOUT has elapsed\. Default is 6\/RTL\. Set to \-1 to return to mode used before deadreckoning was triggered + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 2 | AltHold | ++-------+--------------+ +| 3 | Auto | ++-------+--------------+ +| 4 | Guided | ++-------+--------------+ +| 5 | Loiter | ++-------+--------------+ +| 6 | RTL | ++-------+--------------+ +| 7 | Circle | ++-------+--------------+ +| 9 | Land | ++-------+--------------+ +| 16 | PosHold | ++-------+--------------+ +| 17 | Brake | ++-------+--------------+ +| 20 | Guided_NoGPS | ++-------+--------------+ +| 21 | Smart_RTL | ++-------+--------------+ +| 27 | Auto RTL | ++-------+--------------+ + + + + +.. _AEROM_ANG_ACCEL: + +AEROM\_ANG\_ACCEL: Angular acceleration limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum angular acceleration in maneuvers + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_ANG_TC: + +AEROM\_ANG\_TC: Roll control filtertime constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time over which we filter the desired roll to smooth it + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_THR_PIT_FF: + +AEROM\_THR\_PIT\_FF: Throttle feed forward from pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how much extra throttle to add based on pitch ange\. The value is for 90 degrees and is applied in proportion to pitch + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_P: + +AEROM\_SPD\_P: P gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_SPD_I: + +AEROM\_SPD\_I: I gain for speed controller +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly the throttle is raised to compensate for a speed error + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_ROL_COR_TC: + +AEROM\_ROL\_COR\_TC: Roll control time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting roll errors\. A smaller value leads to faster roll corrections + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_TIME_COR_P: + +AEROM\_TIME\_COR\_P: Time constant for correction of our distance along the path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the time constant for correcting path position errors + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ERR_COR_P: + +AEROM\_ERR\_COR\_P: P gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ERR_COR_D: + +AEROM\_ERR\_COR\_D: D gain for path error corrections +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we correct back onto the desired path + + +.. _AEROM_ENTRY_RATE: + +AEROM\_ENTRY\_RATE: The roll rate to use when entering a roll maneuver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly we roll into a new orientation + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _AEROM_THR_LKAHD: + +AEROM\_THR\_LKAHD: The lookahead for throttle control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how far ahead we look in time along the path for the target throttle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_DEBUG: + +AEROM\_DEBUG: Debug control +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the printing of extra debug information on paths + + +.. _AEROM_THR_MIN: + +AEROM\_THR\_MIN: Minimum Throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Lowest throttle used during maneuvers + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_THR_BOOST: + +AEROM\_THR\_BOOST: Throttle boost +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is the extra throttle added in schedule elements marked as needing a throttle boost + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_YAW_ACCEL: + +AEROM\_YAW\_ACCEL: Yaw acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is maximum yaw acceleration to use + + ++---------------------------+ +| Units | ++===========================+ +| degrees per square second | ++---------------------------+ + + + + +.. _AEROM_LKAHD: + +AEROM\_LKAHD: Lookahead +~~~~~~~~~~~~~~~~~~~~~~~ + + +This is how much time to look ahead in the path for calculating path rates + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_PATH_SCALE: + +AEROM\_PATH\_SCALE: Path Scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scale factor for Path\/Box size\. 0\.5 would half the distances in maneuvers\. Radii are unaffected\. + + ++------------+ +| Range | ++============+ +| 0.1 to 100 | ++------------+ + + + + +.. _AEROM_BOX_WIDTH: + +AEROM\_BOX\_WIDTH: Box Width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Length of aerobatic \"box\" + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_STALL_THR: + +AEROM\_STALL\_THR: Stall turn throttle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amount of throttle to reduce to for a stall turn + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_STALL_PIT: + +AEROM\_STALL\_PIT: Stall turn pitch threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch threashold for moving to final stage of stall turn + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_KE_RUDD: + +AEROM\_KE\_RUDD: KnifeEdge Rudder +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Percent of rudder normally uses to sustain knife\-edge at trick speed + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _AEROM_KE_RUDD_LK: + +AEROM\_KE\_RUDD\_LK: KnifeEdge Rudder lookahead +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time to look ahead in the path to calculate rudder correction for bank angle + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AEROM_ALT_ABORT: + +AEROM\_ALT\_ABORT: Altitude Abort +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum allowable loss in altitude during a trick or sequence from its starting altitude\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AEROM_TS_P: + +AEROM\_TS\_P: Timesync P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_I: + +AEROM\_TS\_I: Timesync I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls how rapidly two aircraft are brought back into time sync + + +.. _AEROM_TS_SPDMAX: + +AEROM\_TS\_SPDMAX: Timesync speed max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum speed adjustment for time sync between aircraft + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _AEROM_TS_RATE: + +AEROM\_TS\_RATE: Timesync rate of send of NAMED\_VALUE\_FLOAT data +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate we send data for time sync between aircraft + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _AEROM_MIS_ANGLE: + +AEROM\_MIS\_ANGLE: Mission angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to a non\-zero value\, this is the assumed direction of the mission\. Otherwise the waypoint angle is used + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _AEROM_OPTIONS: + +AEROM\_OPTIONS: Aerobatic options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options to control aerobatic behavior + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | UseRTLOnAbort | ++-----+--------------------------+ +| 1 | AddAtToMessages | ++-----+--------------------------+ +| 2 | DualAircraftSynchronised | ++-----+--------------------------+ + + + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _TRIK_ENABLE: + +TRIK\_ENABLE: Tricks on Switch Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables Tricks on Switch\. TRIK params hidden until enabled + + +.. _TRIK_SEL_FN: + +TRIK\_SEL\_FN: Trik Selection Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick selection + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_ACT_FN: + +TRIK\_ACT\_FN: Trik Action Scripting Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Setting an RC channel\'s \_OPTION to this value will use it for trick action \(abort\,announce\,execute\) + + ++------------+ +| Range | ++============+ +| 301 to 307 | ++------------+ + + + + +.. _TRIK_COUNT: + +TRIK\_COUNT: Trik Count +~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of tricks which can be selected over the range of the trik selection RC channel + + ++---------+ +| Range | ++=========+ +| 1 to 11 | ++---------+ + + + + +.. _VIEP_DEBUG: + +VIEP\_DEBUG: ViewPro debug +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ViewPro debug + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Enabled including attitude reporting | ++-------+--------------------------------------+ + + + + +.. _VIEP_CAM_SWLOW: + +VIEP\_CAM\_SWLOW: ViewPro Camera For Switch Low +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in low position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWMID: + +VIEP\_CAM\_SWMID: ViewPro Camera For Switch Mid +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in middle position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_CAM_SWHIGH: + +VIEP\_CAM\_SWHIGH: ViewPro Camera For Switch High +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera selection when switch is in high position + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | No change in camera selection | ++-------+-------------------------------+ +| 1 | EO1 | ++-------+-------------------------------+ +| 2 | IR thermal | ++-------+-------------------------------+ +| 3 | EO1 + IR Picture-in-picture | ++-------+-------------------------------+ +| 4 | IR + EO1 Picture-in-picture | ++-------+-------------------------------+ +| 5 | Fusion | ++-------+-------------------------------+ +| 6 | IR1 13mm | ++-------+-------------------------------+ +| 7 | IR2 52mm | ++-------+-------------------------------+ + + + + +.. _VIEP_ZOOM_SPEED: + +VIEP\_ZOOM\_SPEED: ViewPro Zoom Speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Speed\. Higher numbers result in faster zooming + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VIEP_ZOOM_MAX: + +VIEP\_ZOOM\_MAX: ViewPro Zoom Times Max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ViewPro Zoom Times Max + + ++---------+ +| Range | ++=========+ +| 0 to 30 | ++---------+ + + + + +.. _EFI_INF_ENABLE: + +EFI\_INF\_ENABLE: EFI INF\-Inject enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI INF\-Inject driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_INF_OPTIONS: + +EFI\_INF\_OPTIONS: EFI INF\-Inject options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _EFI_INF_THR_HZ: + +EFI\_INF\_THR\_HZ: EFI INF\-Inject throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle output rate + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_INF_IGN_AUX: + +EFI\_INF\_IGN\_AUX: EFI INF\-Inject ignition aux function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI INF throttle ignition aux function + + +.. _EFI_SVF_ENABLE: + +EFI\_SVF\_ENABLE: Generator SVFFI enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SVFFI generator support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SVF_ARMCHECK: + +EFI\_SVF\_ARMCHECK: Generator SVFFI arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Check for Generator ARM state before arming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_ENABLE: + +BATT\_ANX\_ENABLE: Enable ANX battery support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ANX battery support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BATT_ANX_CANDRV: + +BATT\_ANX\_CANDRV: Set ANX CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set ANX CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _BATT_ANX_INDEX: + +BATT\_ANX\_INDEX: ANX CAN battery index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ANX CAN battery index + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _BATT_ANX_OPTIONS: + +BATT\_ANX\_OPTIONS: ANX CAN battery options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ANX CAN battery options + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | LogAllFrames | ++-----+--------------+ + + + + +.. _EFI_DLA_ENABLE: + +EFI\_DLA\_ENABLE: EFI DLA enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable EFI DLA driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_DLA_LPS: + +EFI\_DLA\_LPS: EFI DLA fuel scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +EFI DLA litres of fuel per second of injection time + + ++--------------+--------+ +| Range | Units | ++==============+========+ +| 0.00001 to 1 | litres | ++--------------+--------+ + + + + +.. _ESC_HW_ENABLE: + +ESC\_HW\_ENABLE: Hobbywing ESC Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Hobbywing ESC telemetry + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _ESC_HW_POLES: + +ESC\_HW\_POLES: Hobbywing ESC motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor poles for eRPM scaling + + ++---------+ +| Range | ++=========+ +| 1 to 50 | ++---------+ + + + + +.. _ESC_HW_OFS: + +ESC\_HW\_OFS: Hobbywing ESC motor offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor number offset of first ESC + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _EFI_2K_ENABLE: + +EFI\_2K\_ENABLE: Enable NMEA 2000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable NMEA 2000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_2K_CANDRV: + +EFI\_2K\_CANDRV: NMEA 2000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_2K_OPTIONS: + +EFI\_2K\_OPTIONS: NMEA 2000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA 2000 driver options + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | EnableLogging | ++-----+---------------+ + + + + +.. _DJIR_DEBUG: + +DJIR\_DEBUG: DJIRS2 debug +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable DJIRS2 debug + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Disabled | ++-------+---------------------------------+ +| 1 | Enabled | ++-------+---------------------------------+ +| 2 | Enabled with attitude reporting | ++-------+---------------------------------+ + + + + +.. _DJIR_UPSIDEDOWN: + +DJIR\_UPSIDEDOWN: DJIRS2 upside down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DJIRS2 upside down + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Right side up | ++-------+---------------+ +| 1 | Upside down | ++-------+---------------+ + + + + +.. _EFI_SP_ENABLE: + +EFI\_SP\_ENABLE: Enable SkyPower EFI support +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable SkyPower EFI support + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_CANDRV: + +EFI\_SP\_CANDRV: Set SkyPower EFI CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set SkyPower EFI CAN driver + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | 1stCANDriver | ++-------+--------------+ +| 2 | 2ndCanDriver | ++-------+--------------+ + + + + +.. _EFI_SP_UPDATE_HZ: + +EFI\_SP\_UPDATE\_HZ: SkyPower EFI update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI update rate + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 200 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_THR_FN: + +EFI\_SP\_THR\_FN: SkyPower EFI throttle function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI throttle function\. This sets which SERVOn\_FUNCTION to use for the target throttle\. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 70 | FixedWing | ++-------+-----------+ +| 31 | HeliRSC | ++-------+-----------+ + + + + +.. _EFI_SP_THR_RATE: + +EFI\_SP\_THR\_RATE: SkyPower EFI throttle rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI throttle rate\. This sets rate at which throttle updates are sent to the engine + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 100 | hertz | ++-----------+-------+ + + + + +.. _EFI_SP_START_FN: + +EFI\_SP\_START\_FN: SkyPower EFI start function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI start function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling engine start + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_GEN_FN: + +EFI\_SP\_GEN\_FN: SkyPower EFI generator control function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI generator control function\. This is the RCn\_OPTION value to use to find the R\/C channel used for controlling generator start\/stop + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_SP_MIN_RPM: + +EFI\_SP\_MIN\_RPM: SkyPower EFI minimum RPM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI minimum RPM\. This is the RPM below which the engine is considered to be stopped + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _EFI_SP_TLM_RT: + +EFI\_SP\_TLM\_RT: SkyPower EFI telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI telemetry rate\. This is the rate at which extra telemetry values are sent to the GCS + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 10 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_LOG_RT: + +EFI\_SP\_LOG\_RT: SkyPower EFI log rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SkyPower EFI log rate\. This is the rate at which extra logging of the SkyPower EFI is performed + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 1 to 50 | hertz | ++---------+-------+ + + + + +.. _EFI_SP_ST_DISARM: + +EFI\_SP\_ST\_DISARM: SkyPower EFI allow start disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI allow start disarmed\. This controls if starting the engine while disarmed is allowed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_MODEL: + +EFI\_SP\_MODEL: SkyPower EFI ECU model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI ECU model + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | SRE_180 | ++-------+---------+ +| 1 | SP_275 | ++-------+---------+ + + + + +.. _EFI_SP_GEN_CTRL: + +EFI\_SP\_GEN\_CTRL: SkyPower EFI enable generator control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI enable generator control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_SP_RST_TIME: + +EFI\_SP\_RST\_TIME: SkyPower EFI restart time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SkyPower EFI restart time\. If engine should be running and it has stopped for this amount of time then auto\-restart\. To disable this feature set this value to zero\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _EFI_H6K_ENABLE: + +EFI\_H6K\_ENABLE: Enable Halo6000 EFI driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable Halo6000 EFI driver + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_H6K_CANDRV: + +EFI\_H6K\_CANDRV: Halo6000 CAN driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 CAN driver\. Use 1 for first CAN scripting driver\, 2 for 2nd driver + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | FirstCAN | ++-------+-----------+ +| 2 | SecondCAN | ++-------+-----------+ + + + + +.. _EFI_H6K_START_FN: + +EFI\_H6K\_START\_FN: Halo6000 start auxilliary function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The RC auxilliary function number for start\/stop of the generator\. Zero to disable start function + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 300 | 300 | ++-------+----------+ +| 301 | 301 | ++-------+----------+ +| 302 | 302 | ++-------+----------+ +| 303 | 303 | ++-------+----------+ +| 304 | 304 | ++-------+----------+ +| 305 | 305 | ++-------+----------+ +| 306 | 306 | ++-------+----------+ +| 307 | 307 | ++-------+----------+ + + + + +.. _EFI_H6K_TELEM_RT: + +EFI\_H6K\_TELEM\_RT: Halo6000 telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The rate that additional generator telemetry is sent + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EFI_H6K_FUELTOT: + +EFI\_H6K\_FUELTOT: Halo6000 total fuel capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The capacity of the tank in litres + + ++--------+ +| Units | ++========+ +| litres | ++--------+ + + + + +.. _EFI_H6K_OPTIONS: + +EFI\_H6K\_OPTIONS: Halo6000 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Halo6000 options + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | LogAllCanPackets | ++-----+------------------+ + + + + +.. _TOFSENSE_PRX: + +TOFSENSE\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_NO: + +TOFSENSE\_NO: TOFSENSE\-M Connected +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of TOFSENSE\-M CAN sensors connected + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_MODE: + +TOFSENSE\_MODE: TOFSENSE\-M mode to be used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +TOFSENSE\-M mode to be used\. 0 for 8x8 mode\. 1 for 4x4 mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | 8x8 mode | ++-------+----------+ +| 1 | 4x4 mode | ++-------+----------+ + + + + +.. _TOFSENSE_INST1: + +TOFSENSE\_INST1: TOFSENSE\-M First Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensors backend Instance\. Setting this to 1 will pick the first backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID1: + +TOFSENSE\_ID1: TOFSENSE\-M First ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +First TOFSENSE\-M sensor ID\. Leave this at 0 to accept all IDs and if only one sensor is present\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST2: + +TOFSENSE\_INST2: TOFSENSE\-M Second Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensors backend Instance\. Setting this to 2 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID2: + +TOFSENSE\_ID2: TOFSENSE\-M Second ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_INST3: + +TOFSENSE\_INST3: TOFSENSE\-M Third Instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensors backend Instance\. Setting this to 3 will pick the second backend from PRX\_ or RNG\_ Parameters \(Depending on TOFSENSE\_PRX\) + + ++--------+ +| Range | ++========+ +| 1 to 3 | ++--------+ + + + + +.. _TOFSENSE_ID3: + +TOFSENSE\_ID3: TOFSENSE\-M Thir ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Third TOFSENSE\-M sensor ID\. This cannot be 0\. You can change ID of sensor from NAssistant Software + + ++----------+ +| Range | ++==========+ +| 1 to 255 | ++----------+ + + + + +.. _TOFSENSE_S1_PRX: + +TOFSENSE\_S1\_PRX: TOFSENSE\-M to be used as Proximity sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set 0 if sensor is to be used as a 1\-D rangefinder \(minimum of all distances will be sent\, typically used for height detection\)\. Set 1 if it should be used as a 3\-D proximity device \(Eg\. Obstacle Avoidance\) + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Set as Rangefinder | ++-------+-------------------------+ +| 1 | Set as Proximity sensor | ++-------+-------------------------+ + + + + +.. _TOFSENSE_S1_SP: + +TOFSENSE\_S1\_SP: TOFSENSE\-M serial port config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +UART instance sensor is connected to\. Set 1 if sensor is connected to the port with fist SERIALx\_PROTOCOL \= 28\. + + ++--------+ +| Range | ++========+ +| 1 to 4 | ++--------+ + + + + +.. _TOFSENSE_S1_BR: + +TOFSENSE\_S1\_BR: TOFSENSE\-M serial port baudrate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port baud rate\. Sensor baud rate can be changed from Nassistant software + + + +.. _parameters_AFS_: + +AFS\_ Parameters +---------------- + + +.. _AFS_ENABLE: + +AFS\_ENABLE: Enable Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the advanced failsafe system\. If this is set to zero \(disable\) then all the other AFS options have no effect + + +.. _AFS_MAN_PIN: + +AFS\_MAN\_PIN: Manual Pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high when in manual mode\. See the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + +.. _AFS_HB_PIN: + +AFS\_HB\_PIN: Heartbeat Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin which is cycled at 10Hz when termination is not activated\. Note that if a FS\_TERM\_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated\, to allow the termination board to distinguish between autopilot crash and termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_WP_COMMS: + +AFS\_WP\_COMMS: Comms Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on comms loss + + +.. _AFS_WP_GPS_LOSS: + +AFS\_WP\_GPS\_LOSS: GPS Loss Waypoint +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Waypoint number to navigate to on GPS lock loss + + +.. _AFS_TERMINATE: + +AFS\_TERMINATE: Force Terminate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Can be set in flight to force termination of the heartbeat signal + + +.. _AFS_TERM_ACTION: + +AFS\_TERM\_ACTION: Terminate action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This can be used to force an action on flight termination\. Normally this is handled by an external failsafe board\, but you can setup ArduPilot to handle it here\. Please consult the wiki for more information on the possible values of the parameter + + +.. _AFS_TERM_PIN: + +AFS\_TERM\_PIN: Terminate Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a digital output pin to set high on flight termination\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| -1 | Disabled | ++-------+-------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+-------------------+ +| 50 | AUXOUT1 | ++-------+-------------------+ +| 51 | AUXOUT2 | ++-------+-------------------+ +| 52 | AUXOUT3 | ++-------+-------------------+ +| 53 | AUXOUT4 | ++-------+-------------------+ +| 54 | AUXOUT5 | ++-------+-------------------+ +| 55 | AUXOUT6 | ++-------+-------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+-------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+-------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+-------------------+ + + + + +.. _AFS_AMSL_LIMIT: + +AFS\_AMSL\_LIMIT: AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the AMSL \(above mean sea level\) altitude limit\. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced\. Note that this limit is in meters\, whereas pressure altitude limits are often quoted in feet\. A value of zero disables the pressure altitude limit\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_AMSL_ERR_GPS: + +AFS\_AMSL\_ERR\_GPS: Error margin for GPS based AMSL limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets margin for error in GPS derived altitude limit\. This error margin is only used if the barometer has failed\. If the barometer fails then the GPS will be used to enforce the AMSL\_LIMIT\, but this margin will be subtracted from the AMSL\_LIMIT first\, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached\. OBC users should set this to comply with their D2 safety case\. A value of \-1 will mean that barometer failure will lead to immediate termination\. + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _AFS_QNH_PRESSURE: + +AFS\_QNH\_PRESSURE: QNH pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit\. A value of zero disables the altitude limit\. + + ++-------------+ +| Units | ++=============+ +| hectopascal | ++-------------+ + + + + +.. _AFS_MAX_GPS_LOSS: + +AFS\_MAX\_GPS\_LOSS: Maximum number of GPS loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery\. Use zero to allow for any number of GPS loss events\. + + +.. _AFS_MAX_COM_LOSS: + +AFS\_MAX\_COM\_LOSS: Maximum number of comms loss events +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery\. Use zero to allow for any number of comms loss events\. + + +.. _AFS_GEOFENCE: + +AFS\_GEOFENCE: Enable geofence Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the geofence part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC: + +AFS\_RC: Enable RC Advanced Failsafe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the RC part of the AFS\. Will only be in effect if AFS\_ENABLE is also 1 + + +.. _AFS_RC_MAN_ONLY: + +AFS\_RC\_MAN\_ONLY: Enable RC Termination only in manual control modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this parameter is set to 1\, then an RC loss will only cause the plane to terminate in manual control modes\. If it is 0\, then the plane will terminate in any flight mode\. + + +.. _AFS_DUAL_LOSS: + +AFS\_DUAL\_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the dual loss termination part of the AFS system\. If this parameter is 1 and both GPS and the ground control station fail simultaneously\, this will be considered a \"dual loss\" and cause termination\. + + +.. _AFS_RC_FAIL_TIME: + +AFS\_RC\_FAIL\_TIME: RC failure time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost\. For the OBC rules this should be \(1\.5\)\. Use 0 to disable\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _AFS_MAX_RANGE: + +AFS\_MAX\_RANGE: Max allowed range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum range of the vehicle in kilometers from first arming\. If the vehicle goes beyond this range then the TERM\_ACTION is performed\. A value of zero disables this feature\. + + ++------------+ +| Units | ++============+ +| kilometers | ++------------+ + + + + +.. _AFS_OPTIONS: + +AFS\_OPTIONS: AFS options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +See description for each bitmask bit description + + ++-----+-------------------------------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================================================================================+ +| 0 | Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) | ++-----+-------------------------------------------------------------------------------------------------------------------+ +| 1 | Enable AFS for all autonomous modes (not just AUTO) | ++-----+-------------------------------------------------------------------------------------------------------------------+ + + + + +.. _AFS_GCS_TIMEOUT: + +AFS\_GCS\_TIMEOUT: GCS timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The time \(in seconds\) of persistent data link loss before GCS failsafe occurs\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + + +.. _parameters_AHRS_: + +AHRS\_ Parameters +----------------- + + +.. _AHRS_GPS_GAIN: + +AHRS\_GPS\_GAIN: AHRS GPS gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much to use the GPS to correct the attitude\. This should never be set to zero for a plane as it would result in the plane losing control in turns\. For a plane please use the default value of 1\.0\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _AHRS_GPS_USE: + +AHRS\_GPS\_USE: AHRS use GPS for DCM navigation and position\-down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls whether to use dead\-reckoning or GPS based navigation\. If set to 0 then the GPS won\'t be used for navigation\, and only dead reckoning will be used\. A value of zero should never be used for normal flight\. Currently this affects only the DCM\-based AHRS\: the EKF uses GPS according to its own parameters\. A value of 2 means to use GPS for height as well as position \- both in DCM estimation and when determining altitude\-above\-home\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | Use GPS for DCM position | ++-------+-------------------------------------+ +| 2 | Use GPS for DCM position and height | ++-------+-------------------------------------+ + + + + +.. _AHRS_YAW_P: + +AHRS\_YAW\_P: Yaw P +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the weight the compass or GPS has on the heading\. A higher value means the heading will track the yaw source \(GPS or compass\) more rapidly\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_RP_P: + +AHRS\_RP\_P: AHRS RP\_P +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how fast the accelerometers correct the attitude + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| .01 | 0.1 to 0.4 | ++-----------+------------+ + + + + +.. _AHRS_WIND_MAX: + +AHRS\_WIND\_MAX: Maximum wind +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowable difference between ground speed and airspeed\. A value of zero means to use the airspeed as is\. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus\/minus this limit\. See ARSPD\_OPTIONS and ARSPD\_WIND\_MAX to disable airspeed sensors\. + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 1 | 0 to 127 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _AHRS_TRIM_X: + +AHRS\_TRIM\_X: AHRS Trim Roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the roll angle difference between the control board and the frame\. Positive values make the vehicle roll right\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Y: + +AHRS\_TRIM\_Y: AHRS Trim Pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Compensates for the pitch angle difference between the control board and the frame\. Positive values make the vehicle pitch up\/back\. + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_TRIM_Z: + +AHRS\_TRIM\_Z: AHRS Trim Yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Not Used + + ++-----------+--------------------+---------+ +| Increment | Range | Units | ++===========+====================+=========+ +| 0.01 | -0.1745 to +0.1745 | radians | ++-----------+--------------------+---------+ + + + + +.. _AHRS_ORIENTATION: + +AHRS\_ORIENTATION: Board Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Overall board orientation relative to the standard orientation for the board type\. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle\. The label for each option is specified in the order of rotations for that orientation\. This option takes affect on next boot\. After changing you will need to re\-level your vehicle\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the AHRS\_CUSTOM\_ROLL\/PIT\/YAW angles for AHRS orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_ROT1\_ROLL\/PIT\/YAW or CUST\_ROT2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _AHRS_COMP_BETA: + +AHRS\_COMP\_BETA: AHRS Velocity Complementary Filter Beta Coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the time constant for the cross\-over frequency used to fuse AHRS \(airspeed and heading\) and GPS data to estimate ground velocity\. Time constant is 0\.1\/beta\. A larger time constant will use GPS data less and a small time constant will use air data less\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| .01 | 0.001 to 0.5 | ++-----------+--------------+ + + + + +.. _AHRS_GPS_MINSATS: + +AHRS\_GPS\_MINSATS: AHRS GPS Minimum satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum number of satellites visible to use GPS for velocity based corrections attitude correction\. This defaults to 6\, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _AHRS_EKF_TYPE: + +AHRS\_EKF\_TYPE: Use NavEKF Kalman filter for attitude and position estimation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls which NavEKF Kalman filter version is used for attitude and position estimation + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | Enable EKF2 | ++-------+--------------+ +| 3 | Enable EKF3 | ++-------+--------------+ +| 11 | ExternalAHRS | ++-------+--------------+ + + + + +.. _AHRS_CUSTOM_ROLL: + +AHRS\_CUSTOM\_ROLL: Board orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_PIT: + +AHRS\_CUSTOM\_PIT: Board orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_CUSTOM_YAW: + +AHRS\_CUSTOM\_YAW: Board orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Autopilot mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when AHRS\_ORIENTATION is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _AHRS_OPTIONS: + +AHRS\_OPTIONS: Optional AHRS behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency + + ++-----+-----------------------------+ +| Bit | Meaning | ++=====+=============================+ +| 0 | DisableDCMFallbackFW | ++-----+-----------------------------+ +| 1 | DisableDCMFallbackVTOL | ++-----+-----------------------------+ +| 2 | DontDisableAirspeedUsingEKF | ++-----+-----------------------------+ + + + + + +.. _parameters_AIS_: + +AIS\_ Parameters +---------------- + + +.. _AIS_TYPE: + +AIS\_TYPE: AIS receiver type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +AIS receiver type + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 1 | NMEA AIVDM message | ++-------+--------------------+ + + + + +.. _AIS_LIST_MAX: + +AIS\_LIST\_MAX: AIS vessel list size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +AIS list size of nearest vessels\. Longer lists take longer to refresh with lower SRx\_ADSB values\. + + ++----------+ +| Range | ++==========+ +| 1 to 100 | ++----------+ + + + + +.. _AIS_TIME_OUT: + +AIS\_TIME\_OUT: AIS vessel time out +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +if no updates are received in this time a vessel will be removed from the list + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 1 to 2000 | seconds | ++-----------+---------+ + + + + +.. _AIS_LOGGING: + +AIS\_LOGGING: AIS logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of AIS logging options + + ++-----+-------------------------------------+ +| Bit | Meaning | ++=====+=====================================+ +| 0 | Log all AIVDM messages | ++-----+-------------------------------------+ +| 1 | Log only unsupported AIVDM messages | ++-----+-------------------------------------+ +| 2 | Log decoded messages | ++-----+-------------------------------------+ + + + + + +.. _parameters_ARMING_: + +ARMING\_ Parameters +------------------- + + +.. _ARMING_REQUIRE: + +ARMING\_REQUIRE: Require Arming Motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming disabled until some requirements are met\. If 0\, there are no requirements \(arm immediately\)\. If 1\, sends the minimum throttle PWM value to the throttle channel when disarmed\. If 2\, send 0 PWM \(no signal\) to throttle channel when disarmed\. On planes with ICE enabled and the throttle while disarmed option set in ICE\_OPTIONS\, the motor will always get THR\_MIN when disarmed\. Arming will occur using either rudder stick arming \(if enabled\) or GCS command when all mandatory and ARMING\_CHECK items are satisfied\. Note\, when setting this parameter to 0\, a reboot is required to immediately arm the plane\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | Disabled | ++-------+---------------------------+ +| 1 | minimum PWM when disarmed | ++-------+---------------------------+ +| 2 | 0 PWM when disarmed | ++-------+---------------------------+ + + + + +.. _ARMING_ACCTHRESH: + +ARMING\_ACCTHRESH: Accelerometer error threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer error threshold used to determine inconsistent accelerometers\. Compares this error range to other accelerometers to detect a hardware or calibration error\. Lower value means tighter check and harder to pass arming check\. Not all accelerometers are created equal\. + + ++-------------+--------------------------+ +| Range | Units | ++=============+==========================+ +| 0.25 to 3.0 | meters per square second | ++-------------+--------------------------+ + + + + +.. _ARMING_RUDDER: + +ARMING\_RUDDER: Arming with Rudder enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allow arm\/disarm by rudder input\. When enabled arming can be done with right rudder\, disarming with left rudder\. Rudder arming only works with throttle at zero \+\- deadzone \(RCx\_DZ\)\. Depending on vehicle type\, arming in certain modes is prevented\. See the wiki for each vehicle\. Caution is recommended when arming if it is allowed in an auto\-throttle mode\! + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Disabled | ++-------+-------------+ +| 1 | ArmingOnly | ++-------+-------------+ +| 2 | ArmOrDisarm | ++-------+-------------+ + + + + +.. _ARMING_MIS_ITEMS: + +ARMING\_MIS\_ITEMS: Required mission items +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of mission items that are required to be planned in order to arm the aircraft + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | Land | ++-----+---------------+ +| 1 | VTOL Land | ++-----+---------------+ +| 2 | DO_LAND_START | ++-----+---------------+ +| 3 | Takeoff | ++-----+---------------+ +| 4 | VTOL Takeoff | ++-----+---------------+ +| 5 | Rallypoint | ++-----+---------------+ +| 6 | RTL | ++-----+---------------+ + + + + +.. _ARMING_CHECK: + +ARMING\_CHECK: Arm Checks to Perform \(bitmask\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Checks prior to arming motor\. This is a bitmask of checks that will be performed before allowing arming\. For most users it is recommended to leave this at the default of 1 \(all checks enabled\)\. You can select whatever checks you prefer by adding together the values of each check type to set this parameter\. For example\, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING\_CHECK to 72\. + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | All | ++-----+------------------------+ +| 1 | Barometer | ++-----+------------------------+ +| 2 | Compass | ++-----+------------------------+ +| 3 | GPS lock | ++-----+------------------------+ +| 4 | INS | ++-----+------------------------+ +| 5 | Parameters | ++-----+------------------------+ +| 6 | RC Channels | ++-----+------------------------+ +| 7 | Board voltage | ++-----+------------------------+ +| 8 | Battery Level | ++-----+------------------------+ +| 10 | Logging Available | ++-----+------------------------+ +| 11 | Hardware safety switch | ++-----+------------------------+ +| 12 | GPS Configuration | ++-----+------------------------+ +| 13 | System | ++-----+------------------------+ +| 14 | Mission | ++-----+------------------------+ +| 15 | Rangefinder | ++-----+------------------------+ +| 16 | Camera | ++-----+------------------------+ +| 17 | AuxAuth | ++-----+------------------------+ +| 18 | VisualOdometry | ++-----+------------------------+ +| 19 | FFT | ++-----+------------------------+ + + + + +.. _ARMING_OPTIONS: + +ARMING\_OPTIONS: Arming options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options that can be applied to change arming behaviour + + ++-----+-----------------------------------------+ +| Bit | Meaning | ++=====+=========================================+ +| 0 | Disable prearm display | ++-----+-----------------------------------------+ +| 1 | Do not send status text on state change | ++-----+-----------------------------------------+ + + + + +.. _ARMING_MAGTHRESH: + +ARMING\_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass magnetic field strength error threshold vs earth magnetic model\. X and y axis are compared using this threhold\, Z axis uses 2x this threshold\. 0 to disable check + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _ARMING_CRSDP_IGN: + +ARMING\_CRSDP\_IGN: Disable CrashDump Arming check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Must have value \"1\" if crashdump data is present on the system\, or a prearm failure will be raised\. Do not set this parameter unless the risks of doing so are fully understood\. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting\. The crashdump file gives diagnostic information which can help in finding the issue\, please contact the ArduPIlot support team\. If this crashdump data is present\, the vehicle is likely unsafe to fly\. Check the ArduPilot documentation for more details\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Crash Dump arming check active | ++-------+-------------------------------------+ +| 1 | Crash Dump arming check deactivated | ++-------+-------------------------------------+ + + + + + +.. _parameters_ARSPD: + +ARSPD Parameters +---------------- + + +.. _ARSPD_ENABLE: + +ARSPD\_ENABLE: Airspeed Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable airspeed sensor support + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_TUBE_ORDER: + +ARSPD\_TUBE\_ORDER: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_PRIMARY: + +ARSPD\_PRIMARY: Primary airspeed sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which airspeed sensor will be the primary if multiple sensors are found + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | FirstSensor | ++-------+-------------+ +| 1 | 2ndSensor | ++-------+-------------+ + + + + +.. _ARSPD_OPTIONS: + +ARSPD\_OPTIONS: Airspeed options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-----+----------------------------+ +| Bit | Meaning | ++=====+============================+ +| 0 | SpeedMismatchDisable | ++-----+----------------------------+ +| 1 | AllowSpeedMismatchRecovery | ++-----+----------------------------+ +| 2 | DisableVoltageCorrection | ++-----+----------------------------+ +| 3 | UseEkf3Consistency | ++-----+----------------------------+ +| 4 | ReportOffset | ++-----+----------------------------+ + + + + +.. _ARSPD_WIND_MAX: + +ARSPD\_WIND\_MAX: Maximum airspeed and ground speed difference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_WARN: + +ARSPD\_WIND\_WARN: Airspeed and GPS speed difference that gives a warning +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. Always set to 0\. + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _ARSPD_WIND_GATE: + +ARSPD\_WIND\_GATE: Re\-enable Consistency Check Gate Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter and function is not used by this vehicle\. + + ++-------------+ +| Range | ++=============+ +| 0.0 to 10.0 | ++-------------+ + + + + +.. _ARSPD_OFF_PCNT: + +ARSPD\_OFF\_PCNT: Maximum offset cal speed error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued\. This potential speed error is in percent of ASPD\_FBW\_MIN\. 0 disables\. Helps warn of calibrations without pitot being covered\. + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.0 to 10.0 | percent | ++-------------+---------+ + + + + + +.. _parameters_ARSPD2_: + +ARSPD2\_ Parameters +------------------- + + +.. _ARSPD2_TYPE: + +ARSPD2\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD2_USE: + +ARSPD2\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD2_OFFSET: + +ARSPD2\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_RATIO: + +ARSPD2\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD2_PIN: + +ARSPD2\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD2_AUTOCAL: + +ARSPD2\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD2_TUBE_ORDR: + +ARSPD2\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD2_SKIP_CAL: + +ARSPD2\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD2_PSI_RANGE: + +ARSPD2\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD2_BUS: + +ARSPD2\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD2_DEVID: + +ARSPD2\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ARSPD_: + +ARSPD\_ Parameters +------------------ + + +.. _ARSPD_TYPE: + +ARSPD\_TYPE: Airspeed type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of airspeed sensor + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | None | ++-------+-------------------+ +| 1 | I2C-MS4525D0 | ++-------+-------------------+ +| 2 | Analog | ++-------+-------------------+ +| 3 | I2C-MS5525 | ++-------+-------------------+ +| 4 | I2C-MS5525 (0x76) | ++-------+-------------------+ +| 5 | I2C-MS5525 (0x77) | ++-------+-------------------+ +| 6 | I2C-SDP3X | ++-------+-------------------+ +| 7 | I2C-DLVR-5in | ++-------+-------------------+ +| 8 | DroneCAN | ++-------+-------------------+ +| 9 | I2C-DLVR-10in | ++-------+-------------------+ +| 10 | I2C-DLVR-20in | ++-------+-------------------+ +| 11 | I2C-DLVR-30in | ++-------+-------------------+ +| 12 | I2C-DLVR-60in | ++-------+-------------------+ +| 13 | NMEA water speed | ++-------+-------------------+ +| 14 | MSP | ++-------+-------------------+ +| 15 | ASP5033 | ++-------+-------------------+ +| 16 | ExternalAHRS | ++-------+-------------------+ +| 100 | SITL | ++-------+-------------------+ + + + + +.. _ARSPD_USE: + +ARSPD\_USE: Airspeed use +~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter is not used by this vehicle\. Always set to 0\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | DoNotUse | ++-------+---------------------+ +| 1 | Use | ++-------+---------------------+ +| 2 | UseWhenZeroThrottle | ++-------+---------------------+ + + + + +.. _ARSPD_OFFSET: + +ARSPD\_OFFSET: Airspeed offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed calibration offset + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_RATIO: + +ARSPD\_RATIO: Airspeed ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Calibrates pitot tube pressure to velocity\. Increasing this value will indicate a higher airspeed at any given dynamic pressure\. + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _ARSPD_PIN: + +ARSPD\_PIN: Airspeed pin +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the airspeed sensor is connected to for analog sensors\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _ARSPD_AUTOCAL: + +ARSPD\_AUTOCAL: This parameter and function is not used by this vehicle\. Always set to 0\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed\. New ratio saved every 2 minutes if change is \> 5\%\. Should not be left enabled\. + + +.. _ARSPD_TUBE_ORDR: + +ARSPD\_TUBE\_ORDR: Control pitot tube order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters\. If you set this to 0 then the first \(often the top\) connector on the sensor needs to be the stagnation pressure \(the pressure at the tip of the pitot tube\)\. If set to 1 then the second \(often the bottom\) connector needs to be the stagnation pressure\. If set to 2 \(the default\) then the airspeed driver will accept either order\. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall\, which would otherwise be seen as a positive airspeed\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Normal | ++-------+-------------+ +| 1 | Swapped | ++-------+-------------+ +| 2 | Auto Detect | ++-------+-------------+ + + + + +.. _ARSPD_SKIP_CAL: + +ARSPD\_SKIP\_CAL: Skip airspeed offset calibration on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to skip airspeed offset calibration on startup\, instead using the offset from the last calibration\. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ARSPD_PSI_RANGE: + +ARSPD\_PSI\_RANGE: The PSI range of the device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter allows you to set the PSI \(pounds per square inch\) range for your sensor\. You should not change this unless you examine the datasheet for your device + + +.. _ARSPD_BUS: + +ARSPD\_BUS: Airspeed I2C bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bus number of the I2C bus where the airspeed sensor is connected\. May not correspond to board\'s I2C bus number labels\. Retry another bus and reboot if airspeed sensor fails to initialize\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Bus0 | ++-------+---------+ +| 1 | Bus1 | ++-------+---------+ +| 2 | Bus2 | ++-------+---------+ + + + + +.. _ARSPD_DEVID: + +ARSPD\_DEVID: Airspeed ID +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Airspeed sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + + +.. _parameters_ATC: + +ATC Parameters +-------------- + + +.. _ATC_STR_RAT_P: + +ATC\_STR\_RAT\_P: Steering control rate P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control rate P gain\. Converts the turn rate error \(in radians\/sec\) to a steering control output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_I: + +ATC\_STR\_RAT\_I: Steering control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control I gain\. Corrects long term error between the desired turn rate \(in rad\/s\) and actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_IMAX: + +ATC\_STR\_RAT\_IMAX: Steering control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control I gain maximum\. Constrains the steering output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_D: + +ATC\_STR\_RAT\_D: Steering control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control D gain\. Compensates for short\-term change in desired turn rate vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_FF: + +ATC\_STR\_RAT\_FF: Steering control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 3.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_FILT: + +ATC\_STR\_RAT\_FILT: Steering control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTT: + +ATC\_STR\_RAT\_FLTT: Steering control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTE: + +ATC\_STR\_RAT\_FLTE: Steering control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_FLTD: + +ATC\_STR\_RAT\_FLTD: Steering control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_STR_RAT_SMAX: + +ATC\_STR\_RAT\_SMAX: Steering slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_STR_RAT_PDMX: + +ATC\_STR\_RAT\_PDMX: Steering control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_STR_RAT_D_FF: + +ATC\_STR\_RAT\_D\_FF: Steering control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_STR_RAT_NTF: + +ATC\_STR\_RAT\_NTF: Steering control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_STR_RAT_NEF: + +ATC\_STR\_RAT\_NEF: Steering control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SPEED_P: + +ATC\_SPEED\_P: Speed control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control P gain\. Converts the error between the desired speed \(in m\/s\) and actual speed to a motor output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.010 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_I: + +ATC\_SPEED\_I: Speed control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control I gain\. Corrects long term error between the desired speed \(in m\/s\) and actual speed + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_IMAX: + +ATC\_SPEED\_IMAX: Speed control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_D: + +ATC\_SPEED\_D: Speed control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control D gain\. Compensates for short\-term change in desired speed vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_FF: + +ATC\_SPEED\_FF: Speed control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_FILT: + +ATC\_SPEED\_FILT: Speed control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTT: + +ATC\_SPEED\_FLTT: Speed control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTE: + +ATC\_SPEED\_FLTE: Speed control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_FLTD: + +ATC\_SPEED\_FLTD: Speed control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SPEED_SMAX: + +ATC\_SPEED\_SMAX: Speed control slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_SPEED_PDMX: + +ATC\_SPEED\_PDMX: Speed control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SPEED_D_FF: + +ATC\_SPEED\_D\_FF: Speed control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_SPEED_NTF: + +ATC\_SPEED\_NTF: Speed control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SPEED_NEF: + +ATC\_SPEED\_NEF: Speed control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_ACCEL_MAX: + +ATC\_ACCEL\_MAX: Speed control acceleration \(and deceleration\) maximum in m\/s\/s +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control acceleration \(and deceleration\) maximum in m\/s\/s\. 0 to disable acceleration limiting + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.0 to 10.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _ATC_BRAKE: + +ATC\_BRAKE: Speed control brake enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control brake enable\/disable\. Allows sending a reversed output to the motors to slow the vehicle\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _ATC_STOP_SPEED: + +ATC\_STOP\_SPEED: Speed control stop speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control stop speed\. Motor outputs to zero once vehicle speed falls below this value + + ++-----------+--------------+-------------------+ +| Increment | Range | Units | ++===========+==============+===================+ +| 0.01 | 0.00 to 0.50 | meters per second | ++-----------+--------------+-------------------+ + + + + +.. _ATC_STR_ANG_P: + +ATC\_STR\_ANG\_P: Steering control angle P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control angle P gain\. Converts the error between the desired heading\/yaw \(in radians\) and actual heading\/yaw to a desired turn rate \(in rad\/sec\) + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 0.1 | 1.000 to 10.000 | ++-----------+-----------------+ + + + + +.. _ATC_STR_ACC_MAX: + +ATC\_STR\_ACC\_MAX: Steering control angular acceleration maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control angular acceleration maximum \(in deg\/s\/s\)\. 0 to disable acceleration limiting + + ++-----------+-----------+---------------------------+ +| Increment | Range | Units | ++===========+===========+===========================+ +| 0.1 | 0 to 1000 | degrees per square second | ++-----------+-----------+---------------------------+ + + + + +.. _ATC_STR_RAT_MAX: + +ATC\_STR\_RAT\_MAX: Steering control rotation rate maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Steering control rotation rate maximum in deg\/s\. 0 to remove rate limiting + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 0.1 | 0 to 1000 | degrees per second | ++-----------+-----------+--------------------+ + + + + +.. _ATC_DECEL_MAX: + +ATC\_DECEL\_MAX: Speed control deceleration maximum in m\/s\/s +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed control and deceleration maximum in m\/s\/s\. 0 to use ATC\_ACCEL\_MAX for deceleration + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.0 to 10.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _ATC_BAL_P: + +ATC\_BAL\_P: Pitch control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control P gain for BalanceBots\. Converts the error between the desired pitch \(in radians\) and actual pitch to a motor output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_I: + +ATC\_BAL\_I: Pitch control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control I gain for BalanceBots\. Corrects long term error between the desired pitch \(in radians\) and actual pitch + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_IMAX: + +ATC\_BAL\_IMAX: Pitch control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control I gain maximum\. Constrains the maximum motor output \(range \-1 to \+1\) that the I term will generate + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_D: + +ATC\_BAL\_D: Pitch control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control D gain\. Compensates for short\-term change in desired pitch vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.100 | ++-----------+----------------+ + + + + +.. _ATC_BAL_FF: + +ATC\_BAL\_FF: Pitch control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_BAL_FILT: + +ATC\_BAL\_FILT: Pitch control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTT: + +ATC\_BAL\_FLTT: Pitch control Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTE: + +ATC\_BAL\_FLTE: Pitch control Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_FLTD: + +ATC\_BAL\_FLTD: Pitch control Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_BAL_SMAX: + +ATC\_BAL\_SMAX: Pitch control slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_BAL_PDMX: + +ATC\_BAL\_PDMX: Pitch control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_BAL_D_FF: + +ATC\_BAL\_D\_FF: Pitch control Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_BAL_NTF: + +ATC\_BAL\_NTF: Pitch control Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_BAL_NEF: + +ATC\_BAL\_NEF: Pitch control Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Pitch control Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_BAL_PIT_FF: + +ATC\_BAL\_PIT\_FF: Pitch control feed forward from current pitch angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control feed forward from current pitch angle + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _ATC_SAIL_P: + +ATC\_SAIL\_P: Sail Heel control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control P gain for sailboats\. Converts the error between the desired heel angle \(in radians\) and actual heel to a main sail output \(in the range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_I: + +ATC\_SAIL\_I: Sail Heel control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control I gain for sailboats\. Corrects long term error between the desired heel angle \(in radians\) and actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 2.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_IMAX: + +ATC\_SAIL\_IMAX: Sail Heel control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control I gain maximum\. Constrains the maximum I term contribution to the main sail output \(range \-1 to \+1\) + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_D: + +ATC\_SAIL\_D: Sail Heel control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control D gain\. Compensates for short\-term change in desired heel angle vs actual + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.100 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_FF: + +ATC\_SAIL\_FF: Sail Heel control feed forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control feed forward + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.500 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_FILT: + +ATC\_SAIL\_FILT: Sail Heel control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control input filter\. Lower values reduce noise but add delay\. + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTT: + +ATC\_SAIL\_FLTT: Sail Heel Target filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Target filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTE: + +ATC\_SAIL\_FLTE: Sail Heel Error filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Error filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_FLTD: + +ATC\_SAIL\_FLTD: Sail Heel Derivative term filter frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Derivative filter frequency in Hz + + ++-----------+------------------+-------+ +| Increment | Range | Units | ++===========+==================+=======+ +| 0.1 | 0.000 to 100.000 | hertz | ++-----------+------------------+-------+ + + + + +.. _ATC_SAIL_SMAX: + +ATC\_SAIL\_SMAX: Sail heel slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _ATC_SAIL_PDMX: + +ATC\_SAIL\_PDMX: Sail Heel control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sail Heel control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.01 | 0.000 to 1.000 | ++-----------+----------------+ + + + + +.. _ATC_SAIL_D_FF: + +ATC\_SAIL\_D\_FF: Sail Heel Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.001 | 0 to 0.03 | ++-----------+-----------+ + + + + +.. _ATC_SAIL_NTF: + +ATC\_SAIL\_NTF: Sail Heel Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sail Heel Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_SAIL_NEF: + +ATC\_SAIL\_NEF: Sail Heel Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sail Heel Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _ATC_TURN_MAX_G: + +ATC\_TURN\_MAX\_G: Turning maximum G force +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The maximum turning acceleration \(in units of gravities\) that the rover can handle while remaining stable\. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns + + ++-----------+-----------+--------------------------------------+ +| Increment | Range | Units | ++===========+===========+======================================+ +| 0.01 | 0.1 to 10 | standard acceleration due to gravity | ++-----------+-----------+--------------------------------------+ + + + + +.. _ATC_BAL_LIM_TC: + +ATC\_BAL\_LIM\_TC: Pitch control limit time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control limit time constant to protect against falling\. Lower values limit pitch more quickly\, higher values limit more slowly\. Set to 0 to disable + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 5.0 | ++-----------+------------+ + + + + +.. _ATC_BAL_LIM_THR: + +ATC\_BAL\_LIM\_THR: Pitch control limit throttle threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pitch control limit throttle threshold\. Pitch angle will be limited if throttle crosses this threshold \(from 0 to 1\) + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.01 | 0.0 to 1.0 | ++-----------+------------+ + + + + + +.. _parameters_AVOID_: + +AVOID\_ Parameters +------------------ + + +.. _AVOID_ENABLE: + +AVOID\_ENABLE: Avoidance control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable avoidance input sources + + ++-----+--------------------+ +| Bit | Meaning | ++=====+====================+ +| 0 | UseFence | ++-----+--------------------+ +| 1 | UseProximitySensor | ++-----+--------------------+ +| 2 | UseBeaconFence | ++-----+--------------------+ + + + + +.. _AVOID_MARGIN: + +AVOID\_MARGIN: Avoidance distance margin in GPS modes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will attempt to stay at least this distance \(in meters\) from objects while in GPS modes + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _AVOID_BEHAVE: + +AVOID\_BEHAVE: Avoidance behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Avoidance behaviour \(slide or stop\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Slide | ++-------+---------+ +| 1 | Stop | ++-------+---------+ + + + + +.. _AVOID_BACKUP_SPD: + +AVOID\_BACKUP\_SPD: Avoidance maximum horizontal backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles horizontally in position control modes \(m\/s\)\. Set zero to disable horizontal backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + +.. _AVOID_ACCEL_MAX: + +AVOID\_ACCEL\_MAX: Avoidance maximum acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum acceleration with which obstacles will be avoided with\. Set zero to disable acceleration limits + + ++--------+--------------------------+ +| Range | Units | ++========+==========================+ +| 0 to 9 | meters per square second | ++--------+--------------------------+ + + + + +.. _AVOID_BACKUP_DZ: + +AVOID\_BACKUP\_DZ: Avoidance deadzone between stopping and backing away from obstacle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance beyond AVOID\_MARGIN parameter\, after which vehicle will backaway from obstacles\. Increase this parameter if you see vehicle going back and forth in front of obstacle\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 2 | meters | ++--------+--------+ + + + + +.. _AVOID_BACKZ_SPD: + +AVOID\_BACKZ\_SPD: Avoidance maximum vertical backup speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum speed that will be used to back away from obstacles vertically in height control modes \(m\/s\)\. Set zero to disable vertical backup\. + + ++--------+-------------------+ +| Range | Units | ++========+===================+ +| 0 to 2 | meters per second | ++--------+-------------------+ + + + + + +.. _parameters_BARO: + +BARO Parameters +--------------- + + +.. _BARO1_GND_PRESS: + +BARO1\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_GND_TEMP: + +BARO\_GND\_TEMP: ground temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided ambient ground temperature in degrees Celsius\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. A value of 0 means use the internal measurement ambient temperature\. + + ++-----------+-----------------+----------+ +| Increment | Units | Volatile | ++===========+=================+==========+ +| 1 | degrees Celsius | True | ++-----------+-----------------+----------+ + + + + +.. _BARO_ALT_OFFSET: + +BARO\_ALT\_OFFSET: altitude offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +altitude offset in meters added to barometric altitude\. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer\. The value is added to the barometric altitude read by the aircraft\. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed\. + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.1 | meters | ++-----------+--------+ + + + + +.. _BARO_PRIMARY: + +BARO\_PRIMARY: Primary barometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects which barometer will be the primary if multiple barometers are found + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstBaro | ++-------+-----------+ +| 1 | 2ndBaro | ++-------+-----------+ +| 2 | 3rdBaro | ++-------+-----------+ + + + + +.. _BARO_EXT_BUS: + +BARO\_EXT\_BUS: External baro bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects the bus number for looking for an I2C barometer\. When set to \-1 it will probe all external i2c buses based on the BARO\_PROBE\_EXT parameter\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Bus0 | ++-------+----------+ +| 1 | Bus1 | ++-------+----------+ +| 6 | Bus6 | ++-------+----------+ + + + + +.. _BARO2_GND_PRESS: + +BARO2\_GND\_PRESS: Ground Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO3_GND_PRESS: + +BARO3\_GND\_PRESS: Absolute Pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +calibrated ground pressure in Pascals + + ++-----------+----------+--------+----------+ +| Increment | ReadOnly | Units | Volatile | ++===========+==========+========+==========+ +| 1 | True | pascal | True | ++-----------+----------+--------+----------+ + + + + +.. _BARO_FLTR_RNG: + +BARO\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _BARO_PROBE_EXT: + +BARO\_PROBE\_EXT: External barometers to probe +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets which types of external i2c barometer to look for\. It is a bitmask of barometer types\. The I2C buses to probe is based on BARO\_EXT\_BUS\. If BARO\_EXT\_BUS is \-1 then it will probe all external buses\, otherwise it will probe just the bus number given in BARO\_EXT\_BUS\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | BMP085 | ++-----+---------+ +| 1 | BMP280 | ++-----+---------+ +| 2 | MS5611 | ++-----+---------+ +| 3 | MS5607 | ++-----+---------+ +| 4 | MS5637 | ++-----+---------+ +| 5 | FBM320 | ++-----+---------+ +| 6 | DPS280 | ++-----+---------+ +| 7 | LPS25H | ++-----+---------+ +| 8 | Keller | ++-----+---------+ +| 9 | MS5837 | ++-----+---------+ +| 10 | BMP388 | ++-----+---------+ +| 11 | SPL06 | ++-----+---------+ +| 12 | MSP | ++-----+---------+ +| 13 | BMP581 | ++-----+---------+ + + + + +.. _BARO1_DEVID: + +BARO1\_DEVID: Baro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO2_DEVID: + +BARO2\_DEVID: Baro ID2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO3_DEVID: + +BARO3\_DEVID: Baro ID3 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _BARO_FIELD_ELV: + +BARO\_FIELD\_ELV: field elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +User provided field elevation in meters\. This is used to improve the calculation of the altitude the vehicle is at\. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted\. Changes to this parameter will only be used when disarmed\. A value of 0 means the EKF origin height is used for takeoff height above sea level\. + + ++-----------+--------+----------+ +| Increment | Units | Volatile | ++===========+========+==========+ +| 0.1 | meters | True | ++-----------+--------+----------+ + + + + +.. _BARO_ALTERR_MAX: + +BARO\_ALTERR\_MAX: Altitude error maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass\. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer\. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607\. If you have that issue then please see BARO\_OPTIONS parameter to force the MS5611 to be treated as a MS5607\. This check is disabled if the value is zero\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 1 | 0 to 5000 | meters | ++-----------+-----------+--------+ + + + + +.. _BARO_OPTIONS: + +BARO\_OPTIONS: Barometer options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Treat MS5611 as MS5607 | ++-----+------------------------+ + + + + + +.. _parameters_BARO1_WCF_: + +BARO1\_WCF\_ Parameters +----------------------- + + +.. _BARO1_WCF_ENABLE: + +BARO1\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO1_WCF_FWD: + +BARO1\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_BCK: + +BARO1\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_RGT: + +BARO1\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_LFT: + +BARO1\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_UP: + +BARO1\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO1_WCF_DN: + +BARO1\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO2_WCF_: + +BARO2\_WCF\_ Parameters +----------------------- + + +.. _BARO2_WCF_ENABLE: + +BARO2\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO2_WCF_FWD: + +BARO2\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_BCK: + +BARO2\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_RGT: + +BARO2\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_LFT: + +BARO2\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_UP: + +BARO2\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO2_WCF_DN: + +BARO2\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BARO3_WCF_: + +BARO3\_WCF\_ Parameters +----------------------- + + +.. _BARO3_WCF_ENABLE: + +BARO3\_WCF\_ENABLE: Wind coefficient enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the use of wind coefficients for barometer compensation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BARO3_WCF_FWD: + +BARO3\_WCF\_FWD: Pressure error coefficient in positive X direction \(forward\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis\. If the baro height estimate rises during forwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_BCK: + +BARO3\_WCF\_BCK: Pressure error coefficient in negative X direction \(backwards\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis\. If the baro height estimate rises during backwards flight\, then this will be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_RGT: + +BARO3\_WCF\_RGT: Pressure error coefficient in positive Y direction \(right\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the right\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_LFT: + +BARO3\_WCF\_LFT: Pressure error coefficient in negative Y direction \(left\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis\. If the baro height estimate rises during sideways flight to the left\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_UP: + +BARO3\_WCF\_UP: Pressure error coefficient in positive Z direction \(up\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during climbing flight \(or forward flight with a high forwards lean angle\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + +.. _BARO3_WCF_DN: + +BARO3\_WCF\_DN: Pressure error coefficient in negative Z direction \(down\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis\. If the baro height estimate rises above truth height during descending flight \(or forward flight with a high backwards lean angle\, eg braking manoeuvre\)\, then this should be a negative number\. Multirotors can use this feature only if using EKF3 and if the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters have been tuned\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.05 | -1.0 to 1.0 | ++-----------+-------------+ + + + + + +.. _parameters_BATT2_: + +BATT2\_ Parameters +------------------ + + +.. _BATT2_MONITOR: + +BATT2\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT2_CAPACITY: + +BATT2\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_SERIAL_NUM: + +BATT2\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT2_LOW_TIMER: + +BATT2\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT2_FS_VOLTSRC: + +BATT2\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT2_LOW_VOLT: + +BATT2\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_LOW_MAH: + +BATT2\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_CRT_VOLT: + +BATT2\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_CRT_MAH: + +BATT2\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_FS_LOW_ACT: + +BATT2\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT2_FS_CRT_ACT: + +BATT2\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT2_ARM_VOLT: + +BATT2\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT2_ARM_MAH: + +BATT2\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT2\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT2_OPTIONS: + +BATT2\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT2_ESC_INDEX: + +BATT2\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT2_VOLT_PIN: + +BATT2\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_CURR_PIN: + +BATT2\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_VOLT_MULT: + +BATT2\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT2\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT2_AMP_PERVLT: + +BATT2\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT2_AMP_OFFSET: + +BATT2\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_VLT_OFFSET: + +BATT2\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_SMBus: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_SUM_MASK: + +BATT2\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT2_CURR_MULT: + +BATT2\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT2_FL_VLT_MIN: + +BATT2\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT2_FL_V_MULT: + +BATT2\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT2_FL_FLTR: + +BATT2\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT2_FL_PIN: + +BATT2\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT2_FL_FF: + +BATT2\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FS: + +BATT2\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_FT: + +BATT2\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_FL_OFF: + +BATT2\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT2_MAX_VOLT: + +BATT2\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT2_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT2_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT2\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT2_MAX_AMPS: + +BATT2\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT2_SHUNT: + +BATT2\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT2_ESC_MASK: + +BATT2\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT3_: + +BATT3\_ Parameters +------------------ + + +.. _BATT3_MONITOR: + +BATT3\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT3_CAPACITY: + +BATT3\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_SERIAL_NUM: + +BATT3\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT3_LOW_TIMER: + +BATT3\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT3_FS_VOLTSRC: + +BATT3\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT3_LOW_VOLT: + +BATT3\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_LOW_MAH: + +BATT3\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_CRT_VOLT: + +BATT3\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_CRT_MAH: + +BATT3\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_FS_LOW_ACT: + +BATT3\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT3_FS_CRT_ACT: + +BATT3\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT3_ARM_VOLT: + +BATT3\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT3_ARM_MAH: + +BATT3\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT3\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT3_OPTIONS: + +BATT3\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT3_ESC_INDEX: + +BATT3\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT3_VOLT_PIN: + +BATT3\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_CURR_PIN: + +BATT3\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_VOLT_MULT: + +BATT3\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT3\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT3_AMP_PERVLT: + +BATT3\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT3_AMP_OFFSET: + +BATT3\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_VLT_OFFSET: + +BATT3\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_SMBus: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_SUM_MASK: + +BATT3\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT3_CURR_MULT: + +BATT3\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT3_FL_VLT_MIN: + +BATT3\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT3_FL_V_MULT: + +BATT3\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT3_FL_FLTR: + +BATT3\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT3_FL_PIN: + +BATT3\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT3_FL_FF: + +BATT3\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FS: + +BATT3\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_FT: + +BATT3\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_FL_OFF: + +BATT3\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT3_MAX_VOLT: + +BATT3\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT3_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT3_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT3\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT3_MAX_AMPS: + +BATT3\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT3_SHUNT: + +BATT3\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT3_ESC_MASK: + +BATT3\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT4_: + +BATT4\_ Parameters +------------------ + + +.. _BATT4_MONITOR: + +BATT4\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT4_CAPACITY: + +BATT4\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_SERIAL_NUM: + +BATT4\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT4_LOW_TIMER: + +BATT4\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT4_FS_VOLTSRC: + +BATT4\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT4_LOW_VOLT: + +BATT4\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_LOW_MAH: + +BATT4\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_CRT_VOLT: + +BATT4\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_CRT_MAH: + +BATT4\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_FS_LOW_ACT: + +BATT4\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT4_FS_CRT_ACT: + +BATT4\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT4_ARM_VOLT: + +BATT4\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT4_ARM_MAH: + +BATT4\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT4\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT4_OPTIONS: + +BATT4\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT4_ESC_INDEX: + +BATT4\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT4_VOLT_PIN: + +BATT4\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_CURR_PIN: + +BATT4\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_VOLT_MULT: + +BATT4\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT4\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT4_AMP_PERVLT: + +BATT4\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT4_AMP_OFFSET: + +BATT4\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_VLT_OFFSET: + +BATT4\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_SMBus: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_SUM_MASK: + +BATT4\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT4_CURR_MULT: + +BATT4\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT4_FL_VLT_MIN: + +BATT4\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT4_FL_V_MULT: + +BATT4\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT4_FL_FLTR: + +BATT4\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT4_FL_PIN: + +BATT4\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT4_FL_FF: + +BATT4\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FS: + +BATT4\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_FT: + +BATT4\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_FL_OFF: + +BATT4\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT4_MAX_VOLT: + +BATT4\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT4_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT4_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT4\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT4_MAX_AMPS: + +BATT4\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT4_SHUNT: + +BATT4\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT4_ESC_MASK: + +BATT4\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT5_: + +BATT5\_ Parameters +------------------ + + +.. _BATT5_MONITOR: + +BATT5\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT5_CAPACITY: + +BATT5\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_SERIAL_NUM: + +BATT5\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT5_LOW_TIMER: + +BATT5\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT5_FS_VOLTSRC: + +BATT5\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT5_LOW_VOLT: + +BATT5\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_LOW_MAH: + +BATT5\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_CRT_VOLT: + +BATT5\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_CRT_MAH: + +BATT5\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_FS_LOW_ACT: + +BATT5\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT5_FS_CRT_ACT: + +BATT5\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT5_ARM_VOLT: + +BATT5\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT5_ARM_MAH: + +BATT5\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT5\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT5_OPTIONS: + +BATT5\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT5_ESC_INDEX: + +BATT5\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT5_VOLT_PIN: + +BATT5\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_CURR_PIN: + +BATT5\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_VOLT_MULT: + +BATT5\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT5\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT5_AMP_PERVLT: + +BATT5\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT5_AMP_OFFSET: + +BATT5\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_VLT_OFFSET: + +BATT5\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_SMBus: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_SUM_MASK: + +BATT5\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT5_CURR_MULT: + +BATT5\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT5_FL_VLT_MIN: + +BATT5\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT5_FL_V_MULT: + +BATT5\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT5_FL_FLTR: + +BATT5\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT5_FL_PIN: + +BATT5\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT5_FL_FF: + +BATT5\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FS: + +BATT5\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_FT: + +BATT5\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_FL_OFF: + +BATT5\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT5_MAX_VOLT: + +BATT5\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT5_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT5_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT5\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT5_MAX_AMPS: + +BATT5\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT5_SHUNT: + +BATT5\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT5_ESC_MASK: + +BATT5\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT6_: + +BATT6\_ Parameters +------------------ + + +.. _BATT6_MONITOR: + +BATT6\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT6_CAPACITY: + +BATT6\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_SERIAL_NUM: + +BATT6\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT6_LOW_TIMER: + +BATT6\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT6_FS_VOLTSRC: + +BATT6\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT6_LOW_VOLT: + +BATT6\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_LOW_MAH: + +BATT6\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_CRT_VOLT: + +BATT6\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_CRT_MAH: + +BATT6\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_FS_LOW_ACT: + +BATT6\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT6_FS_CRT_ACT: + +BATT6\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT6_ARM_VOLT: + +BATT6\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT6_ARM_MAH: + +BATT6\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT6\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT6_OPTIONS: + +BATT6\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT6_ESC_INDEX: + +BATT6\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT6_VOLT_PIN: + +BATT6\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_CURR_PIN: + +BATT6\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_VOLT_MULT: + +BATT6\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT6\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT6_AMP_PERVLT: + +BATT6\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT6_AMP_OFFSET: + +BATT6\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_VLT_OFFSET: + +BATT6\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_SMBus: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_SUM_MASK: + +BATT6\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT6_CURR_MULT: + +BATT6\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT6_FL_VLT_MIN: + +BATT6\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT6_FL_V_MULT: + +BATT6\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT6_FL_FLTR: + +BATT6\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT6_FL_PIN: + +BATT6\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT6_FL_FF: + +BATT6\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FS: + +BATT6\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_FT: + +BATT6\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_FL_OFF: + +BATT6\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT6_MAX_VOLT: + +BATT6\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT6_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT6_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT6\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT6_MAX_AMPS: + +BATT6\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT6_SHUNT: + +BATT6\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT6_ESC_MASK: + +BATT6\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT7_: + +BATT7\_ Parameters +------------------ + + +.. _BATT7_MONITOR: + +BATT7\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT7_CAPACITY: + +BATT7\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_SERIAL_NUM: + +BATT7\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT7_LOW_TIMER: + +BATT7\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT7_FS_VOLTSRC: + +BATT7\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT7_LOW_VOLT: + +BATT7\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_LOW_MAH: + +BATT7\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_CRT_VOLT: + +BATT7\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_CRT_MAH: + +BATT7\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_FS_LOW_ACT: + +BATT7\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT7_FS_CRT_ACT: + +BATT7\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT7_ARM_VOLT: + +BATT7\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT7_ARM_MAH: + +BATT7\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT7\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT7_OPTIONS: + +BATT7\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT7_ESC_INDEX: + +BATT7\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT7_VOLT_PIN: + +BATT7\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_CURR_PIN: + +BATT7\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_VOLT_MULT: + +BATT7\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT7\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT7_AMP_PERVLT: + +BATT7\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT7_AMP_OFFSET: + +BATT7\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_VLT_OFFSET: + +BATT7\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_SMBus: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_SUM_MASK: + +BATT7\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT7_CURR_MULT: + +BATT7\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT7_FL_VLT_MIN: + +BATT7\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT7_FL_V_MULT: + +BATT7\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT7_FL_FLTR: + +BATT7\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT7_FL_PIN: + +BATT7\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT7_FL_FF: + +BATT7\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FS: + +BATT7\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_FT: + +BATT7\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_FL_OFF: + +BATT7\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT7_MAX_VOLT: + +BATT7\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT7_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT7_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT7\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT7_MAX_AMPS: + +BATT7\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT7_SHUNT: + +BATT7\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT7_ESC_MASK: + +BATT7\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT8_: + +BATT8\_ Parameters +------------------ + + +.. _BATT8_MONITOR: + +BATT8\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT8_CAPACITY: + +BATT8\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_SERIAL_NUM: + +BATT8\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT8_LOW_TIMER: + +BATT8\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT8_FS_VOLTSRC: + +BATT8\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT8_LOW_VOLT: + +BATT8\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_LOW_MAH: + +BATT8\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_CRT_VOLT: + +BATT8\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_CRT_MAH: + +BATT8\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_FS_LOW_ACT: + +BATT8\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT8_FS_CRT_ACT: + +BATT8\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT8_ARM_VOLT: + +BATT8\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT8_ARM_MAH: + +BATT8\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT8\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT8_OPTIONS: + +BATT8\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT8_ESC_INDEX: + +BATT8\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT8_VOLT_PIN: + +BATT8\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_CURR_PIN: + +BATT8\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_VOLT_MULT: + +BATT8\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT8\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT8_AMP_PERVLT: + +BATT8\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT8_AMP_OFFSET: + +BATT8\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_VLT_OFFSET: + +BATT8\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_SMBus: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_SUM_MASK: + +BATT8\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT8_CURR_MULT: + +BATT8\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT8_FL_VLT_MIN: + +BATT8\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT8_FL_V_MULT: + +BATT8\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT8_FL_FLTR: + +BATT8\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT8_FL_PIN: + +BATT8\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT8_FL_FF: + +BATT8\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FS: + +BATT8\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_FT: + +BATT8\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_FL_OFF: + +BATT8\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT8_MAX_VOLT: + +BATT8\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT8_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT8_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT8\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT8_MAX_AMPS: + +BATT8\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT8_SHUNT: + +BATT8\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT8_ESC_MASK: + +BATT8\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT9_: + +BATT9\_ Parameters +------------------ + + +.. _BATT9_MONITOR: + +BATT9\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT9_CAPACITY: + +BATT9\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_SERIAL_NUM: + +BATT9\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT9_LOW_TIMER: + +BATT9\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT9_FS_VOLTSRC: + +BATT9\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT9_LOW_VOLT: + +BATT9\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_LOW_MAH: + +BATT9\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_CRT_VOLT: + +BATT9\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_CRT_MAH: + +BATT9\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_FS_LOW_ACT: + +BATT9\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT9_FS_CRT_ACT: + +BATT9\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT9_ARM_VOLT: + +BATT9\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT9_ARM_MAH: + +BATT9\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT9\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT9_OPTIONS: + +BATT9\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT9_ESC_INDEX: + +BATT9\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT9_VOLT_PIN: + +BATT9\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_CURR_PIN: + +BATT9\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_VOLT_MULT: + +BATT9\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT9\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT9_AMP_PERVLT: + +BATT9\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT9_AMP_OFFSET: + +BATT9\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_VLT_OFFSET: + +BATT9\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_SMBus: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_SUM_MASK: + +BATT9\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT9_CURR_MULT: + +BATT9\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT9_FL_VLT_MIN: + +BATT9\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT9_FL_V_MULT: + +BATT9\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT9_FL_FLTR: + +BATT9\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT9_FL_PIN: + +BATT9\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT9_FL_FF: + +BATT9\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FS: + +BATT9\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_FT: + +BATT9\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_FL_OFF: + +BATT9\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT9_MAX_VOLT: + +BATT9\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT9_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT9_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT9\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT9_MAX_AMPS: + +BATT9\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT9_SHUNT: + +BATT9\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT9_ESC_MASK: + +BATT9\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTA_: + +BATTA\_ Parameters +------------------ + + +.. _BATTA_MONITOR: + +BATTA\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTA_CAPACITY: + +BATTA\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_SERIAL_NUM: + +BATTA\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTA_LOW_TIMER: + +BATTA\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTA_FS_VOLTSRC: + +BATTA\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTA_LOW_VOLT: + +BATTA\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_LOW_MAH: + +BATTA\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_CRT_VOLT: + +BATTA\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_CRT_MAH: + +BATTA\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_FS_LOW_ACT: + +BATTA\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTA_FS_CRT_ACT: + +BATTA\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTA_ARM_VOLT: + +BATTA\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTA_ARM_MAH: + +BATTA\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTA\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTA_OPTIONS: + +BATTA\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTA_ESC_INDEX: + +BATTA\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTA_VOLT_PIN: + +BATTA\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_CURR_PIN: + +BATTA\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_VOLT_MULT: + +BATTA\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTA\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTA_AMP_PERVLT: + +BATTA\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTA_AMP_OFFSET: + +BATTA\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_VLT_OFFSET: + +BATTA\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_SMBus: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_SUM_MASK: + +BATTA\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTA_CURR_MULT: + +BATTA\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTA_FL_VLT_MIN: + +BATTA\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTA_FL_V_MULT: + +BATTA\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTA_FL_FLTR: + +BATTA\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTA_FL_PIN: + +BATTA\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTA_FL_FF: + +BATTA\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FS: + +BATTA\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_FT: + +BATTA\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_FL_OFF: + +BATTA\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTA_MAX_VOLT: + +BATTA\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTA_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTA_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTA\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTA_MAX_AMPS: + +BATTA\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTA_SHUNT: + +BATTA\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTA_ESC_MASK: + +BATTA\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTB_: + +BATTB\_ Parameters +------------------ + + +.. _BATTB_MONITOR: + +BATTB\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTB_CAPACITY: + +BATTB\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_SERIAL_NUM: + +BATTB\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTB_LOW_TIMER: + +BATTB\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTB_FS_VOLTSRC: + +BATTB\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTB_LOW_VOLT: + +BATTB\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_LOW_MAH: + +BATTB\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_CRT_VOLT: + +BATTB\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_CRT_MAH: + +BATTB\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_FS_LOW_ACT: + +BATTB\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTB_FS_CRT_ACT: + +BATTB\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTB_ARM_VOLT: + +BATTB\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTB_ARM_MAH: + +BATTB\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTB\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTB_OPTIONS: + +BATTB\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTB_ESC_INDEX: + +BATTB\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTB_VOLT_PIN: + +BATTB\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_CURR_PIN: + +BATTB\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_VOLT_MULT: + +BATTB\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTB\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTB_AMP_PERVLT: + +BATTB\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTB_AMP_OFFSET: + +BATTB\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_VLT_OFFSET: + +BATTB\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_SMBus: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_SUM_MASK: + +BATTB\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTB_CURR_MULT: + +BATTB\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTB_FL_VLT_MIN: + +BATTB\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTB_FL_V_MULT: + +BATTB\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTB_FL_FLTR: + +BATTB\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTB_FL_PIN: + +BATTB\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTB_FL_FF: + +BATTB\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FS: + +BATTB\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_FT: + +BATTB\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_FL_OFF: + +BATTB\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTB_MAX_VOLT: + +BATTB\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTB_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTB_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTB\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTB_MAX_AMPS: + +BATTB\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTB_SHUNT: + +BATTB\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTB_ESC_MASK: + +BATTB\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTC_: + +BATTC\_ Parameters +------------------ + + +.. _BATTC_MONITOR: + +BATTC\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTC_CAPACITY: + +BATTC\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_SERIAL_NUM: + +BATTC\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTC_LOW_TIMER: + +BATTC\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTC_FS_VOLTSRC: + +BATTC\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTC_LOW_VOLT: + +BATTC\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_LOW_MAH: + +BATTC\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_CRT_VOLT: + +BATTC\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_CRT_MAH: + +BATTC\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_FS_LOW_ACT: + +BATTC\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTC_FS_CRT_ACT: + +BATTC\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTC_ARM_VOLT: + +BATTC\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTC_ARM_MAH: + +BATTC\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTC\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTC_OPTIONS: + +BATTC\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTC_ESC_INDEX: + +BATTC\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTC_VOLT_PIN: + +BATTC\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_CURR_PIN: + +BATTC\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_VOLT_MULT: + +BATTC\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTC\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTC_AMP_PERVLT: + +BATTC\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTC_AMP_OFFSET: + +BATTC\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_VLT_OFFSET: + +BATTC\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_SMBus: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_SUM_MASK: + +BATTC\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTC_CURR_MULT: + +BATTC\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTC_FL_VLT_MIN: + +BATTC\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTC_FL_V_MULT: + +BATTC\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTC_FL_FLTR: + +BATTC\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTC_FL_PIN: + +BATTC\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTC_FL_FF: + +BATTC\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FS: + +BATTC\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_FT: + +BATTC\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_FL_OFF: + +BATTC\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTC_MAX_VOLT: + +BATTC\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTC_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTC_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTC\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTC_MAX_AMPS: + +BATTC\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTC_SHUNT: + +BATTC\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTC_ESC_MASK: + +BATTC\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTD_: + +BATTD\_ Parameters +------------------ + + +.. _BATTD_MONITOR: + +BATTD\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTD_CAPACITY: + +BATTD\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_SERIAL_NUM: + +BATTD\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTD_LOW_TIMER: + +BATTD\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTD_FS_VOLTSRC: + +BATTD\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTD_LOW_VOLT: + +BATTD\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_LOW_MAH: + +BATTD\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_CRT_VOLT: + +BATTD\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_CRT_MAH: + +BATTD\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_FS_LOW_ACT: + +BATTD\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTD_FS_CRT_ACT: + +BATTD\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTD_ARM_VOLT: + +BATTD\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTD_ARM_MAH: + +BATTD\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTD\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTD_OPTIONS: + +BATTD\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTD_ESC_INDEX: + +BATTD\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTD_VOLT_PIN: + +BATTD\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_CURR_PIN: + +BATTD\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_VOLT_MULT: + +BATTD\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTD\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTD_AMP_PERVLT: + +BATTD\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTD_AMP_OFFSET: + +BATTD\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_VLT_OFFSET: + +BATTD\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_SMBus: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_SUM_MASK: + +BATTD\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTD_CURR_MULT: + +BATTD\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTD_FL_VLT_MIN: + +BATTD\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTD_FL_V_MULT: + +BATTD\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTD_FL_FLTR: + +BATTD\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTD_FL_PIN: + +BATTD\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTD_FL_FF: + +BATTD\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FS: + +BATTD\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_FT: + +BATTD\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_FL_OFF: + +BATTD\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTD_MAX_VOLT: + +BATTD\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTD_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTD_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTD\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTD_MAX_AMPS: + +BATTD\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTD_SHUNT: + +BATTD\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTD_ESC_MASK: + +BATTD\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTE_: + +BATTE\_ Parameters +------------------ + + +.. _BATTE_MONITOR: + +BATTE\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTE_CAPACITY: + +BATTE\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_SERIAL_NUM: + +BATTE\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTE_LOW_TIMER: + +BATTE\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTE_FS_VOLTSRC: + +BATTE\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTE_LOW_VOLT: + +BATTE\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_LOW_MAH: + +BATTE\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_CRT_VOLT: + +BATTE\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_CRT_MAH: + +BATTE\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_FS_LOW_ACT: + +BATTE\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTE_FS_CRT_ACT: + +BATTE\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTE_ARM_VOLT: + +BATTE\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTE_ARM_MAH: + +BATTE\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTE\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTE_OPTIONS: + +BATTE\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTE_ESC_INDEX: + +BATTE\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTE_VOLT_PIN: + +BATTE\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_CURR_PIN: + +BATTE\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_VOLT_MULT: + +BATTE\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTE\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTE_AMP_PERVLT: + +BATTE\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTE_AMP_OFFSET: + +BATTE\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_VLT_OFFSET: + +BATTE\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_SMBus: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_SUM_MASK: + +BATTE\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTE_CURR_MULT: + +BATTE\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTE_FL_VLT_MIN: + +BATTE\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTE_FL_V_MULT: + +BATTE\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTE_FL_FLTR: + +BATTE\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTE_FL_PIN: + +BATTE\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTE_FL_FF: + +BATTE\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FS: + +BATTE\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_FT: + +BATTE\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_FL_OFF: + +BATTE\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTE_MAX_VOLT: + +BATTE\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTE_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTE_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTE\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTE_MAX_AMPS: + +BATTE\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTE_SHUNT: + +BATTE\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTE_ESC_MASK: + +BATTE\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTF_: + +BATTF\_ Parameters +------------------ + + +.. _BATTF_MONITOR: + +BATTF\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTF_CAPACITY: + +BATTF\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_SERIAL_NUM: + +BATTF\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTF_LOW_TIMER: + +BATTF\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTF_FS_VOLTSRC: + +BATTF\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTF_LOW_VOLT: + +BATTF\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_LOW_MAH: + +BATTF\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_CRT_VOLT: + +BATTF\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_CRT_MAH: + +BATTF\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_FS_LOW_ACT: + +BATTF\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTF_FS_CRT_ACT: + +BATTF\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTF_ARM_VOLT: + +BATTF\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTF_ARM_MAH: + +BATTF\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTF\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTF_OPTIONS: + +BATTF\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTF_ESC_INDEX: + +BATTF\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTF_VOLT_PIN: + +BATTF\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_CURR_PIN: + +BATTF\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_VOLT_MULT: + +BATTF\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTF\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTF_AMP_PERVLT: + +BATTF\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTF_AMP_OFFSET: + +BATTF\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_VLT_OFFSET: + +BATTF\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_SMBus: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_SUM_MASK: + +BATTF\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTF_CURR_MULT: + +BATTF\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTF_FL_VLT_MIN: + +BATTF\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTF_FL_V_MULT: + +BATTF\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTF_FL_FLTR: + +BATTF\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTF_FL_PIN: + +BATTF\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTF_FL_FF: + +BATTF\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FS: + +BATTF\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_FT: + +BATTF\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_FL_OFF: + +BATTF\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTF_MAX_VOLT: + +BATTF\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTF_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTF_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTF\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTF_MAX_AMPS: + +BATTF\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTF_SHUNT: + +BATTF\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTF_ESC_MASK: + +BATTF\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATTG_: + +BATTG\_ Parameters +------------------ + + +.. _BATTG_MONITOR: + +BATTG\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATTG_CAPACITY: + +BATTG\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_SERIAL_NUM: + +BATTG\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATTG_LOW_TIMER: + +BATTG\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATTG_FS_VOLTSRC: + +BATTG\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATTG_LOW_VOLT: + +BATTG\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_LOW_MAH: + +BATTG\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_CRT_VOLT: + +BATTG\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_CRT_MAH: + +BATTG\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_FS_LOW_ACT: + +BATTG\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTG_FS_CRT_ACT: + +BATTG\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATTG_ARM_VOLT: + +BATTG\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATTG_ARM_MAH: + +BATTG\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATTG\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATTG_OPTIONS: + +BATTG\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATTG_ESC_INDEX: + +BATTG\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATTG_VOLT_PIN: + +BATTG\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_CURR_PIN: + +BATTG\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_VOLT_MULT: + +BATTG\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATTG\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATTG_AMP_PERVLT: + +BATTG\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATTG_AMP_OFFSET: + +BATTG\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_VLT_OFFSET: + +BATTG\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_SMBus: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_SMBus: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_SUM_MASK: + +BATTG\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATTG_CURR_MULT: + +BATTG\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATTG_FL_VLT_MIN: + +BATTG\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATTG_FL_V_MULT: + +BATTG\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATTG_FL_FLTR: + +BATTG\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATTG_FL_PIN: + +BATTG\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATTG_FL_FF: + +BATTG\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FS: + +BATTG\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_FT: + +BATTG\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_FL_OFF: + +BATTG\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATTG_MAX_VOLT: + +BATTG\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATTG_I2C_BUS__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATTG_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATTG\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATTG_MAX_AMPS: + +BATTG\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATTG_SHUNT: + +BATTG\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATTG_ESC_MASK: + +BATTG\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BATT_: + +BATT\_ Parameters +----------------- + + +.. _BATT_MONITOR: + +BATT\_MONITOR: Battery monitoring +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Controls enabling monitoring of the battery\'s voltage and current + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 3 | Analog Voltage Only | ++-------+--------------------------------------+ +| 4 | Analog Voltage and Current | ++-------+--------------------------------------+ +| 5 | Solo | ++-------+--------------------------------------+ +| 6 | Bebop | ++-------+--------------------------------------+ +| 7 | SMBus-Generic | ++-------+--------------------------------------+ +| 8 | DroneCAN-BatteryInfo | ++-------+--------------------------------------+ +| 9 | ESC | ++-------+--------------------------------------+ +| 10 | Sum Of Selected Monitors | ++-------+--------------------------------------+ +| 11 | FuelFlow | ++-------+--------------------------------------+ +| 12 | FuelLevelPWM | ++-------+--------------------------------------+ +| 13 | SMBUS-SUI3 | ++-------+--------------------------------------+ +| 14 | SMBUS-SUI6 | ++-------+--------------------------------------+ +| 15 | NeoDesign | ++-------+--------------------------------------+ +| 16 | SMBus-Maxell | ++-------+--------------------------------------+ +| 17 | Generator-Elec | ++-------+--------------------------------------+ +| 18 | Generator-Fuel | ++-------+--------------------------------------+ +| 19 | Rotoye | ++-------+--------------------------------------+ +| 20 | MPPT | ++-------+--------------------------------------+ +| 21 | INA2XX | ++-------+--------------------------------------+ +| 22 | LTC2946 | ++-------+--------------------------------------+ +| 23 | Torqeedo | ++-------+--------------------------------------+ +| 24 | FuelLevelAnalog | ++-------+--------------------------------------+ +| 25 | Synthetic Current and Analog Voltage | ++-------+--------------------------------------+ +| 26 | INA239_SPI | ++-------+--------------------------------------+ +| 27 | EFI | ++-------+--------------------------------------+ +| 28 | AD7091R5 | ++-------+--------------------------------------+ +| 29 | Scripting | ++-------+--------------------------------------+ + + + + +.. _BATT_CAPACITY: + +BATT\_CAPACITY: Battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Capacity of the battery in mAh when full + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_SERIAL_NUM: + +BATT\_SERIAL\_NUM: Battery serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery serial number\, automatically filled in for SMBus batteries\, otherwise will be \-1\. With DroneCan it is the battery\_id\. + + +.. _BATT_LOW_TIMER: + +BATT\_LOW\_TIMER: Low voltage timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the timeout in seconds before a low voltage event will be triggered\. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs\. A value of zero disables low voltage errors\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 120 | seconds | ++-----------+----------+---------+ + + + + +.. _BATT_FS_VOLTSRC: + +BATT\_FS\_VOLTSRC: Failsafe voltage source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage type used for detection of low voltage event + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Raw Voltage | ++-------+-------------------------+ +| 1 | Sag Compensated Voltage | ++-------+-------------------------+ + + + + +.. _BATT_LOW_VOLT: + +BATT\_LOW\_VOLT: Low battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a low battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_LOW_MAH: + +BATT\_LOW\_MAH: Low battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the low battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_LOW\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_CRT_VOLT: + +BATT\_CRT\_VOLT: Critical battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery voltage that triggers a critical battery failsafe\. Set to 0 to disable\. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT\_LOW\_TIMER parameter then the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_CRT_MAH: + +BATT\_CRT\_MAH: Battery critical capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Battery capacity at which the critical battery failsafe is triggered\. Set to 0 to disable battery remaining failsafe\. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT\_FS\_CRT\_ACT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_FS_LOW_ACT: + +BATT\_FS\_LOW\_ACT: Low battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a low battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT_FS_CRT_ACT: + +BATT\_FS\_CRT\_ACT: Critical battery failsafe action +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action the vehicle should perform if it hits a critical battery failsafe + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | None | ++-------+------------------+ +| 1 | RTL | ++-------+------------------+ +| 2 | Hold | ++-------+------------------+ +| 3 | SmartRTL | ++-------+------------------+ +| 4 | SmartRTL or Hold | ++-------+------------------+ +| 5 | Terminate | ++-------+------------------+ + + + + +.. _BATT_ARM_VOLT: + +BATT\_ARM\_VOLT: Required arming voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery voltage level which is required to arm the aircraft\. Set to 0 to allow arming at any voltage\. + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.1 | volt | ++-----------+-------+ + + + + +.. _BATT_ARM_MAH: + +BATT\_ARM\_MAH: Required arming remaining capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Battery capacity remaining which is required to arm the aircraft\. Set to 0 to allow arming at any capacity\. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate\, which can lead to this check not providing sufficent protection\, it is recommended to always use this in conjunction with the BATT\_ARM\_VOLT parameter\. + + ++-----------+------------------+ +| Increment | Units | ++===========+==================+ +| 50 | milliampere hour | ++-----------+------------------+ + + + + +.. _BATT_OPTIONS: + +BATT\_OPTIONS: Battery monitor options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the battery monitor + + ++-----+---------------------------------------------------------+ +| Bit | Meaning | ++=====+=========================================================+ +| 0 | Ignore DroneCAN SoC | ++-----+---------------------------------------------------------+ +| 1 | MPPT reports input voltage and current | ++-----+---------------------------------------------------------+ +| 2 | MPPT Powered off when disarmed | ++-----+---------------------------------------------------------+ +| 3 | MPPT Powered on when armed | ++-----+---------------------------------------------------------+ +| 4 | MPPT Powered off at boot | ++-----+---------------------------------------------------------+ +| 5 | MPPT Powered on at boot | ++-----+---------------------------------------------------------+ +| 6 | Send resistance compensated voltage to GCS | ++-----+---------------------------------------------------------+ +| 7 | Allow DroneCAN InfoAux to be from a different CAN node | ++-----+---------------------------------------------------------+ +| 9 | Sum monitor measures minimum voltage instead of average | ++-----+---------------------------------------------------------+ + + + + +.. _BATT_ESC_INDEX: + +BATT\_ESC\_INDEX: ESC Telemetry Index to write to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write voltage\, current\, consumption and temperature data to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BATT_VOLT_PIN: + +BATT\_VOLT\_PIN: Battery Voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for voltage monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_CURR_PIN: + +BATT\_CURR\_PIN: Battery Current sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets the analog input pin that should be used for current monitoring\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 3 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 4 | CubeOrange_PM2/Navigator | ++-------+--------------------------------------+ +| 14 | Pixhawk2_PM2 | ++-------+--------------------------------------+ +| 15 | CubeOrange | ++-------+--------------------------------------+ +| 17 | Durandal | ++-------+--------------------------------------+ +| 101 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_VOLT_MULT: + +BATT\_VOLT\_MULT: Voltage Multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to convert the voltage of the voltage sensing pin \(BATT\_VOLT\_PIN\) to the actual battery\'s voltage \(pin\_voltage \* VOLT\_MULT\)\. For the 3DR Power brick with a Pixhawk\, this should be set to 10\.1\. For the Pixhawk with the 3DR 4in1 ESC this should be 12\.02\. For the PX using the PX4IO power supply this should be set to 1\. + + +.. _BATT_AMP_PERVLT: + +BATT\_AMP\_PERVLT: Amps per volt +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of amps that a 1V reading on the current sensor corresponds to\. With a Pixhawk using the 3DR Power brick this should be set to 17\. For the Pixhawk with the 3DR 4in1 ESC this should be 17\. For Synthetic Current sensor monitors\, this is the maximum\, full throttle current draw\. + + ++-----------------+ +| Units | ++=================+ +| ampere per volt | ++-----------------+ + + + + +.. _BATT_AMP_OFFSET: + +BATT\_AMP\_OFFSET: AMP offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Voltage offset at zero current on current sensor for Analog Sensors\. For Synthetic Current sensor\, this offset is the zero throttle system current and is added to the calculated throttle base current\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_VLT_OFFSET: + +BATT\_VLT\_OFFSET: Voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage offset on voltage pin\. This allows for an offset due to a diode\. This voltage is subtracted before the scaling is applied\. + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_SMBus: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_SMBus\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_SMBus: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_SMBus\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_SUM_MASK: + +BATT\_SUM\_MASK: Battery Sum mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: sum of remaining battery monitors\, If none 0 sum of specified monitors\. Current will be summed and voltages averaged\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | monitor 1 | ++-----+-----------+ +| 1 | monitor 2 | ++-----+-----------+ +| 2 | monitor 3 | ++-----+-----------+ +| 3 | monitor 4 | ++-----+-----------+ +| 4 | monitor 5 | ++-----+-----------+ +| 5 | monitor 6 | ++-----+-----------+ +| 6 | monitor 7 | ++-----+-----------+ +| 7 | monitor 8 | ++-----+-----------+ +| 8 | monitor 9 | ++-----+-----------+ + + + + +.. _BATT_CURR_MULT: + +BATT\_CURR\_MULT: Scales reported power monitor current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications + + ++----------+ +| Range | ++==========+ +| .1 to 10 | ++----------+ + + + + +.. _BATT_FL_VLT_MIN: + +BATT\_FL\_VLT\_MIN: Empty fuel level voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The voltage seen on the analog pin when the fuel tank is empty\. Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+-------+ +| Range | Units | ++============+=======+ +| 0.01 to 10 | volt | ++------------+-------+ + + + + +.. _BATT_FL_V_MULT: + +BATT\_FL\_V\_MULT: Fuel level voltage multiplier +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Voltage multiplier to determine what the full tank voltage reading is\. This is calculated as 1 \/ \(Voltage\_Full \- Voltage\_Empty\) Note\: For this type of battery monitor\, the voltage seen by the analog pin is displayed as battery voltage on a GCS\. + + ++------------+ +| Range | ++============+ +| 0.01 to 10 | ++------------+ + + + + +.. _BATT_FL_FLTR: + +BATT\_FL\_FLTR: Fuel level filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Filter frequency in Hertz where a low pass filter is used\. This is used to filter out tank slosh from the fuel level reading\. A value of \-1 disables the filter and unfiltered voltage is used to determine the fuel level\. The suggested values at in the range of 0\.2 Hz to 0\.5 Hz\. + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| -1 to 1 | hertz | ++---------+-------+ + + + + +.. _BATT_FL_PIN: + +BATT\_FL\_PIN: Fuel level analog pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin that fuel level sensor is connected to\.Analog Airspeed or RSSI ports can be used for Analog input\( some autopilots provide others also\)\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _BATT_FL_FF: + +BATT\_FL\_FF: First order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FS: + +BATT\_FL\_FS: Second order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_FT: + +BATT\_FL\_FT: Third order term +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third order polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_FL_OFF: + +BATT\_FL\_OFF: Offset term +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset polynomial fit term + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _BATT_MAX_VOLT: + +BATT\_MAX\_VOLT: Maximum Battery Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum voltage of battery\. Provides scaling of current versus voltage + + ++----------+ +| Range | ++==========+ +| 7 to 100 | ++----------+ + + + + +.. _BATT_I2C_BUS__AP_BattMonitor_INA2xx: + +BATT\_I2C\_BUS \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C bus number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C bus number + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _BATT_I2C_ADDR__AP_BattMonitor_INA2xx: + +BATT\_I2C\_ADDR \(AP\_BattMonitor\_INA2xx\): Battery monitor I2C address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Battery monitor I2C address\. If this is zero then probe list of supported addresses + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _BATT_MAX_AMPS: + +BATT\_MAX\_AMPS: Battery monitor max current +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum current the INS2XX sensor will work with\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 1 to 400 | ampere | ++----------+--------+ + + + + +.. _BATT_SHUNT: + +BATT\_SHUNT: Battery monitor shunt resistor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the shunt resistor used in the device + + ++----------------+-------+ +| Range | Units | ++================+=======+ +| 0.0001 to 0.01 | Ohm | ++----------------+-------+ + + + + +.. _BATT_ESC_MASK: + +BATT\_ESC\_MASK: ESC mask +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If 0 all connected ESCs will be used\. If non\-zero\, only those selected in will be used\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + + +.. _parameters_BCN: + +BCN Parameters +-------------- + + +.. _BCN_TYPE: + +BCN\_TYPE: Beacon based position estimation device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +What type of beacon based position estimation device is connected + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Pozyx | ++-------+------------+ +| 2 | Marvelmind | ++-------+------------+ +| 3 | Nooploop | ++-------+------------+ +| 10 | SITL | ++-------+------------+ + + + + +.. _BCN_LATITUDE: + +BCN\_LATITUDE: Beacon origin\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _BCN_LONGITUDE: + +BCN\_LONGITUDE: Beacon origin\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _BCN_ALT: + +BCN\_ALT: Beacon origin\'s altitude above sealevel in meters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon origin\'s altitude above sealevel in meters + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _BCN_ORIENT_YAW: + +BCN\_ORIENT\_YAW: Beacon systems rotation from north in degrees +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Beacon systems rotation from north in degrees + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + + +.. _parameters_BRD_: + +BRD\_ Parameters +---------------- + + +.. _BRD_SER1_RTSCTS: + +BRD\_SER1\_RTSCTS: Serial 1 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 1 \(telemetry 1\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. Note that the PX4v1 does not have hardware flow control pins on this port\, so you should leave this disabled\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER2_RTSCTS: + +BRD\_SER2\_RTSCTS: Serial 2 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 2 \(telemetry 2\)\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER3_RTSCTS: + +BRD\_SER3\_RTSCTS: Serial 3 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 3\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER4_RTSCTS: + +BRD\_SER4\_RTSCTS: Serial 4 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 4\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SER5_RTSCTS: + +BRD\_SER5\_RTSCTS: Serial 5 flow control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable flow control on serial 5\. You must have the RTS and CTS pins connected to your radio\. The standard DF13 6 pin connector for a 3DR radio does have those pins connected\. If this is set to 2 then flow control will be auto\-detected by checking for the output buffer filling on startup\. + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | Disabled | ++-------+------------------------------+ +| 1 | Enabled | ++-------+------------------------------+ +| 2 | Auto | ++-------+------------------------------+ +| 3 | RS-485 Driver enable RTS pin | ++-------+------------------------------+ + + + + +.. _BRD_SAFETY_DEFLT: + +BRD\_SAFETY\_DEFLT: Sets default state of the safety switch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This controls the default state of the safety switch at startup\. When set to 1 the safety switch will start in the safe state \(flashing\) at boot\. When set to zero the safety switch will start in the unsafe state \(solid\) at startup\. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch\. The safety state can also be controlled in software using a MAVLink message\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_SBUS_OUT: + +BRD\_SBUS\_OUT: SBUS output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the SBUS output frame rate in Hz + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | 50Hz | ++-------+----------+ +| 2 | 75Hz | ++-------+----------+ +| 3 | 100Hz | ++-------+----------+ +| 4 | 150Hz | ++-------+----------+ +| 5 | 200Hz | ++-------+----------+ +| 6 | 250Hz | ++-------+----------+ +| 7 | 300Hz | ++-------+----------+ + + + + +.. _BRD_SERIAL_NUM: + +BRD\_SERIAL\_NUM: User\-defined serial number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +User\-defined serial number of this vehicle\, it can be any arbitrary number you want and has no effect on the autopilot + + ++---------------------+ +| Range | ++=====================+ +| -8388608 to 8388607 | ++---------------------+ + + + + +.. _BRD_SAFETY_MASK: + +BRD\_SAFETY\_MASK: Outputs which ignore the safety switch state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask which controls what outputs can move while the safety switch has not been pressed + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Output1 | ++-----+----------+ +| 1 | Output2 | ++-----+----------+ +| 2 | Output3 | ++-----+----------+ +| 3 | Output4 | ++-----+----------+ +| 4 | Output5 | ++-----+----------+ +| 5 | Output6 | ++-----+----------+ +| 6 | Output7 | ++-----+----------+ +| 7 | Output8 | ++-----+----------+ +| 8 | Output9 | ++-----+----------+ +| 9 | Output10 | ++-----+----------+ +| 10 | Output11 | ++-----+----------+ +| 11 | Output12 | ++-----+----------+ +| 12 | Output13 | ++-----+----------+ +| 13 | Output14 | ++-----+----------+ + + + + +.. _BRD_HEAT_TARG: + +BRD\_HEAT\_TARG: Board heater temperature target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board heater target temperature for boards with controllable heating units\. Set to \-1 to disable the heater\, please reboot after setting to \-1\. + + ++----------+-----------------+ +| Range | Units | ++==========+=================+ +| -1 to 80 | degrees Celsius | ++----------+-----------------+ + + + + +.. _BRD_TYPE: + +BRD\_TYPE: Board type +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows selection of a PX4 or VRBRAIN board type\. If set to zero then the board type is auto\-detected \(PX4\) + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | AUTO | ++-------+----------------+ +| 1 | PX4V1 | ++-------+----------------+ +| 2 | Pixhawk | ++-------+----------------+ +| 3 | Cube/Pixhawk2 | ++-------+----------------+ +| 4 | Pixracer | ++-------+----------------+ +| 5 | PixhawkMini | ++-------+----------------+ +| 6 | Pixhawk2Slim | ++-------+----------------+ +| 13 | Intel Aero FC | ++-------+----------------+ +| 14 | Pixhawk Pro | ++-------+----------------+ +| 20 | AUAV2.1 | ++-------+----------------+ +| 21 | PCNC1 | ++-------+----------------+ +| 22 | MINDPXV2 | ++-------+----------------+ +| 23 | SP01 | ++-------+----------------+ +| 24 | CUAVv5/FMUV5 | ++-------+----------------+ +| 30 | VRX BRAIN51 | ++-------+----------------+ +| 32 | VRX BRAIN52 | ++-------+----------------+ +| 33 | VRX BRAIN52E | ++-------+----------------+ +| 34 | VRX UBRAIN51 | ++-------+----------------+ +| 35 | VRX UBRAIN52 | ++-------+----------------+ +| 36 | VRX CORE10 | ++-------+----------------+ +| 38 | VRX BRAIN54 | ++-------+----------------+ +| 39 | PX4 FMUV6 | ++-------+----------------+ +| 100 | PX4 OLDDRIVERS | ++-------+----------------+ + + + + +.. _BRD_IO_ENABLE: + +BRD\_IO\_ENABLE: Enable IO co\-processor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows for the IO co\-processor on boards with an IOMCU to be disabled\. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | EnableNoFWUpdate | ++-------+------------------+ + + + + +.. _BRD_SAFETYOPTION: + +BRD\_SAFETYOPTION: Options for safety button behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the activation of the safety button\. It allows you to control if the safety button can be used for safety enable and\/or disable\, and whether the button is only active when disarmed + + ++-----+-------------------------------------------+ +| Bit | Meaning | ++=====+===========================================+ +| 0 | ActiveForSafetyDisable | ++-----+-------------------------------------------+ +| 1 | ActiveForSafetyEnable | ++-----+-------------------------------------------+ +| 2 | ActiveWhenArmed | ++-----+-------------------------------------------+ +| 3 | Force safety on when the aircraft disarms | ++-----+-------------------------------------------+ + + + + +.. _BRD_VBUS_MIN: + +BRD\_VBUS\_MIN: Autopilot board voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the autopilot power rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+------------+-------+ +| Increment | Range | Units | ++===========+============+=======+ +| 0.1 | 4.0 to 5.5 | volt | ++-----------+------------+-------+ + + + + +.. _BRD_VSERVO_MIN: + +BRD\_VSERVO\_MIN: Servo voltage requirement +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum voltage on the servo rail to allow the aircraft to arm\. 0 to disable the check\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.1 | 3.3 to 12.0 | volt | ++-----------+-------------+-------+ + + + + +.. _BRD_SD_SLOWDOWN: + +BRD\_SD\_SLOWDOWN: microSD slowdown +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a scaling factor to slow down microSD operation\. It can be used on flight board and microSD card combinations where full speed is not reliable\. For normal full speed operation a value of 0 should be used\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 32 | ++-----------+---------+ + + + + +.. _BRD_PWM_VOLT_SEL: + +BRD\_PWM\_VOLT\_SEL: Set PWM Out Voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the voltage max for PWM output pulses\. 0 for 3\.3V and 1 for 5V output\. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs\, not the 6 auxiliary outputs\. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 3.3V | ++-------+---------+ +| 1 | 5V | ++-------+---------+ + + + + +.. _BRD_OPTIONS: + +BRD\_OPTIONS: Board options +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board specific option flags + + ++-----+-------------------------------------------------------+ +| Bit | Meaning | ++=====+=======================================================+ +| 0 | Enable hardware watchdog | ++-----+-------------------------------------------------------+ +| 1 | Disable MAVftp | ++-----+-------------------------------------------------------+ +| 2 | Enable set of internal parameters | ++-----+-------------------------------------------------------+ +| 3 | Enable Debug Pins | ++-----+-------------------------------------------------------+ +| 4 | Unlock flash on reboot | ++-----+-------------------------------------------------------+ +| 5 | Write protect firmware flash on reboot | ++-----+-------------------------------------------------------+ +| 6 | Write protect bootloader flash on reboot | ++-----+-------------------------------------------------------+ +| 7 | Skip board validation | ++-----+-------------------------------------------------------+ +| 8 | Disable board arming gpio output change on arm/disarm | ++-----+-------------------------------------------------------+ + + + + +.. _BRD_BOOT_DELAY: + +BRD\_BOOT\_DELAY: Boot delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This adds a delay in milliseconds to boot to ensure peripherals initialise fully + + ++------------+--------------+ +| Range | Units | ++============+==============+ +| 0 to 10000 | milliseconds | ++------------+--------------+ + + + + +.. _BRD_HEAT_P: + +BRD\_HEAT\_P: Board Heater P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater P gain + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 500 | ++-----------+----------+ + + + + +.. _BRD_HEAT_I: + +BRD\_HEAT\_I: Board Heater I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator gain + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.1 | 0 to 1 | ++-----------+--------+ + + + + +.. _BRD_HEAT_IMAX: + +BRD\_HEAT\_IMAX: Board Heater IMAX +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Board Heater integrator maximum + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 100 | ++-----------+----------+ + + + + +.. _BRD_ALT_CONFIG: + +BRD\_ALT\_CONFIG: Alternative HW config +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Select an alternative hardware configuration\. A value of zero selects the default configuration for this board\. Other values are board specific\. Please see the documentation for your board for details on any alternative configuration values that may be available\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _BRD_HEAT_LOWMGN: + +BRD\_HEAT\_LOWMGN: Board heater temp lower margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Arming check will fail if temp is lower than this margin below BRD\_HEAT\_TARG\. 0 disables the low temperature check + + ++---------+-----------------+ +| Range | Units | ++=========+=================+ +| 0 to 20 | degrees Celsius | ++---------+-----------------+ + + + + +.. _BRD_SD_MISSION: + +BRD\_SD\_MISSION: SDCard Mission size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in mission\.stg for waypoint storage\. Each waypoint uses 15 bytes\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_SD_FENCE: + +BRD\_SD\_FENCE: SDCard Fence size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the amount of storage in kilobytes reserved on the microsd card in fence\.stg for fence storage\. + + ++---------+ +| Range | ++=========+ +| 0 to 64 | ++---------+ + + + + +.. _BRD_IO_DSHOT: + +BRD\_IO\_DSHOT: Load DShot FW on IO +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This loads the DShot firmware on the IO co\-processor + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | StandardFW | ++-------+------------+ +| 1 | DshotFW | ++-------+------------+ + + + + + +.. _parameters_BRD_RADIO: + +BRD\_RADIO Parameters +--------------------- + + +.. _BRD_RADIO_TYPE: + +BRD\_RADIO\_TYPE: Set type of direct attached radio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This enables support for direct attached radio receivers + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | CYRF6936 | ++-------+----------+ +| 2 | CC2500 | ++-------+----------+ +| 3 | BK2425 | ++-------+----------+ + + + + +.. _BRD_RADIO_PROT: + +BRD\_RADIO\_PROT: protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select air protocol + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | DSM2 | ++-------+---------+ +| 2 | DSMX | ++-------+---------+ + + + + +.. _BRD_RADIO_DEBUG: + +BRD\_RADIO\_DEBUG: debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +radio debug level + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _BRD_RADIO_DISCRC: + +BRD\_RADIO\_DISCRC: disable receive CRC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +disable receive CRC \(for debug\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | NotDisabled | ++-------+-------------+ +| 1 | Disabled | ++-------+-------------+ + + + + +.. _BRD_RADIO_SIGCH: + +BRD\_RADIO\_SIGCH: RSSI signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show receive RSSI signal strength\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_PPSCH: + +BRD\_RADIO\_PPSCH: Packet rate channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show received packet\-per\-second rate\, or zero for disabled + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TELEM: + +BRD\_RADIO\_TELEM: Enable telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is non\-zero then telemetry packets will be sent over DSM + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BRD_RADIO_TXPOW: + +BRD\_RADIO\_TXPOW: Telemetry Transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set telemetry transmit power\. This is the power level \(from 1 to 8\) for telemetry packets sent from the RX to the TX + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_FCCTST: + +BRD\_RADIO\_FCCTST: Put radio into FCC test mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If this is enabled then the radio will continuously transmit as required for FCC testing\. The transmit channel is set by the value of the parameter\. The radio will not work for RC input while this is enabled + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MinChannel | ++-------+--------------+ +| 2 | MidChannel | ++-------+--------------+ +| 3 | MaxChannel | ++-------+--------------+ +| 4 | MinChannelCW | ++-------+--------------+ +| 5 | MidChannelCW | ++-------+--------------+ +| 6 | MaxChannelCW | ++-------+--------------+ + + + + +.. _BRD_RADIO_STKMD: + +BRD\_RADIO\_STKMD: Stick input mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This selects between different stick input modes\. The default is mode2\, which has throttle on the left stick and pitch on the right stick\. You can instead set mode1\, which has throttle on the right stick and pitch on the left stick\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | Mode1 | ++-------+---------+ +| 2 | Mode2 | ++-------+---------+ + + + + +.. _BRD_RADIO_TESTCH: + +BRD\_RADIO\_TESTCH: Set radio to factory test channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the radio to a fixed test channel for factory testing\. Using a fixed channel avoids the need for binding in factory testing\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | Disabled | ++-------+-----------+ +| 1 | TestChan1 | ++-------+-----------+ +| 2 | TestChan2 | ++-------+-----------+ +| 3 | TestChan3 | ++-------+-----------+ +| 4 | TestChan4 | ++-------+-----------+ +| 5 | TestChan5 | ++-------+-----------+ +| 6 | TestChan6 | ++-------+-----------+ +| 7 | TestChan7 | ++-------+-----------+ +| 8 | TestChan8 | ++-------+-----------+ + + + + +.. _BRD_RADIO_TSIGCH: + +BRD\_RADIO\_TSIGCH: RSSI value channel for telemetry data on transmitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry RSSI value as received by TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TPPSCH: + +BRD\_RADIO\_TPPSCH: Telemetry PPS channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Channel to show telemetry packets\-per\-second value\, as received at TX + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _BRD_RADIO_TXMAX: + +BRD\_RADIO\_TXMAX: Transmitter transmit power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter maximum transmit power \(from 1 to 8\) + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _BRD_RADIO_BZOFS: + +BRD\_RADIO\_BZOFS: Transmitter buzzer adjustment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set transmitter buzzer note adjustment \(adjust frequency up\) + + ++---------+ +| Range | ++=========+ +| 0 to 40 | ++---------+ + + + + +.. _BRD_RADIO_ABTIME: + +BRD\_RADIO\_ABTIME: Auto\-bind time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When non\-zero this sets the time with no transmitter packets before we start looking for auto\-bind packets\. + + ++----------+ +| Range | ++==========+ +| 0 to 120 | ++----------+ + + + + +.. _BRD_RADIO_ABLVL: + +BRD\_RADIO\_ABLVL: Auto\-bind level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum RSSI of an auto\-bind packet for it to be accepted\. This should be set so that auto\-bind will only happen at short range to minimise the change of an auto\-bind happening accidentially + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + + +.. _parameters_BRD_RTC: + +BRD\_RTC Parameters +------------------- + + +.. _BRD_RTC_TYPES: + +BRD\_RTC\_TYPES: Allowed sources of RTC time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies which sources of UTC time will be accepted + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | GPS | ++-----+---------------------+ +| 1 | MAVLINK_SYSTEM_TIME | ++-----+---------------------+ +| 2 | HW | ++-----+---------------------+ + + + + +.. _BRD_RTC_TZ_MIN: + +BRD\_RTC\_TZ\_MIN: Timezone offset from UTC +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Adds offset in \+\- minutes from UTC to calculate local time + + ++--------------+ +| Range | ++==============+ +| -720 to +840 | ++--------------+ + + + + + +.. _parameters_BTN_: + +BTN\_ Parameters +---------------- + + +.. _BTN_ENABLE: + +BTN\_ENABLE: Enable button reporting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables the button checking module\. When this is disabled the parameters for setting button inputs are not visible + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _BTN_PIN1: + +BTN\_PIN1: First button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for first button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN2: + +BTN\_PIN2: Second button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for second button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN3: + +BTN\_PIN3: Third button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for third button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_PIN4: + +BTN\_PIN4: Fourth button Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for fourth button input\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUXOUT1 | ++-------+----------+ +| 51 | AUXOUT2 | ++-------+----------+ +| 52 | AUXOUT3 | ++-------+----------+ +| 53 | AUXOUT4 | ++-------+----------+ +| 54 | AUXOUT5 | ++-------+----------+ +| 55 | AUXOUT6 | ++-------+----------+ + + + + +.. _BTN_REPORT_SEND: + +BTN\_REPORT\_SEND: Report send time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The duration in seconds that a BUTTON\_CHANGE report is repeatedly sent to the GCS regarding a button changing state\. Note that the BUTTON\_CHANGE message is MAVLink2 only\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3600 | ++-----------+ + + + + +.. _BTN_OPTIONS1: + +BTN\_OPTIONS1: Button Pin 1 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 1\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS2: + +BTN\_OPTIONS2: Button Pin 2 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 2\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS3: + +BTN\_OPTIONS3: Button Pin 3 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 3\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_OPTIONS4: + +BTN\_OPTIONS4: Button Pin 4 Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for Pin 4\. PWM input detects PWM above or below 1800\/1200us instead of logic level\. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low\. Invert changes HIGH state to be logic low voltage on pin\, or below 1200us\, if PWM input\. + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | PWM Input | ++-----+-------------+ +| 1 | InvertInput | ++-----+-------------+ + + + + +.. _BTN_FUNC1: + +BTN\_FUNC1: Button Pin 1 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + +.. _BTN_FUNC2: + +BTN\_FUNC2: Button Pin 2 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + +.. _BTN_FUNC3: + +BTN\_FUNC3: Button Pin 3 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + +.. _BTN_FUNC4: + +BTN\_FUNC4: Button Pin 4 RC Channel function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Auxiliary RC Options function executed on pin change + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_CAM: + +CAM Parameters +-------------- + + +.. _CAM_MAX_ROLL: + +CAM\_MAX\_ROLL: Maximum photo roll angle\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if roll is greater than limit\. \(0\=Disable\, will shoot regardless of roll\)\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + +.. _CAM_AUTO_ONLY: + +CAM\_AUTO\_ONLY: Distance\-trigging in AUTO mode only +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled\, trigging by distance is done in AUTO mode only\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Always | ++-------+-------------------+ +| 1 | Only when in AUTO | ++-------+-------------------+ + + + + + +.. _parameters_CAM1: + +CAM1 Parameters +--------------- + + +.. _CAM1_TYPE: + +CAM1\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM1_DURATION: + +CAM1\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM1_SERVO_ON: + +CAM1\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_SERVO_OFF: + +CAM1\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM1_TRIGG_DIST: + +CAM1\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM1_RELAY_ON: + +CAM1\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM1_INTRVAL_MIN: + +CAM1\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM1_FEEDBAK_PIN: + +CAM1\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM1_FEEDBAK_POL: + +CAM1\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM1_OPTIONS: + +CAM1\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM1_MNT_INST: + +CAM1\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM1_HFOV: + +CAM1\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM1_VFOV: + +CAM1\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM2: + +CAM2 Parameters +--------------- + + +.. _CAM2_TYPE: + +CAM2\_TYPE: Camera shutter \(trigger\) type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +how to trigger the camera to take a picture + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Servo | ++-------+------------------------------------+ +| 2 | Relay | ++-------+------------------------------------+ +| 3 | GoPro in Solo Gimbal | ++-------+------------------------------------+ +| 4 | Mount (Siyi/Topotek/Viewpro/Xacti) | ++-------+------------------------------------+ +| 5 | MAVLink | ++-------+------------------------------------+ +| 6 | MAVLinkCamV2 | ++-------+------------------------------------+ +| 7 | Scripting | ++-------+------------------------------------+ + + + + +.. _CAM2_DURATION: + +CAM2\_DURATION: Camera shutter duration held open +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration in seconds that the camera shutter is held open + + ++--------+---------+ +| Range | Units | ++========+=========+ +| 0 to 5 | seconds | ++--------+---------+ + + + + +.. _CAM2_SERVO_ON: + +CAM2\_SERVO\_ON: Camera servo ON PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is activated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_SERVO_OFF: + +CAM2\_SERVO\_OFF: Camera servo OFF PWM value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value in microseconds to move servo to when shutter is deactivated + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _CAM2_TRIGG_DIST: + +CAM2\_TRIGG\_DIST: Camera trigger distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance in meters between camera triggers\. If this value is non\-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in\. Note that this parameter can also be set in an auto mission using the DO\_SET\_CAM\_TRIGG\_DIST command\, allowing you to enable\/disable the triggering of the camera during the flight\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 0 to 1000 | meters | ++-----------+--------+ + + + + +.. _CAM2_RELAY_ON: + +CAM2\_RELAY\_ON: Camera relay ON value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets whether the relay goes high or low when it triggers\. Note that you should also set RELAY\_DEFAULT appropriately for your camera + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Low | ++-------+---------+ +| 1 | High | ++-------+---------+ + + + + +.. _CAM2_INTRVAL_MIN: + +CAM2\_INTRVAL\_MIN: Camera minimum time interval between photos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Postpone shooting if previous picture was taken less than this many seconds ago + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 10 | seconds | ++---------+---------+ + + + + +.. _CAM2_FEEDBAK_PIN: + +CAM2\_FEEDBAK\_PIN: Camera feedback pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +pin number to use for save accurate camera feedback messages\. If set to \-1 then don\'t use a pin flag for this\, otherwise this is a pin number which if held high after a picture trigger order\, will save camera messages when camera really takes a picture\. A universal camera hot shoe is needed\. The pin should be held high for at least 2 milliseconds for reliable trigger detection\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. See also the CAMx\_FEEDBCK\_POL option\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _CAM2_FEEDBAK_POL: + +CAM2\_FEEDBAK\_POL: Camera feedback pin polarity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Polarity for feedback pin\. If this is 1 then the feedback pin should go high on trigger\. If set to 0 then it should go low + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | TriggerLow | ++-------+-------------+ +| 1 | TriggerHigh | ++-------+-------------+ + + + + +.. _CAM2_OPTIONS: + +CAM2\_OPTIONS: Camera options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera options bitmask + + ++-----+---------------------------------------------------+ +| Bit | Meaning | ++=====+===================================================+ +| 0 | Recording Starts at arming and stops at disarming | ++-----+---------------------------------------------------+ + + + + +.. _CAM2_MNT_INST: + +CAM2\_MNT\_INST: Camera Mount instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount instance camera is associated with\. 0 means camera and mount have identical instance numbers e\.g\. camera1 and mount1 + + +.. _CAM2_HFOV: + +CAM2\_HFOV: Camera horizontal field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera horizontal field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _CAM2_VFOV: + +CAM2\_VFOV: Camera vertical field of view +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Camera vertical field of view\. 0 if unknown + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 180 | degrees | ++----------+---------+ + + + + + +.. _parameters_CAM_RC_: + +CAM\_RC\_ Parameters +-------------------- + + +.. _CAM_RC_TYPE: + +CAM\_RC\_TYPE: RunCam device type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RunCam device type used to determine OSD menu structure and shutter options\. + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Disabled | ++-------+-------------------------------------+ +| 1 | RunCam Split Micro/RunCam with UART | ++-------+-------------------------------------+ +| 2 | RunCam Split | ++-------+-------------------------------------+ +| 3 | RunCam Split4 4k | ++-------+-------------------------------------+ +| 4 | RunCam Hybrid/RunCam Thumb Pro | ++-------+-------------------------------------+ +| 5 | Runcam 2 4k | ++-------+-------------------------------------+ + + + + +.. _CAM_RC_FEATURES: + +CAM\_RC\_FEATURES: RunCam features available +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The available features of the attached RunCam device\. If 0 then the RunCam device will be queried for the features it supports\, otherwise this setting is used\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Power Button | ++-----+-----------------+ +| 1 | WiFi Button | ++-----+-----------------+ +| 2 | Change Mode | ++-----+-----------------+ +| 3 | 5-Key OSD | ++-----+-----------------+ +| 4 | Settings Access | ++-----+-----------------+ +| 5 | DisplayPort | ++-----+-----------------+ +| 6 | Start Recording | ++-----+-----------------+ +| 7 | Stop Recording | ++-----+-----------------+ + + + + +.. _CAM_RC_BT_DELAY: + +CAM\_RC\_BT\_DELAY: RunCam boot delay before allowing updates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the RunCam to become fully ready in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_BTN_DELAY: + +CAM\_RC\_BTN\_DELAY: RunCam button delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam button press to be actived in ms\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_MDE_DELAY: + +CAM\_RC\_MDE\_DELAY: RunCam mode delay before allowing further button presses +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time it takes for the a RunCam mode button press to be actived in ms\. If a mode change first requires a video recording change then double this value is used\. If this is too short then commands can get out of sync\. + + +.. _CAM_RC_CONTROL: + +CAM\_RC\_CONTROL: RunCam control option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the allowed actions required to enter the OSD menu and other option like autorecording + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Stick yaw right | ++-----+-----------------------+ +| 1 | Stick roll right | ++-----+-----------------------+ +| 2 | 3-position switch | ++-----+-----------------------+ +| 3 | 2-position switch | ++-----+-----------------------+ +| 4 | Autorecording enabled | ++-----+-----------------------+ + + + + + +.. _parameters_CAN_: + +CAN\_ Parameters +---------------- + + +.. _CAN_LOGLEVEL: + +CAN\_LOGLEVEL: Loglevel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Loglevel for recording initialisation and debug information from CAN Interface + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Log None | ++-------+-----------------------+ +| 1 | Log Error | ++-------+-----------------------+ +| 2 | Log Warning and below | ++-------+-----------------------+ +| 3 | Log Info and below | ++-------+-----------------------+ +| 4 | Log Everything | ++-------+-----------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + + +.. _parameters_CAN_D1_: + +CAN\_D1\_ Parameters +-------------------- + + +.. _CAN_D1_PROTOCOL: + +CAN\_D1\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D1_PROTOCOL2: + +CAN\_D1\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D1_PC_: + +CAN\_D1\_PC\_ Parameters +------------------------ + + +.. _CAN_D1_PC_ESC_BM: + +CAN\_D1\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_PC_ESC_RT: + +CAN\_D1\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_SRV_BM: + +CAN\_D1\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D1_PC_SRV_RT: + +CAN\_D1\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_PC_ECU_ID: + +CAN\_D1\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D1_PC_ECU_RT: + +CAN\_D1\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D1_UC_: + +CAN\_D1\_UC\_ Parameters +------------------------ + + +.. _CAN_D1_UC_NODE: + +CAN\_D1\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D1_UC_SRV_BM: + +CAN\_D1\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D1_UC_ESC_BM: + +CAN\_D1\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_SRV_RT: + +CAN\_D1\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_OPTION: + +CAN\_D1\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D1_UC_NTF_RT: + +CAN\_D1\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_ESC_OF: + +CAN\_D1\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D1_UC_POOL: + +CAN\_D1\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D1_UC_ESC_RV: + +CAN\_D1\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D1_UC_RLY_RT: + +CAN\_D1\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D1_UC_SER_EN: + +CAN\_D1\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D1_UC_S1_NOD: + +CAN\_D1\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S1_IDX: + +CAN\_D1\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S1_BD: + +CAN\_D1\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S1_PRO: + +CAN\_D1\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S2_NOD: + +CAN\_D1\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S2_IDX: + +CAN\_D1\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S2_BD: + +CAN\_D1\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S2_PRO: + +CAN\_D1\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D1_UC_S3_NOD: + +CAN\_D1\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D1_UC_S3_IDX: + +CAN\_D1\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D1_UC_S3_BD: + +CAN\_D1\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D1_UC_S3_PRO: + +CAN\_D1\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D2_: + +CAN\_D2\_ Parameters +-------------------- + + +.. _CAN_D2_PROTOCOL: + +CAN\_D2\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D2_PROTOCOL2: + +CAN\_D2\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D2_PC_: + +CAN\_D2\_PC\_ Parameters +------------------------ + + +.. _CAN_D2_PC_ESC_BM: + +CAN\_D2\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_PC_ESC_RT: + +CAN\_D2\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_SRV_BM: + +CAN\_D2\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D2_PC_SRV_RT: + +CAN\_D2\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_PC_ECU_ID: + +CAN\_D2\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D2_PC_ECU_RT: + +CAN\_D2\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D2_UC_: + +CAN\_D2\_UC\_ Parameters +------------------------ + + +.. _CAN_D2_UC_NODE: + +CAN\_D2\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D2_UC_SRV_BM: + +CAN\_D2\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D2_UC_ESC_BM: + +CAN\_D2\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_SRV_RT: + +CAN\_D2\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_OPTION: + +CAN\_D2\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D2_UC_NTF_RT: + +CAN\_D2\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_ESC_OF: + +CAN\_D2\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D2_UC_POOL: + +CAN\_D2\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D2_UC_ESC_RV: + +CAN\_D2\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D2_UC_RLY_RT: + +CAN\_D2\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D2_UC_SER_EN: + +CAN\_D2\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D2_UC_S1_NOD: + +CAN\_D2\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S1_IDX: + +CAN\_D2\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S1_BD: + +CAN\_D2\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S1_PRO: + +CAN\_D2\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S2_NOD: + +CAN\_D2\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S2_IDX: + +CAN\_D2\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S2_BD: + +CAN\_D2\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S2_PRO: + +CAN\_D2\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D2_UC_S3_NOD: + +CAN\_D2\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D2_UC_S3_IDX: + +CAN\_D2\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D2_UC_S3_BD: + +CAN\_D2\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D2_UC_S3_PRO: + +CAN\_D2\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_D3_: + +CAN\_D3\_ Parameters +-------------------- + + +.. _CAN_D3_PROTOCOL: + +CAN\_D3\_PROTOCOL: Enable use of specific protocol over virtual driver +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enabling this option starts selected protocol that will use this virtual driver + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | DroneCAN | ++-------+------------+ +| 4 | PiccoloCAN | ++-------+------------+ +| 6 | EFI_NWPMU | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 8 | KDECAN | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + +.. _CAN_D3_PROTOCOL2: + +CAN\_D3\_PROTOCOL2: Secondary protocol with 11 bit CAN addressing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Secondary protocol with 11 bit CAN addressing + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 7 | USD1 | ++-------+------------+ +| 10 | Scripting | ++-------+------------+ +| 11 | Benewake | ++-------+------------+ +| 12 | Scripting2 | ++-------+------------+ +| 13 | TOFSenseP | ++-------+------------+ +| 14 | NanoRadar | ++-------+------------+ + + + + + +.. _parameters_CAN_D3_PC_: + +CAN\_D3\_PC\_ Parameters +------------------------ + + +.. _CAN_D3_PC_ESC_BM: + +CAN\_D3\_PC\_ESC\_BM: ESC channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which ESC \(motor\) channels are to be transmitted over Piccolo CAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_PC_ESC_RT: + +CAN\_D3\_PC\_ESC\_RT: ESC output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ESC command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_SRV_BM: + +CAN\_D3\_PC\_SRV\_BM: Servo channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask defining which servo channels are to be transmitted over Piccolo CAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ + + + + +.. _CAN_D3_PC_SRV_RT: + +CAN\_D3\_PC\_SRV\_RT: Servo command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of servo command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_PC_ECU_ID: + +CAN\_D3\_PC\_ECU\_ID: ECU Node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Node ID to send ECU throttle messages to\. Set to zero to disable ECU throttle messages\. Set to 255 to broadcast to all ECUs\. + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _CAN_D3_PC_ECU_RT: + +CAN\_D3\_PC\_ECU\_RT: ECU command output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Output rate of ECU command messages + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 500 | hertz | ++----------+-------+ + + + + + +.. _parameters_CAN_D3_UC_: + +CAN\_D3\_UC\_ Parameters +------------------------ + + +.. _CAN_D3_UC_NODE: + +CAN\_D3\_UC\_NODE: Own node ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN node ID used by the driver itself on this network + + ++----------+ +| Range | ++==========+ +| 1 to 125 | ++----------+ + + + + +.. _CAN_D3_UC_SRV_BM: + +CAN\_D3\_UC\_SRV\_BM: Output channels to be transmitted as servo over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask with one set for channel to be transmitted as a servo command over DroneCAN + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _CAN_D3_UC_ESC_BM: + +CAN\_D3\_UC\_ESC\_BM: Output channels to be transmitted as ESC over DroneCAN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_SRV_RT: + +CAN\_D3\_UC\_SRV\_RT: Servo output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for servo outputs + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_OPTION: + +CAN\_D3\_UC\_OPTION: DroneCAN options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Option flags + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | ClearDNADatabase | ++-----+------------------------+ +| 1 | IgnoreDNANodeConflicts | ++-----+------------------------+ +| 2 | EnableCanfd | ++-----+------------------------+ +| 3 | IgnoreDNANodeUnhealthy | ++-----+------------------------+ +| 4 | SendServoAsPWM | ++-----+------------------------+ +| 5 | SendGNSS | ++-----+------------------------+ +| 6 | UseHimarkServo | ++-----+------------------------+ +| 7 | HobbyWingESC | ++-----+------------------------+ +| 8 | EnableStats | ++-----+------------------------+ +| 9 | EnableFlexDebug | ++-----+------------------------+ + + + + +.. _CAN_D3_UC_NTF_RT: + +CAN\_D3\_UC\_NTF\_RT: Notify State rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for Notify State Message + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 1 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_ESC_OF: + +CAN\_D3\_UC\_ESC\_OF: ESC Output channels offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset for ESC numbering in DroneCAN ESC RawCommand messages\. This allows for more efficient packing of ESC command messages\. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled\. This can be used for more efficient usage of CAN bandwidth + + ++---------+ +| Range | ++=========+ +| 0 to 18 | ++---------+ + + + + +.. _CAN_D3_UC_POOL: + +CAN\_D3\_UC\_POOL: CAN pool size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amount of memory in bytes to allocate for the DroneCAN memory pool\. More memory is needed for higher CAN bus loads + + ++---------------+ +| Range | ++===============+ +| 1024 to 16384 | ++---------------+ + + + + +.. _CAN_D3_UC_ESC_RV: + +CAN\_D3\_UC\_ESC\_RV: Bitmask for output channels for reversible ESCs over DroneCAN\. +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN\. Reversible ESCs use both positive and negative values in RawCommands\, with positive commanding the forward direction and negative commanding the reverse direction\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | ESC 1 | ++-----+---------+ +| 1 | ESC 2 | ++-----+---------+ +| 2 | ESC 3 | ++-----+---------+ +| 3 | ESC 4 | ++-----+---------+ +| 4 | ESC 5 | ++-----+---------+ +| 5 | ESC 6 | ++-----+---------+ +| 6 | ESC 7 | ++-----+---------+ +| 7 | ESC 8 | ++-----+---------+ +| 8 | ESC 9 | ++-----+---------+ +| 9 | ESC 10 | ++-----+---------+ +| 10 | ESC 11 | ++-----+---------+ +| 11 | ESC 12 | ++-----+---------+ +| 12 | ESC 13 | ++-----+---------+ +| 13 | ESC 14 | ++-----+---------+ +| 14 | ESC 15 | ++-----+---------+ +| 15 | ESC 16 | ++-----+---------+ +| 16 | ESC 17 | ++-----+---------+ +| 17 | ESC 18 | ++-----+---------+ +| 18 | ESC 19 | ++-----+---------+ +| 19 | ESC 20 | ++-----+---------+ +| 20 | ESC 21 | ++-----+---------+ +| 21 | ESC 22 | ++-----+---------+ +| 22 | ESC 23 | ++-----+---------+ +| 23 | ESC 24 | ++-----+---------+ +| 24 | ESC 25 | ++-----+---------+ +| 25 | ESC 26 | ++-----+---------+ +| 26 | ESC 27 | ++-----+---------+ +| 27 | ESC 28 | ++-----+---------+ +| 28 | ESC 29 | ++-----+---------+ +| 29 | ESC 30 | ++-----+---------+ +| 30 | ESC 31 | ++-----+---------+ +| 31 | ESC 32 | ++-----+---------+ + + + + +.. _CAN_D3_UC_RLY_RT: + +CAN\_D3\_UC\_RLY\_RT: DroneCAN relay output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum transmit rate for relay outputs\, note that this rate is per message each message does 1 relay\, so if with more relays will take longer to update at the same rate\, a extra message will be sent when a relay changes state + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _CAN_D3_UC_SER_EN: + +CAN\_D3\_UC\_SER\_EN: DroneCAN Serial enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DroneCAN virtual serial ports + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _CAN_D3_UC_S1_NOD: + +CAN\_D3\_UC\_S1\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S1_IDX: + +CAN\_D3\_UC\_S1\_IDX: DroneCAN Serial1 index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S1_BD: + +CAN\_D3\_UC\_S1\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S1_PRO: + +CAN\_D3\_UC\_S1\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S2_NOD: + +CAN\_D3\_UC\_S2\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN remote node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S2_IDX: + +CAN\_D3\_UC\_S2\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S2_BD: + +CAN\_D3\_UC\_S2\_BD: DroneCAN Serial default baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S2_PRO: + +CAN\_D3\_UC\_S2\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _CAN_D3_UC_S3_NOD: + +CAN\_D3\_UC\_S3\_NOD: Serial CAN remote node number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +CAN node number for serial port + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_D3_UC_S3_IDX: + +CAN\_D3\_UC\_S3\_IDX: Serial port number on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial port number on remote CAN node + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _CAN_D3_UC_S3_BD: + +CAN\_D3\_UC\_S3\_BD: Serial baud rate on remote CAN node +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial baud rate on remote CAN node + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _CAN_D3_UC_S3_PRO: + +CAN\_D3\_UC\_S3\_PRO: Serial protocol of DroneCAN serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of DroneCAN serial port + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_CAN_P1_: + +CAN\_P1\_ Parameters +-------------------- + + +.. _CAN_P1_DRIVER: + +CAN\_P1\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P1_BITRATE: + +CAN\_P1\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P1_FDBITRATE: + +CAN\_P1\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P2_: + +CAN\_P2\_ Parameters +-------------------- + + +.. _CAN_P2_DRIVER: + +CAN\_P2\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P2_BITRATE: + +CAN\_P2\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P2_FDBITRATE: + +CAN\_P2\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_P3_: + +CAN\_P3\_ Parameters +-------------------- + + +.. _CAN_P3_DRIVER: + +CAN\_P3\_DRIVER: Index of virtual driver to be used with physical CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enabling this option enables use of CAN buses\. + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Disabled | ++-------+---------------+ +| 1 | First driver | ++-------+---------------+ +| 2 | Second driver | ++-------+---------------+ +| 3 | Third driver | ++-------+---------------+ + + + + +.. _CAN_P3_BITRATE: + +CAN\_P3\_BITRATE: Bitrate of CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 10000 to 1000000 + + ++------------------+ +| Range | ++==================+ +| 10000 to 1000000 | ++------------------+ + + + + +.. _CAN_P3_FDBITRATE: + +CAN\_P3\_FDBITRATE: Bitrate of CANFD interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bit rate can be set up to from 1000000 to 8000000 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1M | ++-------+---------+ +| 2 | 2M | ++-------+---------+ +| 4 | 4M | ++-------+---------+ +| 5 | 5M | ++-------+---------+ +| 8 | 8M | ++-------+---------+ + + + + + +.. _parameters_CAN_SLCAN_: + +CAN\_SLCAN\_ Parameters +----------------------- + + +.. _CAN_SLCAN_CPORT: + +CAN\_SLCAN\_CPORT: SLCAN Route +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +CAN Interface ID to be routed to SLCAN\, 0 means no routing + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | First interface | ++-------+------------------+ +| 2 | Second interface | ++-------+------------------+ + + + + +.. _CAN_SLCAN_SERNUM: + +CAN\_SLCAN\_SERNUM: SLCAN Serial Port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial Port ID to be used for temporary SLCAN iface\, \-1 means no temporary serial\. This parameter is automatically reset on reboot or on timeout\. See CAN\_SLCAN\_TIMOUT for timeout details + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _CAN_SLCAN_TIMOUT: + +CAN\_SLCAN\_TIMOUT: SLCAN Timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration of inactivity after which SLCAN is switched back to original driver in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _CAN_SLCAN_SDELAY: + +CAN\_SLCAN\_SDELAY: SLCAN Start Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Duration after which slcan starts after setting SERNUM in seconds\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + + +.. _parameters_CIRC: + +CIRC Parameters +--------------- + + +.. _CIRC_RADIUS: + +CIRC\_RADIUS: Circle Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will circle the center at this distance + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _CIRC_SPEED: + +CIRC\_SPEED: Circle Speed +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will move at this speed around the circle\. If set to zero WP\_SPEED will be used + + ++-----------+---------+-------------------+ +| Increment | Range | Units | ++===========+=========+===================+ +| 0.1 | 0 to 10 | meters per second | ++-----------+---------+-------------------+ + + + + +.. _CIRC_DIR: + +CIRC\_DIR: Circle Direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle Direction + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Clockwise | ++-------+-------------------+ +| 1 | Counter-Clockwise | ++-------+-------------------+ + + + + + +.. _parameters_COMPASS_: + +COMPASS\_ Parameters +-------------------- + + +.. _COMPASS_OFS_X: + +COMPASS\_OFS\_X: Compass offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Y: + +COMPASS\_OFS\_Y: Compass offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS_Z: + +COMPASS\_OFS\_Z: Compass offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to the compass z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_DEC: + +COMPASS\_DEC: Compass declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +An angle to compensate between the true north and magnetic north + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 0.01 | -3.142 to 3.142 | radians | ++-----------+-----------------+---------+ + + + + +.. _COMPASS_LEARN: + +COMPASS\_LEARN: Learn compass offsets automatically +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic learning of compass offsets\. You can enable learning either using a compass\-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator\. If this option is enabled then the learnt offsets are saved when you disarm the vehicle\. If InFlight learning is enabled then the compass with automatically start learning once a flight starts \(must be armed\)\. While InFlight learning is running you cannot use position control modes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Disabled | ++-------+-------------------+ +| 1 | Internal-Learning | ++-------+-------------------+ +| 2 | EKF-Learning | ++-------+-------------------+ +| 3 | InFlight-Learning | ++-------+-------------------+ + + + + +.. _COMPASS_USE: + +COMPASS\_USE: Use compass for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the use of the compass \(instead of the GPS\) for determining heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_AUTODEC: + +COMPASS\_AUTODEC: Auto Declination +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the automatic calculation of the declination based on gps location + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_MOTCT: + +COMPASS\_MOTCT: Motor interference compensation type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set motor interference compensation type to disabled\, throttle or current\. Do not change manually\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | Use Throttle | ++-------+--------------+ +| 2 | Use Current | ++-------+--------------+ + + + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_MOT_X: + +COMPASS\_MOT\_X: Motor interference compensation for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Y: + +COMPASS\_MOT\_Y: Motor interference compensation for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT_Z: + +COMPASS\_MOT\_Z: Motor interference compensation for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to the compass\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_ORIENT: + +COMPASS\_ORIENT: Compass orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of the first external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERNAL: + +COMPASS\_EXTERNAL: Compass is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure compass so it is attached externally\. This is auto\-detected on most boards\. Set to 1 if the compass is externally connected\. When externally connected the COMPASS\_ORIENT option operates independently of the AHRS\_ORIENTATION board orientation option\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_OFS2_X: + +COMPASS\_OFS2\_X: Compass2 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Y: + +COMPASS\_OFS2\_Y: Compass2 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS2_Z: + +COMPASS\_OFS2\_Z: Compass2 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass2\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT2_X: + +COMPASS\_MOT2\_X: Motor interference compensation to compass2 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Y: + +COMPASS\_MOT2\_Y: Motor interference compensation to compass2 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT2_Z: + +COMPASS\_MOT2\_Z: Motor interference compensation to compass2 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass2\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_OFS3_X: + +COMPASS\_OFS3\_X: Compass3 offsets in milligauss on the X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s x\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Y: + +COMPASS\_OFS3\_Y: Compass3 offsets in milligauss on the Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s y\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_OFS3_Z: + +COMPASS\_OFS3\_Z: Compass3 offsets in milligauss on the Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Offset to be added to compass3\'s z\-axis values to compensate for metal in the frame + + ++-------------+-----------+-------------+------------+ +| Calibration | Increment | Range | Units | ++=============+===========+=============+============+ +| 1 | 1 | -400 to 400 | milligauss | ++-------------+-----------+-------------+------------+ + + + + +.. _COMPASS_MOT3_X: + +COMPASS\_MOT3\_X: Motor interference compensation to compass3 for body frame X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s x\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Y: + +COMPASS\_MOT3\_Y: Motor interference compensation to compass3 for body frame Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s y\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_MOT3_Z: + +COMPASS\_MOT3\_Z: Motor interference compensation to compass3 for body frame Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Multiplied by the current throttle and added to compass3\'s z\-axis values to compensate for motor interference \(Offset per Amp or at Full Throttle\) + + ++-------------+-----------+---------------+-----------------------+ +| Calibration | Increment | Range | Units | ++=============+===========+===============+=======================+ +| 1 | 1 | -1000 to 1000 | milligauss per ampere | ++-------------+-----------+---------------+-----------------------+ + + + + +.. _COMPASS_DEV_ID: + +COMPASS\_DEV\_ID: Compass device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID2: + +COMPASS\_DEV\_ID2: Compass2 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID3: + +COMPASS\_DEV\_ID3: Compass3 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_USE2: + +COMPASS\_USE2: Compass2 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the secondary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT2: + +COMPASS\_ORIENT2: Compass2 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a second external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN2: + +COMPASS\_EXTERN2: Compass2 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure second compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_USE3: + +COMPASS\_USE3: Compass3 used for yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable or disable the tertiary compass for determining heading\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_ORIENT3: + +COMPASS\_ORIENT3: Compass3 orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The orientation of a third external compass relative to the vehicle frame\. This value will be ignored unless this compass is set as an external compass\. When set correctly in the northern hemisphere\, pointing the nose and right side down should increase the MagX and MagY values respectively\. Rolling the vehicle upside down should decrease the MagZ value\. For southern hemisphere\, switch increase and decrease\. NOTE\: For internal compasses\, AHRS\_ORIENT is used\. The label for each option is specified in the order of rotations for that orientation\. Firmware versions 4\.2 and prior can use a CUSTOM \(100\) rotation to set the COMPASS\_CUS\_ROLL\/PIT\/YAW angles for Compass orientation\. Later versions provide two general custom rotations which can be used\, Custom 1 and Custom 2\, with CUST\_1\_ROLL\/PIT\/YAW or CUST\_2\_ROLL\/PIT\/YAW angles\. + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Yaw45 | ++-------+----------------------+ +| 2 | Yaw90 | ++-------+----------------------+ +| 3 | Yaw135 | ++-------+----------------------+ +| 4 | Yaw180 | ++-------+----------------------+ +| 5 | Yaw225 | ++-------+----------------------+ +| 6 | Yaw270 | ++-------+----------------------+ +| 7 | Yaw315 | ++-------+----------------------+ +| 8 | Roll180 | ++-------+----------------------+ +| 9 | Yaw45Roll180 | ++-------+----------------------+ +| 10 | Yaw90Roll180 | ++-------+----------------------+ +| 11 | Yaw135Roll180 | ++-------+----------------------+ +| 12 | Pitch180 | ++-------+----------------------+ +| 13 | Yaw225Roll180 | ++-------+----------------------+ +| 14 | Yaw270Roll180 | ++-------+----------------------+ +| 15 | Yaw315Roll180 | ++-------+----------------------+ +| 16 | Roll90 | ++-------+----------------------+ +| 17 | Yaw45Roll90 | ++-------+----------------------+ +| 18 | Yaw90Roll90 | ++-------+----------------------+ +| 19 | Yaw135Roll90 | ++-------+----------------------+ +| 20 | Roll270 | ++-------+----------------------+ +| 21 | Yaw45Roll270 | ++-------+----------------------+ +| 22 | Yaw90Roll270 | ++-------+----------------------+ +| 23 | Yaw135Roll270 | ++-------+----------------------+ +| 24 | Pitch90 | ++-------+----------------------+ +| 25 | Pitch270 | ++-------+----------------------+ +| 26 | Yaw90Pitch180 | ++-------+----------------------+ +| 27 | Yaw270Pitch180 | ++-------+----------------------+ +| 28 | Pitch90Roll90 | ++-------+----------------------+ +| 29 | Pitch90Roll180 | ++-------+----------------------+ +| 30 | Pitch90Roll270 | ++-------+----------------------+ +| 31 | Pitch180Roll90 | ++-------+----------------------+ +| 32 | Pitch180Roll270 | ++-------+----------------------+ +| 33 | Pitch270Roll90 | ++-------+----------------------+ +| 34 | Pitch270Roll180 | ++-------+----------------------+ +| 35 | Pitch270Roll270 | ++-------+----------------------+ +| 36 | Yaw90Pitch180Roll90 | ++-------+----------------------+ +| 37 | Yaw270Roll90 | ++-------+----------------------+ +| 38 | Yaw293Pitch68Roll180 | ++-------+----------------------+ +| 39 | Pitch315 | ++-------+----------------------+ +| 40 | Pitch315Roll90 | ++-------+----------------------+ +| 42 | Roll45 | ++-------+----------------------+ +| 43 | Roll315 | ++-------+----------------------+ +| 100 | Custom 4.1 and older | ++-------+----------------------+ +| 101 | Custom 1 | ++-------+----------------------+ +| 102 | Custom 2 | ++-------+----------------------+ + + + + +.. _COMPASS_EXTERN3: + +COMPASS\_EXTERN3: Compass3 is attached via an external cable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Configure third compass so it is attached externally\. This is auto\-detected on most boards\. If set to 0 or 1 then auto\-detection by bus connection can override the value\. If set to 2 then auto\-detection will be disabled\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Internal | ++-------+----------------+ +| 1 | External | ++-------+----------------+ +| 2 | ForcedExternal | ++-------+----------------+ + + + + +.. _COMPASS_DIA_X: + +COMPASS\_DIA\_X: Compass soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Y: + +COMPASS\_DIA\_Y: Compass soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA_Z: + +COMPASS\_DIA\_Z: Compass soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_X: + +COMPASS\_ODI\_X: Compass soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Y: + +COMPASS\_ODI\_Y: Compass soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI_Z: + +COMPASS\_ODI\_Z: Compass soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_X: + +COMPASS\_DIA2\_X: Compass2 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Y: + +COMPASS\_DIA2\_Y: Compass2 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA2_Z: + +COMPASS\_DIA2\_Z: Compass2 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_X: + +COMPASS\_ODI2\_X: Compass2 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Y: + +COMPASS\_ODI2\_Y: Compass2 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI2_Z: + +COMPASS\_ODI2\_Z: Compass2 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass2 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_X: + +COMPASS\_DIA3\_X: Compass3 soft\-iron diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Y: + +COMPASS\_DIA3\_Y: Compass3 soft\-iron diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_DIA3_Z: + +COMPASS\_DIA3\_Z: Compass3 soft\-iron diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DIA\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_X: + +COMPASS\_ODI3\_X: Compass3 soft\-iron off\-diagonal X component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_X in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Y: + +COMPASS\_ODI3\_Y: Compass3 soft\-iron off\-diagonal Y component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Y in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_ODI3_Z: + +COMPASS\_ODI3\_Z: Compass3 soft\-iron off\-diagonal Z component +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ODI\_Z in the compass3 soft\-iron calibration matrix\: \[\[DIA\_X\, ODI\_X\, ODI\_Y\]\, \[ODI\_X\, DIA\_Y\, ODI\_Z\]\, \[ODI\_Y\, ODI\_Z\, DIA\_Z\]\] + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _COMPASS_CAL_FIT: + +COMPASS\_CAL\_FIT: Compass calibration fitness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the fitness level required for a successful compass calibration\. A lower value makes for a stricter fit \(less likely to pass\)\. This is the value used for the primary magnetometer\. Other magnetometers get double the value\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 4 | Very Strict | ++-------+-------------+ +| 8 | Strict | ++-------+-------------+ +| 16 | Default | ++-------+-------------+ +| 32 | Relaxed | ++-------+-------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 0.1 | 4 to 32 | ++-----------+---------+ + + + + +.. _COMPASS_OFFS_MAX: + +COMPASS\_OFFS\_MAX: Compass maximum offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the maximum allowed compass offset in calibration and arming checks + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 1 | 500 to 3000 | ++-----------+-------------+ + + + + +.. _COMPASS_DISBLMSK: + +COMPASS\_DISBLMSK: Compass disable driver type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a bitmask of driver types to disable\. If a driver type is set in this mask then that driver will not try to find a sensor at startup + + ++-----+--------------+ +| Bit | Meaning | ++=====+==============+ +| 0 | HMC5883 | ++-----+--------------+ +| 1 | LSM303D | ++-----+--------------+ +| 2 | AK8963 | ++-----+--------------+ +| 3 | BMM150 | ++-----+--------------+ +| 4 | LSM9DS1 | ++-----+--------------+ +| 5 | LIS3MDL | ++-----+--------------+ +| 6 | AK09916 | ++-----+--------------+ +| 7 | IST8310 | ++-----+--------------+ +| 8 | ICM20948 | ++-----+--------------+ +| 9 | MMC3416 | ++-----+--------------+ +| 11 | DroneCAN | ++-----+--------------+ +| 12 | QMC5883 | ++-----+--------------+ +| 14 | MAG3110 | ++-----+--------------+ +| 15 | IST8308 | ++-----+--------------+ +| 16 | RM3100 | ++-----+--------------+ +| 17 | MSP | ++-----+--------------+ +| 18 | ExternalAHRS | ++-----+--------------+ +| 19 | MMC5XX3 | ++-----+--------------+ +| 20 | QMC5883P | ++-----+--------------+ +| 21 | BMM350 | ++-----+--------------+ + + + + +.. _COMPASS_FLTR_RNG: + +COMPASS\_FLTR\_RNG: Range in which sample is accepted +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the range around the average value that new samples must be within to be accepted\. This can help reduce the impact of noise on sensors that are on long I2C cables\. The value is a percentage from the average value\. A value of zero disables this filter\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _COMPASS_AUTO_ROT: + +COMPASS\_AUTO\_ROT: Automatically check orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When enabled this will automatically check the orientation of compasses on successful completion of compass calibration\. If set to 2 then external compasses will have their orientation automatically corrected\. + + ++-------+----------------------------------------------------+ +| Value | Meaning | ++=======+====================================================+ +| 0 | Disabled | ++-------+----------------------------------------------------+ +| 1 | CheckOnly | ++-------+----------------------------------------------------+ +| 2 | CheckAndFix | ++-------+----------------------------------------------------+ +| 3 | use same tolerance to auto rotate 45 deg rotations | ++-------+----------------------------------------------------+ + + + + +.. _COMPASS_PRIO1_ID: + +COMPASS\_PRIO1\_ID: Compass device id with 1st order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 1st order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO2_ID: + +COMPASS\_PRIO2\_ID: Compass device id with 2nd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 2nd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_PRIO3_ID: + +COMPASS\_PRIO3\_ID: Compass device id with 3rd order priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass device id with 3rd order priority\, set automatically if 0\. Reboot required after change\. + + +.. _COMPASS_ENABLE: + +COMPASS\_ENABLE: Enable Compass +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Setting this to Enabled\(1\) will enable the compass\. Setting this to Disabled\(0\) will disable the compass\. Note that this is separate from COMPASS\_USE\. This will enable the low level senor\, and will enable logging of magnetometer data\. To use the compass for navigation you must also set COMPASS\_USE to 1\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_SCALE: + +COMPASS\_SCALE: Compass1 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for first compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE2: + +COMPASS\_SCALE2: Compass2 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 2nd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_SCALE3: + +COMPASS\_SCALE3: Compass3 scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor for 3rd compass to compensate for sensor scaling errors\. If this is 0 then no scaling is done + + ++----------+ +| Range | ++==========+ +| 0 to 1.3 | ++----------+ + + + + +.. _COMPASS_OPTIONS: + +COMPASS\_OPTIONS: Compass options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets options to change the behaviour of the compass + + ++-----+-------------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================================================+ +| 0 | CalRequireGPS | ++-----+-------------------------------------------------------------------------------------------+ +| 1 | Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required) | ++-----+-------------------------------------------------------------------------------------------+ + + + + +.. _COMPASS_DEV_ID4: + +COMPASS\_DEV\_ID4: Compass4 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 4th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID5: + +COMPASS\_DEV\_ID5: Compass5 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 5th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID6: + +COMPASS\_DEV\_ID6: Compass6 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 6th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID7: + +COMPASS\_DEV\_ID7: Compass7 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 7th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_DEV_ID8: + +COMPASS\_DEV\_ID8: Compass8 device id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Extra 8th compass\'s device id\. Automatically detected\, do not set manually + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _COMPASS_CUS_ROLL: + +COMPASS\_CUS\_ROLL: Custom orientation roll offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position roll offset\. Positive values \= roll right\, negative values \= roll left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_PIT: + +COMPASS\_CUS\_PIT: Custom orientation pitch offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position pitch offset\. Positive values \= pitch up\, negative values \= pitch down\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _COMPASS_CUS_YAW: + +COMPASS\_CUS\_YAW: Custom orientation yaw offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Compass mounting position yaw offset\. Positive values \= yaw right\, negative values \= yaw left\. This parameter is only used when COMPASS\_ORIENT\/2\/3 is set to CUSTOM\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + + +.. _parameters_COMPASS_PMOT: + +COMPASS\_PMOT Parameters +------------------------ + + +.. _COMPASS_PMOT_EN: + +COMPASS\_PMOT\_EN: per\-motor compass correction enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables per\-motor compass corrections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _COMPASS_PMOT_EXP: + +COMPASS\_PMOT\_EXP: per\-motor exponential correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the exponential correction for the power output of the motor for per\-motor compass correction + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 2 | ++-----------+--------+ + + + + +.. _COMPASS_PMOT1_X: + +COMPASS\_PMOT1\_X: Compass per\-motor1 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor1 + + +.. _COMPASS_PMOT1_Y: + +COMPASS\_PMOT1\_Y: Compass per\-motor1 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor1 + + +.. _COMPASS_PMOT1_Z: + +COMPASS\_PMOT1\_Z: Compass per\-motor1 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor1 + + +.. _COMPASS_PMOT2_X: + +COMPASS\_PMOT2\_X: Compass per\-motor2 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor2 + + +.. _COMPASS_PMOT2_Y: + +COMPASS\_PMOT2\_Y: Compass per\-motor2 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor2 + + +.. _COMPASS_PMOT2_Z: + +COMPASS\_PMOT2\_Z: Compass per\-motor2 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor2 + + +.. _COMPASS_PMOT3_X: + +COMPASS\_PMOT3\_X: Compass per\-motor3 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor3 + + +.. _COMPASS_PMOT3_Y: + +COMPASS\_PMOT3\_Y: Compass per\-motor3 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor3 + + +.. _COMPASS_PMOT3_Z: + +COMPASS\_PMOT3\_Z: Compass per\-motor3 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor3 + + +.. _COMPASS_PMOT4_X: + +COMPASS\_PMOT4\_X: Compass per\-motor4 X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for X axis of motor4 + + +.. _COMPASS_PMOT4_Y: + +COMPASS\_PMOT4\_Y: Compass per\-motor4 Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Y axis of motor4 + + +.. _COMPASS_PMOT4_Z: + +COMPASS\_PMOT4\_Z: Compass per\-motor4 Z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compensation for Z axis of motor4 + + + +.. _parameters_CUST_ROT: + +CUST\_ROT Parameters +-------------------- + + +.. _CUST_ROT_ENABLE: + +CUST\_ROT\_ENABLE: Enable Custom rotations +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables custom rotations + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + + +.. _parameters_CUST_ROT1_: + +CUST\_ROT1\_ Parameters +----------------------- + + +.. _CUST_ROT1_ROLL: + +CUST\_ROT1\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_PITCH: + +CUST\_ROT1\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT1_YAW: + +CUST\_ROT1\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_CUST_ROT2_: + +CUST\_ROT2\_ Parameters +----------------------- + + +.. _CUST_ROT2_ROLL: + +CUST\_ROT2\_ROLL: Custom roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler roll\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_PITCH: + +CUST\_ROT2\_PITCH: Custom pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler pitch\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _CUST_ROT2_YAW: + +CUST\_ROT2\_YAW: Custom yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Custom euler yaw\, euler 321 \(yaw\, pitch\, roll\) ordering + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_DDS: + +DDS Parameters +-------------- + + +.. _DDS_ENABLE: + +DDS\_ENABLE: DDS enable +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable DDS subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DDS_UDP_PORT: + +DDS\_UDP\_PORT: DDS UDP port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +UDP port number for DDS + + ++------------+ +| Range | ++============+ +| 1 to 65535 | ++------------+ + + + + +.. _DDS_DOMAIN_ID: + +DDS\_DOMAIN\_ID: DDS DOMAIN ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Set the ROS\_DOMAIN\_ID + + ++----------+ +| Range | ++==========+ +| 0 to 232 | ++----------+ + + + + +.. _DDS_TIMEOUT_MS: + +DDS\_TIMEOUT\_MS: DDS ping timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 1 to 10000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _DDS_MAX_RETRY: + +DDS\_MAX\_RETRY: DDS ping max attempts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 1 to 100 | ++-----------+----------+ + + + + + +.. _parameters_DDS_IP: + +DDS\_IP Parameters +------------------ + + +.. _DDS_IP0: + +DDS\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP1: + +DDS\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP2: + +DDS\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _DDS_IP3: + +DDS\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_DID_: + +DID\_ Parameters +---------------- + + +.. _DID_ENABLE: + +DID\_ENABLE: Enable ODID subsystem +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable ODID subsystem + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DID_MAVPORT: + +DID\_MAVPORT: MAVLink serial port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Serial port number to send OpenDroneID MAVLink messages to\. Can be \-1 if using DroneCAN\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _DID_CANDRIVER: + +DID\_CANDRIVER: DroneCAN driver number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +DroneCAN driver index\, 0 to disable DroneCAN + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Driver1 | ++-------+----------+ +| 2 | Driver2 | ++-------+----------+ + + + + +.. _DID_OPTIONS: + +DID\_OPTIONS: OpenDroneID options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Options for OpenDroneID subsystem + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | EnforceArming | ++-----+---------------------------+ +| 1 | AllowNonGPSPosition | ++-----+---------------------------+ +| 2 | LockUASIDOnFirstBasicIDRx | ++-----+---------------------------+ + + + + +.. _DID_BARO_ACC: + +DID\_BARO\_ACC: Barometer vertical accuraacy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer Vertical Accuracy when installed in the vehicle\. Note this is dependent upon installation conditions and thus disabled by default + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + + +.. _parameters_DOCK: + +DOCK Parameters +--------------- + + +.. _DOCK_SPEED: + +DOCK\_SPEED: Dock mode speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle speed limit in dock mode + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _DOCK_DIR: + +DOCK\_DIR: Dock mode direction of approach +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Compass direction in which vehicle should approach towards dock\. \-1 value represents unset parameter + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _DOCK_HDG_CORR_EN: + +DOCK\_HDG\_CORR\_EN: Dock mode heading correction enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +When enabled\, the autopilot modifies the path to approach the target head\-on along desired line of approch in dock mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _DOCK_HDG_CORR_WT: + +DOCK\_HDG\_CORR\_WT: Dock mode heading correction weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.05 | 0.00 to 0.90 | ++-----------+--------------+ + + + + +.. _DOCK_STOP_DIST: + +DOCK\_STOP\_DIST: Distance from docking target when we should stop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The vehicle starts stopping when it is this distance away from docking target + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_EAHRS: + +EAHRS Parameters +---------------- + + +.. _EAHRS_TYPE: + +EAHRS\_TYPE: AHRS type +~~~~~~~~~~~~~~~~~~~~~~ + + +Type of AHRS device + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | VectorNav | ++-------+--------------+ +| 2 | MicroStrain5 | ++-------+--------------+ +| 5 | InertialLabs | ++-------+--------------+ +| 7 | MicroStrain7 | ++-------+--------------+ + + + + +.. _EAHRS_RATE: + +EAHRS\_RATE: AHRS data rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Requested rate for AHRS device + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _EAHRS_OPTIONS: + +EAHRS\_OPTIONS: External AHRS options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +External AHRS options bitmask + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Vector Nav use uncompensated values for accel gyro and mag. | ++-----+-------------------------------------------------------------+ + + + + +.. _EAHRS_SENSORS: + +EAHRS\_SENSORS: External AHRS sensors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +External AHRS sensors bitmask + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | IMU | ++-----+---------+ +| 2 | Baro | ++-----+---------+ +| 3 | Compass | ++-----+---------+ + + + + +.. _EAHRS_LOG_RATE: + +EAHRS\_LOG\_RATE: AHRS logging rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Logging rate for EARHS devices + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_EFI: + +EFI Parameters +-------------- + + +.. _EFI_TYPE: + +EFI\_TYPE: EFI communication type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +What method of communication is used for EFI \#1 + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | Serial-MS | ++-------+---------------+ +| 2 | NWPMU | ++-------+---------------+ +| 3 | Serial-Lutan | ++-------+---------------+ +| 5 | DroneCAN | ++-------+---------------+ +| 6 | Currawong-ECU | ++-------+---------------+ +| 7 | Scripting | ++-------+---------------+ +| 8 | Hirth | ++-------+---------------+ +| 9 | MAVLink | ++-------+---------------+ + + + + +.. _EFI_COEF1: + +EFI\_COEF1: EFI Calibration Coefficient 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Slope\)\. This should be calculated from a log at constant fuel usage rate\. Plot \(ECYL\[0\]\.InjT\*EFI\.Rpm\)\/600\.0 to get the duty\_cycle\. Measure actual fuel usage in cm\^3\/min\, and set EFI\_COEF1 \= fuel\_usage\_cm3permin \/ duty\_cycle + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _EFI_COEF2: + +EFI\_COEF2: EFI Calibration Coefficient 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calibrate fuel flow for MS protocol \(Offset\)\. This can be used to correct for a non\-zero offset in the fuel consumption calculation of EFI\_COEF1 + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _EFI_FUEL_DENS: + +EFI\_FUEL\_DENS: ECU Fuel Density +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used to calculate fuel consumption + + ++------------+---------------------------+ +| Range | Units | ++============+===========================+ +| 0 to 10000 | kilograms per cubic meter | ++------------+---------------------------+ + + + + + +.. _parameters_EFI_THRLIN: + +EFI\_THRLIN Parameters +---------------------- + + +.. _EFI_THRLIN_EN: + +EFI\_THRLIN\_EN: Enable throttle linearisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable EFI throttle linearisation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EFI_THRLIN_COEF1: + +EFI\_THRLIN\_COEF1: Throttle linearisation \- First Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +First Order Polynomial Coefficient\. \(\=1\, if throttle is first order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF2: + +EFI\_THRLIN\_COEF2: Throttle linearisation \- Second Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Second Order Polynomial Coefficient \(\=0\, if throttle is second order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_COEF3: + +EFI\_THRLIN\_COEF3: Throttle linearisation \- Third Order +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Third Order Polynomial Coefficient\. \(\=0\, if throttle is third order polynomial trendline\) + + ++---------+ +| Range | ++=========+ +| -1 to 1 | ++---------+ + + + + +.. _EFI_THRLIN_OFS: + +EFI\_THRLIN\_OFS: throttle linearization offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Offset for throttle linearization + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + + +.. _parameters_EK2_: + +EK2\_ Parameters +---------------- + + +.. _EK2_ENABLE: + +EK2\_ENABLE: Enable EKF2 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF2\. Enabling EKF2 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=2\. A reboot or restart will need to be performed after changing the value of EK2\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK2_GPS_TYPE: + +EK2\_GPS\_TYPE: GPS mode control +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls use of GPS measurements \: 0 \= use 3D velocity \& 2D position\, 1 \= use 2D velocity and 2D position\, 2 \= use 2D position\, 3 \= Inhibit GPS use \- this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | GPS 3D Vel and 2D Pos | ++-------+-----------------------+ +| 1 | GPS 2D vel and 2D pos | ++-------+-----------------------+ +| 2 | GPS 2D pos | ++-------+-----------------------+ +| 3 | No GPS | ++-------+-----------------------+ + + + + +.. _EK2_VELNE_M_NSE: + +EK2\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VELD_M_NSE: + +EK2\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK2_VEL_I_GATE: + +EK2\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_POSNE_M_NSE: + +EK2\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_POS_I_GATE: + +EK2\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_GLITCH_RAD: + +EK2\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK2_ALT_SOURCE: + +EK2\_ALT\_SOURCE: Primary altitude sensor source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Primary height sensor used by the EKF\. If a sensor other than Baro is selected and becomes unavailable\, then the Baro sensor will be used as a fallback\. NOTE\: The EK2\_RNG\_USE\_HGT parameter can be used to switch to range\-finder when close to the ground in conjunction with EK2\_ALT\_SOURCE \= 0 or 2 \(Baro or GPS\)\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Use Baro | ++-------+------------------+ +| 1 | Use Range Finder | ++-------+------------------+ +| 2 | Use GPS | ++-------+------------------+ +| 3 | Use Range Beacon | ++-------+------------------+ + + + + +.. _EK2_ALT_M_NSE: + +EK2\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_HGT_I_GATE: + +EK2\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_HGT_DELAY: + +EK2\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAG_M_NSE: + +EK2\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK2_MAG_CAL: + +EK2\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states\, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK2\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK2\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK2\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK2\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK2\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK2\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 with COMPASS\_ENABLE set to 1\. If this is done\, the EK2\_GSF\_RUN and EK2\_GSF\_USE masks must be set to the same as EK2\_IMU\_MASK\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | When flying | ++-------+-----------------------------+ +| 1 | When manoeuvring | ++-------+-----------------------------+ +| 2 | Never | ++-------+-----------------------------+ +| 3 | After first climb yaw reset | ++-------+-----------------------------+ +| 4 | Always | ++-------+-----------------------------+ + + + + +.. _EK2_MAG_I_GATE: + +EK2\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_EAS_M_NSE: + +EK2\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_EAS_I_GATE: + +EK2\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_RNG_M_NSE: + +EK2\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_RNG_I_GATE: + +EK2\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_MAX_FLOW: + +EK2\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK2_FLOW_M_NSE: + +EK2\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK2_FLOW_I_GATE: + +EK2\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_FLOW_DELAY: + +EK2\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_GYRO_P_NSE: + +EK2\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK2_ACC_P_NSE: + +EK2\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_GBIAS_P_NSE: + +EK2\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK2_GSCL_P_NSE: + +EK2\_GSCL\_P\_NSE: Rate gyro scale factor stability \(1\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the rate of gyro scale factor learning\. Increasing it makes rate gyro scale factor estimation faster and noisier\. + + ++-------------------+-------+ +| Range | Units | ++===================+=======+ +| 0.000001 to 0.001 | hertz | ++-------------------+-------+ + + + + +.. _EK2_ABIAS_P_NSE: + +EK2\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++------------------+-------------------------+ +| Range | Units | ++==================+=========================+ +| 0.00001 to 0.005 | meters per cubic second | ++------------------+-------------------------+ + + + + +.. _EK2_WIND_P_NSE: + +EK2\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK2_WIND_PSCALE: + +EK2\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 1.0 | ++-----------+------------+ + + + + +.. _EK2_GPS_CHECK: + +EK2\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK2_IMU_MASK: + +EK2\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF2\. A separate instance of EKF2 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF2 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK2_CHECK_SCALE: + +EK2\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK2_NOAID_M_NSE: + +EK2\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK2_YAW_M_NSE: + +EK2\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK2_YAW_I_GATE: + +EK2\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_TAU_OUTPUT: + +EK2\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_MAGE_P_NSE: + +EK2\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_MAGB_P_NSE: + +EK2\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK2_RNG_USE_HGT: + +EK2\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFND\_MAX\_CM\)\. This will not work unless Baro or GPS height is selected as the primary height source vis EK2\_ALT\_SOURCE \= 0 or 2 respectively\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK2_TERR_GRAD: + +EK2\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK2_BCN_M_NSE: + +EK2\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK2_BCN_I_GTE: + +EK2\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK2_BCN_DELAY: + +EK2\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 127 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK2_RNG_USE_SPD: + +EK2\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK2_MAG_MASK: + +EK2\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_OGN_HGT_MASK: + +EK2\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK2_FLOW_USE: + +EK2\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK2_MAG_EF_LIM: + +EK2\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK2_HRT_FILT: + +EK2\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK2_GSF_RUN_MASK: + +EK2\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF2 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK2\_GSF\_USE\_MASK and EK2\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK2\_GSF\_USE\_MASK to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_USE_MASK: + +EK2\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF2 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK2\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF2 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK2_GSF_RST_MAX: + +EK2\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK2\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK2_OPTIONS: + +EK2\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +optional EKF2 behaviour\. Disabling external navigation prevents use of external vision data in the EKF2 solution + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | DisableExternalNavigation | ++-----+---------------------------+ + + + + + +.. _parameters_EK3_: + +EK3\_ Parameters +---------------- + + +.. _EK3_ENABLE: + +EK3\_ENABLE: Enable EKF3 +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This enables EKF3\. Enabling EKF3 only makes the maths run\, it does not mean it will be used for flight control\. To use it for flight control set AHRS\_EKF\_TYPE\=3\. A reboot or restart will need to be performed after changing the value of EK3\_ENABLE for it to take effect\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _EK3_VELNE_M_NSE: + +EK3\_VELNE\_M\_NSE: GPS horizontal velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS horizontal velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VELD_M_NSE: + +EK3\_VELD\_M\_NSE: GPS vertical velocity measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise\. If the model of receiver used does not provide a speed accurcy estimate\, then the parameter value will be used\. Increasing it reduces the weighting of the GPS vertical velocity measurements\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 5.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VEL_I_GATE: + +EK3\_VEL\_I\_GATE: GPS velocity innovation gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_VEL\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_POSNE_M_NSE: + +EK3\_POSNE\_M\_NSE: GPS horizontal position measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the GPS horizontal position observation noise\. Increasing it reduces the weighting of GPS horizontal position measurements\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_POS_I_GATE: + +EK3\_POS\_I\_GATE: GPS position measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3\_POS\_I\_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_GLITCH_RAD: + +EK3\_GLITCH\_RAD: GPS glitch radius gate size \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS\. Making this value larger allows the filter to ignore larger GPS glitches but also means that non\-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position\. If EK3\_GLITCH\_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches\. If setting EK3\_GLITCH\_RAD to 0 it is recommended to reduce EK3\_VEL\_I\_GATE and EK3\_POS\_I\_GATE to 300\. + + ++-----------+-----------+--------+ +| Increment | Range | Units | ++===========+===========+========+ +| 5 | 10 to 100 | meters | ++-----------+-----------+--------+ + + + + +.. _EK3_ALT_M_NSE: + +EK3\_ALT\_M\_NSE: Altitude measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the altitude measurement\. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors\, but will make it more sensitive to GPS and accelerometer errors\. A larger value for EK3\_ALT\_M\_NSE may be required when operating with EK3\_SRCx\_POSZ \= 0\. This parameter also sets the noise for the \'synthetic\' zero height measurement that is used when EK3\_SRCx\_POSZ \= 0\. + + ++-----------+--------------+--------+ +| Increment | Range | Units | ++===========+==============+========+ +| 0.1 | 0.1 to 100.0 | meters | ++-----------+--------------+--------+ + + + + +.. _EK3_HGT_I_GATE: + +EK3\_HGT\_I\_GATE: Height measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the height measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. If EK3\_GLITCH\_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3\_HGT\_I\_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_HGT_DELAY: + +EK3\_HGT\_DELAY: Height measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the Height measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAG_M_NSE: + +EK3\_MAG\_M\_NSE: Magnetometer measurement noise \(Gauss\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in magnetometer measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+-------+ +| Increment | Range | Units | ++===========+=============+=======+ +| 0.01 | 0.01 to 0.5 | gauss | ++-----------+-------------+-------+ + + + + +.. _EK3_MAG_CAL: + +EK3\_MAG\_CAL: Magnetometer default fusion mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This determines when the filter will use the 3\-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states\. The 3\-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable\. EK3\_MAG\_CAL \= 0 uses heading fusion on ground\, 3\-axis fusion in\-flight\, and is the default setting for Plane users\. EK3\_MAG\_CAL \= 1 uses 3\-axis fusion only when manoeuvring\. EK3\_MAG\_CAL \= 2 uses heading fusion at all times\, is recommended if the external magnetic field is varying and is the default for rovers\. EK3\_MAG\_CAL \= 3 uses heading fusion on the ground and 3\-axis fusion after the first in\-air field and yaw reset has completed\, and is the default for copters\. EK3\_MAG\_CAL \= 4 uses 3\-axis fusion at all times\. EK3\_MAG\_CAL \= 5 uses an external yaw sensor with simple heading fusion\. NOTE \: Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. EK3\_MAG\_CAL \= 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying\. NOTE\: The fusion mode can be forced to 2 for specific EKF cores using the EK3\_MAG\_MASK parameter\. NOTE\: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS\_USE\, COMPASS\_USE2\, COMPASS\_USE3\, etc parameters to 0 and setting COMPASS\_ENABLE to 0\. If this is done\, the EK3\_GSF\_RUN and EK3\_GSF\_USE masks must be set to the same as EK3\_IMU\_MASK\. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter \(GSF\) will then be used to align the yaw when flight commences and there is sufficient movement\. + + ++-------+---------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=================================================================================+ +| 0 | When flying | ++-------+---------------------------------------------------------------------------------+ +| 1 | When manoeuvring | ++-------+---------------------------------------------------------------------------------+ +| 2 | Never | ++-------+---------------------------------------------------------------------------------+ +| 3 | After first climb yaw reset | ++-------+---------------------------------------------------------------------------------+ +| 4 | Always | ++-------+---------------------------------------------------------------------------------+ +| 5 | Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ +| 6 | External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW) | ++-------+---------------------------------------------------------------------------------+ + + + + +.. _EK3_MAG_I_GATE: + +EK3\_MAG\_I\_GATE: Magnetometer measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_EAS_M_NSE: + +EK3\_EAS\_M\_NSE: Equivalent airspeed measurement noise \(m\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in equivalent airspeed measurements used by planes\. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge\. Increasing also increases navigation errors when dead\-reckoning without GPS measurements\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_EAS_I_GATE: + +EK3\_EAS\_I\_GATE: Airspeed measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_RNG_M_NSE: + +EK3\_RNG\_M\_NSE: Range finder measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range finder measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_RNG_I_GATE: + +EK3\_RNG\_I\_GATE: Range finder measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range finder innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_MAX_FLOW: + +EK3\_MAX\_FLOW: Maximum valid optical flow rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the magnitude maximum optical flow rate in rad\/sec that will be accepted by the filter + + ++-----------+------------+--------------------+ +| Increment | Range | Units | ++===========+============+====================+ +| 0.1 | 1.0 to 4.0 | radians per second | ++-----------+------------+--------------------+ + + + + +.. _EK3_FLOW_M_NSE: + +EK3\_FLOW\_M\_NSE: Optical flow measurement noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise and errors in optical flow measurements\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+--------------------+ +| Increment | Range | Units | ++===========+=============+====================+ +| 0.05 | 0.05 to 1.0 | radians per second | ++-----------+-------------+--------------------+ + + + + +.. _EK3_FLOW_I_GATE: + +EK3\_FLOW\_I\_GATE: Optical Flow measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the optical flow innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_FLOW_DELAY: + +EK3\_FLOW\_DELAY: Optical Flow measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the optical flow measurements lag behind the inertial measurements\. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_GYRO_P_NSE: + +EK3\_GYRO\_P\_NSE: Rate gyro noise \(rad\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias\. Increasing it makes the flter trust the gyro measurements less and other measurements more\. + + ++-----------+---------------+--------------------+ +| Increment | Range | Units | ++===========+===============+====================+ +| 0.0001 | 0.0001 to 0.1 | radians per second | ++-----------+---------------+--------------------+ + + + + +.. _EK3_ACC_P_NSE: + +EK3\_ACC\_P\_NSE: Accelerometer noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias\. Increasing it makes the flter trust the accelerometer measurements less and other measurements more\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.01 | 0.01 to 1.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_GBIAS_P_NSE: + +EK3\_GBIAS\_P\_NSE: Rate gyro bias stability \(rad\/s\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls growth of the gyro delta angle bias state error estimate\. Increasing it makes rate gyro bias estimation faster and noisier\. + + ++------------------+---------------------------+ +| Range | Units | ++==================+===========================+ +| 0.00001 to 0.001 | radians per square second | ++------------------+---------------------------+ + + + + +.. _EK3_ABIAS_P_NSE: + +EK3\_ABIAS\_P\_NSE: Accelerometer bias stability \(m\/s\^3\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate\. Increasing it makes accelerometer bias estimation faster and noisier\. + + ++-----------------+-------------------------+ +| Range | Units | ++=================+=========================+ +| 0.00001 to 0.02 | meters per cubic second | ++-----------------+-------------------------+ + + + + +.. _EK3_WIND_P_NSE: + +EK3\_WIND\_P\_NSE: Wind velocity process noise \(m\/s\^2\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of wind state error estimates\. Increasing it makes wind estimation faster and noisier\. + + ++-----------+-------------+--------------------------+ +| Increment | Range | Units | ++===========+=============+==========================+ +| 0.1 | 0.01 to 2.0 | meters per square second | ++-----------+-------------+--------------------------+ + + + + +.. _EK3_WIND_PSCALE: + +EK3\_WIND\_PSCALE: Height rate to wind process noise scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude\. Increasing this parameter increases how rapidly the wind states adapt when changing altitude\, but does make wind velocity estimation noiser\. + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.0 to 2.0 | ++-----------+------------+ + + + + +.. _EK3_GPS_CHECK: + +EK3\_GPS\_CHECK: GPS preflight check +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is a 1 byte bitmap controlling which GPS preflight checks are performed\. Set to 0 to bypass all checks\. Set to 255 perform all checks\. Set to 3 to check just the number of satellites and HDoP\. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving\, eg launch from a boat\. + + ++-----+----------------+ +| Bit | Meaning | ++=====+================+ +| 0 | NSats | ++-----+----------------+ +| 1 | HDoP | ++-----+----------------+ +| 2 | speed error | ++-----+----------------+ +| 3 | position error | ++-----+----------------+ +| 4 | yaw error | ++-----+----------------+ +| 5 | pos drift | ++-----+----------------+ +| 6 | vert speed | ++-----+----------------+ +| 7 | horiz speed | ++-----+----------------+ + + + + +.. _EK3_IMU_MASK: + +EK3\_IMU\_MASK: Bitmask of active IMUs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of IMUs to use in EKF3\. A separate instance of EKF3 will be started for each IMU selected\. Set to 1 to use the first IMU only \(default\)\, set to 2 to use the second IMU only\, set to 3 to use the first and second IMU\. Additional IMU\'s can be used up to a maximum of 6 if memory and processing resources permit\. There may be insufficient memory and processing resources to run multiple instances\. If this occurs EKF3 will fail to start\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ +| 3 | FourthIMU | ++-----+-----------+ +| 4 | FifthIMU | ++-----+-----------+ +| 5 | SixthIMU | ++-----+-----------+ + + + + +.. _EK3_CHECK_SCALE: + +EK3\_CHECK\_SCALE: GPS accuracy check scaler \(\%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This scales the thresholds that are used to check GPS accuracy before it is used by the EKF\. A value of 100 is the default\. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept\. A value of 200 will double the allowable GPS error\. + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| 50 to 200 | percent | ++-----------+---------+ + + + + +.. _EK3_NOAID_M_NSE: + +EK3\_NOAID\_M\_NSE: Non\-GPS operation position uncertainty \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of position variation that the EKF allows for when operating without external measurements \(eg GPS or optical flow\)\. Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors\. + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.5 to 50.0 | meters | ++-------------+--------+ + + + + +.. _EK3_BETA_MASK: + +EK3\_BETA\_MASK: Bitmask controlling sidelip angle fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of \'fly forward\' vehicle types such as fixed wing planes\. By assuming that the angle of sideslip is small\, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning \(e\.g\. has an independent velocity or position sensor such as GPS\)\. This behaviour is on by default and cannot be disabled\. When the EKF is dead reckoning\, the wind states are used as a reference\, enabling use of the small angle of sideslip assumption to correct non wind velocity states \(eg attitude\, velocity\, position\, etc\) and improve navigation accuracy\. This behaviour is on by default and cannot be disabled\. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning\. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor \(e\.g\. magnetometer or dual antenna GPS yaw\) provided aerobatic flight maneuvers with large sideslip angles are not performed\. The \'always\' option might be used where the yaw sensor is intentionally not fitted or disabled\. The \'WhenNoYawSensor\' option might be used if a yaw sensor is fitted\, but protection against in\-flight failure and continual rejection by the EKF is desired\. For vehicles operated within visual range of the operator performing frequent turning maneuvers\, setting this parameter is unnecessary\. + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Always | ++-----+-----------------+ +| 1 | WhenNoYawSensor | ++-----+-----------------+ + + + + +.. _EK3_YAW_M_NSE: + +EK3\_YAW\_M\_NSE: Yaw measurement noise \(rad\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in yaw measurements from the magnetometer\. Increasing it reduces the weighting on these measurements\. + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.05 | 0.05 to 1.0 | radians | ++-----------+-------------+---------+ + + + + +.. _EK3_YAW_I_GATE: + +EK3\_YAW\_I\_GATE: Yaw measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_TAU_OUTPUT: + +EK3\_TAU\_OUTPUT: Output complementary filter time constant \(centi\-sec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the time constant of the output complementary filter\/predictor in centi\-seconds\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 5 | 10 to 50 | centiseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_MAGE_P_NSE: + +EK3\_MAGE\_P\_NSE: Earth magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of earth magnetic field state error estimates\. Increasing it makes earth magnetic field estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_MAGB_P_NSE: + +EK3\_MAGB\_P\_NSE: Body magnetic field process noise \(gauss\/s\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This state process noise controls the growth of body magnetic field state error estimates\. Increasing it makes magnetometer bias error estimation faster and noisier\. + + ++-----------------+------------------+ +| Range | Units | ++=================+==================+ +| 0.00001 to 0.01 | gauss per second | ++-----------------+------------------+ + + + + +.. _EK3_RNG_USE_HGT: + +EK3\_RNG\_USE\_HGT: Range finder switch height percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Range finder can be used as the primary height source when below this percentage of its maximum range \(see RNGFNDx\_MAX\_CM\) and the primary height source is Baro or GPS \(see EK3\_SRCx\_POSZ\)\. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission\, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | -1 to 70 | percent | ++-----------+----------+---------+ + + + + +.. _EK3_TERR_GRAD: + +EK3\_TERR\_GRAD: Maximum terrain gradient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.01 | 0 to 0.2 | ++-----------+----------+ + + + + +.. _EK3_BCN_M_NSE: + +EK3\_BCN\_M\_NSE: Range beacon measurement noise \(m\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the RMS value of noise in the range beacon measurement\. Increasing it reduces the weighting on this measurement\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.1 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_BCN_I_GTE: + +EK3\_BCN\_I\_GTE: Range beacon measurement gate size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check\. Decreasing it makes it more likely that good measurements will be rejected\. Increasing it makes it more likely that bad measurements will be accepted\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 25 | 100 to 1000 | ++-----------+-------------+ + + + + +.. _EK3_BCN_DELAY: + +EK3\_BCN\_DELAY: Range beacon measurement delay \(msec\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This is the number of msec that the range beacon measurements lag behind the inertial measurements\. + + ++-----------+----------+--------------+ +| Increment | Range | Units | ++===========+==========+==============+ +| 10 | 0 to 250 | milliseconds | ++-----------+----------+--------------+ + + + + +.. _EK3_RNG_USE_SPD: + +EK3\_RNG\_USE\_SPD: Range finder max ground speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.5 | 2.0 to 6.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_ACC_BIAS_LIM: + +EK3\_ACC\_BIAS\_LIM: Accelerometer bias limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The accelerometer bias state will be limited to \+\- this value + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.5 to 2.5 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_MAG_MASK: + +EK3\_MAG\_MASK: Bitmask of active EKF cores that will always use heading fusion +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times\. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3\-axis magnetometer fusion\. NOTE \: Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_OGN_HGT_MASK: + +EK3\_OGN\_HGT\_MASK: Bitmask control of EKF reference height correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When a height sensor other than GPS is used as the primary height source by the EKF\, the position of the zero height datum is defined by that sensor and its frame of reference\. If a GPS height measurement is also available\, then the height of the WGS\-84 height datum used by the EKF can be corrected so that the height returned by the getLLH\(\) function is compensated for primary height sensor drift and change in datum over time\. The first two bit positions control when the height datum will be corrected\. Correction is performed using a Bayes filter and only operates when GPS quality permits\. The third bit position controls where the corrections to the GPS reference datum are applied\. Corrections can be applied to the local vertical position or to the reported EKF origin height \(default\)\. + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Correct when using Baro height | ++-----+----------------------------------------+ +| 1 | Correct when using range finder height | ++-----+----------------------------------------+ +| 2 | Apply corrections to local position | ++-----+----------------------------------------+ + + + + +.. _EK3_VIS_VERR_MIN: + +EK3\_VIS\_VERR\_MIN: Visual odometry minimum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.05 | 0.05 to 0.5 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_VIS_VERR_MAX: + +EK3\_VIS\_VERR\_MAX: Visual odometry maximum velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor\. When quality is between max and min\, the error will be calculated using linear interpolation between VIS\_VERR\_MIN and VIS\_VERR\_MAX\. + + ++-----------+------------+-------------------+ +| Increment | Range | Units | ++===========+============+===================+ +| 0.1 | 0.5 to 5.0 | meters per second | ++-----------+------------+-------------------+ + + + + +.. _EK3_WENC_VERR: + +EK3\_WENC\_VERR: Wheel odometry velocity error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1\-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused\. + + ++-----------+-------------+-------------------+ +| Increment | Range | Units | ++===========+=============+===================+ +| 0.1 | 0.01 to 1.0 | meters per second | ++-----------+-------------+-------------------+ + + + + +.. _EK3_FLOW_USE: + +EK3\_FLOW\_USE: Optical flow use bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if the optical flow data is fused into the 24\-state navigation estimator OR the 1\-state terrain height estimator\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | Navigation | ++-------+------------+ +| 2 | Terrain | ++-------+------------+ + + + + +.. _EK3_HRT_FILT: + +EK3\_HRT\_FILT: Height rate filter crossover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative\. + + ++-------------+-------+ +| Range | Units | ++=============+=======+ +| 0.1 to 30.0 | hertz | ++-------------+-------+ + + + + +.. _EK3_MAG_EF_LIM: + +EK3\_MAG\_EF\_LIM: EarthField error limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables\. A value of zero means to disable the use of the WMM tables\. + + ++----------+------------+ +| Range | Units | ++==========+============+ +| 0 to 500 | milligauss | ++----------+------------+ + + + + +.. _EK3_GSF_RUN_MASK: + +EK3\_GSF\_RUN\_MASK: Bitmask of which EKF\-GSF yaw estimators run +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +1 byte bitmap of which EKF3 instances run an independant EKF\-GSF yaw estimator to provide a backup yaw estimate that doesn\'t rely on magnetometer data\. This estimator uses IMU\, GPS and\, if available\, airspeed data\. EKF\-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages\. Use of the yaw estimate generated by this algorithm is controlled by the EK3\_GSF\_USE\_MASK and EK3\_GSF\_RST\_MAX parameters\. To run the EKF\-GSF yaw estimator in ride\-along and logging only\, set EK3\_GSF\_USE to 0\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_USE_MASK: + +EK3\_GSF\_USE\_MASK: Bitmask of which EKF\-GSF yaw estimators are used +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A bitmask of which EKF3 instances will use the output from the EKF\-GSF yaw estimator that has been turned on by the EK3\_GSF\_RUN\_MASK parameter\. If the inertial navigation calculation stops following the GPS\, then the vehicle code can request EKF3 to attempt to resolve the issue\, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance\. + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstEKF | ++-----+-----------+ +| 1 | SecondEKF | ++-----+-----------+ +| 2 | ThirdEKF | ++-----+-----------+ +| 3 | FourthEKF | ++-----+-----------+ +| 4 | FifthEKF | ++-----+-----------+ +| 5 | SixthEKF | ++-----+-----------+ + + + + +.. _EK3_GSF_RST_MAX: + +EK3\_GSF\_RST\_MAX: Maximum number of resets to the EKF\-GSF yaw estimate allowed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF\-GSF yaw estimator\. No resets will be allowed unless the use of the EKF\-GSF yaw estimate is enabled via the EK3\_GSF\_USE\_MASK parameter\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 10 | ++-----------+---------+ + + + + +.. _EK3_ERR_THRESH: + +EK3\_ERR\_THRESH: EKF3 Lane Relative Error Sensitivity Threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError\, lowering this makes lane switching more sensitive to smaller error differences + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 0.05 | 0.05 to 1 | ++-----------+-----------+ + + + + +.. _EK3_AFFINITY: + +EK3\_AFFINITY: EKF3 Sensor Affinity Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +These options control the affinity between sensor instances and EKF cores + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | EnableGPSAffinity | ++-----+------------------------+ +| 1 | EnableBaroAffinity | ++-----+------------------------+ +| 2 | EnableCompassAffinity | ++-----+------------------------+ +| 3 | EnableAirspeedAffinity | ++-----+------------------------+ + + + + +.. _EK3_DRAG_BCOEF_X: + +EK3\_DRAG\_BCOEF\_X: Ballistic coefficient for X axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the X body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the frontal area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++---------------+----------------------------+ +| Range | Units | ++===============+============================+ +| 0.0 to 1000.0 | kilograms per square meter | ++---------------+----------------------------+ + + + + +.. _EK3_DRAG_BCOEF_Y: + +EK3\_DRAG\_BCOEF\_Y: Ballistic coefficient for Y axis drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Ratio of mass to drag coefficient measured along the Y body axis\. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction \(eg multicopters\)\. The drag produced by this effect scales with speed squared\. Set to a postive value \> 1\.0 to enable\. A starting value is the mass in Kg divided by the side area\. The predicted drag from the rotors is specified separately by the EK3\_DRAG\_MCOEF parameter\. + + ++----------------+----------------------------+ +| Range | Units | ++================+============================+ +| 50.0 to 1000.0 | kilograms per square meter | ++----------------+----------------------------+ + + + + +.. _EK3_DRAG_M_NSE: + +EK3\_DRAG\_M\_NSE: Observation noise for drag acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi\-rotor vehicles\. This feature is enabled by the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters + + ++-----------+------------+--------------------------+ +| Increment | Range | Units | ++===========+============+==========================+ +| 0.1 | 0.1 to 2.0 | meters per square second | ++-----------+------------+--------------------------+ + + + + +.. _EK3_DRAG_MCOEF: + +EK3\_DRAG\_MCOEF: Momentum coefficient for propeller drag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is used to predict the drag produced by the rotors when flying a multi\-copter\, enabling estimation of wind drift\. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag\. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers\. It is higher for ducted rotors\. For example if flying at 15 m\/s at sea level conditions produces a rotor induced drag acceleration of 1\.5 m\/s\/s\, then EK3\_DRAG\_MCOEF would be set to 0\.1 \= \(1\.5\/15\.0\)\. Set EK3\_MCOEF to a postive value to enable wind estimation using this drag effect\. To account for the drag produced by the body which scales with speed squared\, see documentation for the EK3\_DRAG\_BCOEF\_X and EK3\_DRAG\_BCOEF\_Y parameters\. + + ++-----------+------------+------------+ +| Increment | Range | Units | ++===========+============+============+ +| 0.01 | 0.0 to 1.0 | per second | ++-----------+------------+------------+ + + + + +.. _EK3_OGNM_TEST_SF: + +EK3\_OGNM\_TEST\_SF: On ground not moving test scale factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor\. Bigger values allow the detection of a not moving condition with noiser IMU data\. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM\_TEST\_SF to be slightly higher than the maximum value of the XKFM\.ADR\, XKFM\.ALR\, XKFM\.GDR and XKFM\.GLR test levels\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 1.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_GND_EFF_DZ: + +EK3\_GND\_EFF\_DZ: Baro height ground effect dead zone +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect\. Set to about 0\.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up\. Set to 0 if no ground effect is present\. + + ++-----------+-------------+ +| Increment | Range | ++===========+=============+ +| 0.5 | 0.0 to 10.0 | ++-----------+-------------+ + + + + +.. _EK3_PRIMARY: + +EK3\_PRIMARY: Primary core number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The core number \(index in IMU mask\) that will be used as the primary EKF core on startup\. While disarmed the EKF will force the use of this core\. A value of 0 corresponds to the first IMU in EK3\_IMU\_MASK\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 2 | ++-----------+--------+ + + + + +.. _EK3_LOG_LEVEL: + +EK3\_LOG\_LEVEL: Logging Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines how verbose the EKF3 streaming logging is\. A value of 0 provides full logging\(default\)\, a value of 1 only XKF4 scaled innovations are logged\, a value of 2 both XKF4 and GSF are logged\, and a value of 3 disables all streaming logging of EKF3\. + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 1 | 0 to 3 | ++-----------+--------+ + + + + +.. _EK3_GPS_VACC_MAX: + +EK3\_GPS\_VACC\_MAX: GPS vertical accuracy threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical accuracy threshold for GPS as the altitude source\. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold\, falling back to baro instead\. Set to zero to deactivate the threshold check\. + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 0.1 | 0.0 to 10.0 | meters | ++-----------+-------------+--------+ + + + + +.. _EK3_OPTIONS: + +EK3\_OPTIONS: Optional EKF behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional EKF behaviour\. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3\_GPS\_CHECK and EK3\_CHECK\_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | JammingExpected | ++-----+-----------------+ + + + + + +.. _parameters_EK3_SRC: + +EK3\_SRC Parameters +------------------- + + +.. _EK3_SRC1_POSXY: + +EK3\_SRC1\_POSXY: Position Horizontal Source \(Primary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Primary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELXY: + +EK3\_SRC1\_VELXY: Velocity Horizontal Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC1_POSZ: + +EK3\_SRC1\_POSZ: Position Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_VELZ: + +EK3\_SRC1\_VELZ: Velocity Vertical Source +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC1_YAW: + +EK3\_SRC1\_YAW: Yaw Source +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC2_POSXY: + +EK3\_SRC2\_POSXY: Position Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELXY: + +EK3\_SRC2\_VELXY: Velocity Horizontal Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Secondary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC2_POSZ: + +EK3\_SRC2\_POSZ: Position Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_VELZ: + +EK3\_SRC2\_VELZ: Velocity Vertical Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Secondary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC2_YAW: + +EK3\_SRC2\_YAW: Yaw Source \(Secondary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Secondary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC3_POSXY: + +EK3\_SRC3\_POSXY: Position Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Horizontal Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELXY: + +EK3\_SRC3\_VELXY: Velocity Horizontal Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Horizontal Source \(Tertiary\) + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 3 | GPS | ++-------+--------------+ +| 4 | Beacon | ++-------+--------------+ +| 5 | OpticalFlow | ++-------+--------------+ +| 6 | ExternalNav | ++-------+--------------+ +| 7 | WheelEncoder | ++-------+--------------+ + + + + +.. _EK3_SRC3_POSZ: + +EK3\_SRC3\_POSZ: Position Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Position Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Baro | ++-------+-------------+ +| 2 | RangeFinder | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_VELZ: + +EK3\_SRC3\_VELZ: Velocity Vertical Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity Vertical Source \(Tertiary\) + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 3 | GPS | ++-------+-------------+ +| 4 | Beacon | ++-------+-------------+ +| 6 | ExternalNav | ++-------+-------------+ + + + + +.. _EK3_SRC3_YAW: + +EK3\_SRC3\_YAW: Yaw Source \(Tertiary\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw Source \(Tertiary\) + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | Compass | ++-------+---------------------------+ +| 2 | GPS | ++-------+---------------------------+ +| 3 | GPS with Compass Fallback | ++-------+---------------------------+ +| 6 | ExternalNav | ++-------+---------------------------+ +| 8 | GSF | ++-------+---------------------------+ + + + + +.. _EK3_SRC_OPTIONS: + +EK3\_SRC\_OPTIONS: EKF Source Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +EKF Source Options + + ++-----+--------------------------------+ +| Bit | Meaning | ++=====+================================+ +| 0 | FuseAllVelocities | ++-----+--------------------------------+ +| 1 | AlignExtNavPosWhenUsingOptFlow | ++-----+--------------------------------+ + + + + + +.. _parameters_ESC_TLM: + +ESC\_TLM Parameters +------------------- + + +.. _ESC_TLM_MAV_OFS: + +ESC\_TLM\_MAV\_OFS: ESC Telemetry mavlink offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset to apply to ESC numbers when reporting as ESC\_TELEMETRY packets over MAVLink\. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays\. A value of 4 would send ESC on output 5 as ESC number 1 in ESC\_TELEMETRY packets + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 31 | ++-----------+---------+ + + + + + +.. _parameters_FENCE_: + +FENCE\_ Parameters +------------------ + + +.. _FENCE_ENABLE: + +FENCE\_ENABLE: Fence enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the fence functionality\. Fences can still be enabled and disabled via mavlink or an RC option\, but these changes are not persisted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FENCE_TYPE: + +FENCE\_TYPE: Fence Type +~~~~~~~~~~~~~~~~~~~~~~~ + + +Configured fence types held as bitmask\. Max altitide\, Circle and Polygon fences will be immediately enabled if configured\. Min altitude fence will only be enabled once the minimum altitude is reached\. + + ++-----+--------------------------------------+ +| Bit | Meaning | ++=====+======================================+ +| 1 | Circle Centered on Home | ++-----+--------------------------------------+ +| 2 | Inclusion/Exclusion Circles+Polygons | ++-----+--------------------------------------+ + + + + +.. _FENCE_ACTION: + +FENCE\_ACTION: Fence Action +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What action should be taken when fence is breached + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Report Only | ++-------+-------------------------+ +| 1 | RTL or Hold | ++-------+-------------------------+ +| 2 | Hold | ++-------+-------------------------+ +| 3 | SmartRTL or RTL or Hold | ++-------+-------------------------+ +| 4 | SmartRTL or Hold | ++-------+-------------------------+ + + + + +.. _FENCE_RADIUS: + +FENCE\_RADIUS: Circular Fence Radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Circle fence radius which when breached will cause an RTL + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 30 to 10000 | meters | ++-------------+--------+ + + + + +.. _FENCE_MARGIN: + +FENCE\_MARGIN: Fence Margin +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Distance that autopilot\'s should maintain from the fence to avoid a breach + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 1 to 10 | meters | ++---------+--------+ + + + + +.. _FENCE_TOTAL: + +FENCE\_TOTAL: Fence polygon point total +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of polygon points saved in eeprom \(do not update manually\) + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + + +.. _parameters_FFT_: + +FFT\_ Parameters +---------------- + + +.. _FFT_ENABLE: + +FFT\_ENABLE: Enable +~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable Gyro FFT analyser + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FFT_MINHZ: + +FFT\_MINHZ: Minimum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Lower bound of FFT frequency detection in Hz\. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 400 | hertz | ++-----------+-------+ + + + + +.. _FFT_MAXHZ: + +FFT\_MAXHZ: Maximum Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper bound of FFT frequency detection in Hz\. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 20 to 495 | hertz | ++-----------+-------+ + + + + +.. _FFT_SAMPLE_MODE: + +FFT\_SAMPLE\_MODE: Sample Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Sampling mode \(and therefore rate\)\. 0\: Gyro rate sampling\, 1\: Fast loop rate sampling\, 2\: Fast loop rate \/ 2 sampling\, 3\: Fast loop rate \/ 3 sampling\. Takes effect on reboot\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _FFT_WINDOW_SIZE: + +FFT\_WINDOW\_SIZE: FFT window size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Size of window to be used in FFT calculations\. Takes effect on reboot\. Must be a power of 2 and between 32 and 512\. Larger windows give greater frequency resolution but poorer time resolution\, consume more CPU time and may not be appropriate for all vehicles\. Time and frequency resolution are given by the sample\-rate \/ window\-size\. Windows of 256 are only really recommended for F7 class boards\, windows of 512 or more H7 class\. + + ++------------+ +| Range | ++============+ +| 32 to 1024 | ++------------+ + + + + +.. _FFT_WINDOW_OLAP: + +FFT\_WINDOW\_OLAP: FFT window overlap +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Percentage of window to be overlapped before another frame is process\. Takes effect on reboot\. A good default is 50\% overlap\. Higher overlap results in more processed frames but not necessarily more temporal resolution\. Lower overlap results in lost information at the frame edges\. + + ++----------+ +| Range | ++==========+ +| 0 to 0.9 | ++----------+ + + + + +.. _FFT_FREQ_HOVER: + +FFT\_FREQ\_HOVER: FFT learned hover frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The learned hover noise frequency + + ++----------+ +| Range | ++==========+ +| 0 to 250 | ++----------+ + + + + +.. _FFT_THR_REF: + +FFT\_THR\_REF: FFT learned thrust reference +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned thrust reference for the hover frequency and FFT minimum frequency\. + + ++-------------+ +| Range | ++=============+ +| 0.01 to 0.9 | ++-------------+ + + + + +.. _FFT_SNR_REF: + +FFT\_SNR\_REF: FFT SNR reference threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT SNR reference threshold in dB at which a signal is determined to be present\. + + ++--------------+ +| Range | ++==============+ +| 0.0 to 100.0 | ++--------------+ + + + + +.. _FFT_ATT_REF: + +FFT\_ATT\_REF: FFT attenuation for bandwidth calculation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT attenuation level in dB for bandwidth calculation and peak detection\. The bandwidth is calculated by comparing peak power output with the attenuated version\. The default of 15 has shown to be a good compromise in both simulations and real flight\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_BW_HOVER: + +FFT\_BW\_HOVER: FFT learned bandwidth at hover +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FFT learned bandwidth at hover for the attenuation frequencies\. + + ++----------+ +| Range | ++==========+ +| 0 to 200 | ++----------+ + + + + +.. _FFT_HMNC_FIT: + +FFT\_HMNC\_FIT: FFT harmonic fit frequency threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another\. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency\. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch\. A value of zero completely disables harmonic matching\. + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _FFT_HMNC_PEAK: + +FFT\_HMNC\_PEAK: FFT harmonic peak target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The FFT harmonic peak target that should be returned by FTN1\.PkAvg\. The resulting value will be used by the harmonic notch if configured to track the FFT frequency\. By default the appropriate peak is auto\-detected based on the harmonic fit between peaks and the energy\-weighted average frequency on roll on pitch is used\. Setting this to 1 will always target the highest energy peak\. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak\. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak\. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used \(some vehicles have a much more pronounced peak on roll\)\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Auto | ++-------+--------------------------+ +| 1 | Center Frequency | ++-------+--------------------------+ +| 2 | Lower-Shoulder Frequency | ++-------+--------------------------+ +| 3 | Upper-Shoulder Frequency | ++-------+--------------------------+ +| 4 | Roll-Axis | ++-------+--------------------------+ +| 5 | Pitch-Axis | ++-------+--------------------------+ + + + + +.. _FFT_NUM_FRAMES: + +FFT\_NUM\_FRAMES: FFT output frames to retain and average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of output frequency frames to retain and average in order to calculate final frequencies\. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable\. The default is to perform no averaging\. For rapidly changing frequencies \(e\.g\. smaller aircraft\) fewer frames should be averaged\. + + ++--------+ +| Range | ++========+ +| 0 to 8 | ++--------+ + + + + +.. _FFT_OPTIONS: + +FFT\_OPTIONS: FFT options +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +FFT configuration options\. Values\: 1\:Apply the FFT \*after\* the filter bank\,2\:Check noise at the motor frequencies using ESC data as a reference + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable post-filter FFT | ++-----+------------------------+ +| 1 | Check motor noise | ++-----+------------------------+ + + + + + +.. _parameters_FILT1_: + +FILT1\_ Parameters +------------------ + + +.. _FILT1_TYPE: + +FILT1\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT1_NOTCH_FREQ: + +FILT1\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT1_NOTCH_Q: + +FILT1\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT1_NOTCH_ATT: + +FILT1\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT2_: + +FILT2\_ Parameters +------------------ + + +.. _FILT2_TYPE: + +FILT2\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT2_NOTCH_FREQ: + +FILT2\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT2_NOTCH_Q: + +FILT2\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT2_NOTCH_ATT: + +FILT2\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT3_: + +FILT3\_ Parameters +------------------ + + +.. _FILT3_TYPE: + +FILT3\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT3_NOTCH_FREQ: + +FILT3\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT3_NOTCH_Q: + +FILT3\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT3_NOTCH_ATT: + +FILT3\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT4_: + +FILT4\_ Parameters +------------------ + + +.. _FILT4_TYPE: + +FILT4\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT4_NOTCH_FREQ: + +FILT4\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT4_NOTCH_Q: + +FILT4\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT4_NOTCH_ATT: + +FILT4\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT5_: + +FILT5\_ Parameters +------------------ + + +.. _FILT5_TYPE: + +FILT5\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT5_NOTCH_FREQ: + +FILT5\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT5_NOTCH_Q: + +FILT5\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT5_NOTCH_ATT: + +FILT5\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT6_: + +FILT6\_ Parameters +------------------ + + +.. _FILT6_TYPE: + +FILT6\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT6_NOTCH_FREQ: + +FILT6\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT6_NOTCH_Q: + +FILT6\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT6_NOTCH_ATT: + +FILT6\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT7_: + +FILT7\_ Parameters +------------------ + + +.. _FILT7_TYPE: + +FILT7\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT7_NOTCH_FREQ: + +FILT7\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT7_NOTCH_Q: + +FILT7\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT7_NOTCH_ATT: + +FILT7\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FILT8_: + +FILT8\_ Parameters +------------------ + + +.. _FILT8_TYPE: + +FILT8\_TYPE: Filter Type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Filter Type + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disable | ++-------+--------------+ +| 1 | Notch Filter | ++-------+--------------+ + + + + +.. _FILT8_NOTCH_FREQ: + +FILT8\_NOTCH\_FREQ: Notch Filter center frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter center frequency in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _FILT8_NOTCH_Q: + +FILT8\_NOTCH\_Q: Notch Filter quality factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter quality factor given by the notch centre frequency divided by its bandwidth\. + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _FILT8_NOTCH_ATT: + +FILT8\_NOTCH\_ATT: Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Notch Filter attenuation in dB\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + + +.. _parameters_FLOW: + +FLOW Parameters +--------------- + + +.. _FLOW_TYPE: + +FLOW\_TYPE: Optical flow sensor type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Optical flow sensor type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | None | ++-------+----------+ +| 1 | PX4Flow | ++-------+----------+ +| 2 | Pixart | ++-------+----------+ +| 3 | Bebop | ++-------+----------+ +| 4 | CXOF | ++-------+----------+ +| 5 | MAVLink | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MSP | ++-------+----------+ +| 8 | UPFLOW | ++-------+----------+ + + + + +.. _FLOW_FXSCALER: + +FLOW\_FXSCALER: X axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_FYSCALER: + +FLOW\_FYSCALER: Y axis optical flow scale factor correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate\. It can be used to correct for variations in effective focal length\. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0\.1\%\. Negative values reduce the scale factor\. + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 1 | -800 to +800 | ++-----------+--------------+ + + + + +.. _FLOW_ORIENT_YAW: + +FLOW\_ORIENT\_YAW: Flow sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Specifies the number of centi\-degrees that the flow sensor is yawed relative to the vehicle\. A sensor with its X\-axis pointing to the right of the vehicle X axis has a positive yaw angle\. + + ++-----------+------------------+--------------+ +| Increment | Range | Units | ++===========+==================+==============+ +| 10 | -17999 to +18000 | centidegrees | ++-----------+------------------+--------------+ + + + + +.. _FLOW_POS_X: + +FLOW\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the optical flow sensor focal point in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Y: + +FLOW\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the optical flow sensor focal point in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_POS_Z: + +FLOW\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the optical flow sensor focal point in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _FLOW_ADDR: + +FLOW\_ADDR: Address on the bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used to select between multiple possible I2C addresses for some sensor types\. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus\. + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _FLOW_HGT_OVR: + +FLOW\_HGT\_OVR: Height override of sensor above ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is used in rover vehicles\, where the sensor is a fixed height above the ground + + ++-----------+--------+--------+ +| Increment | Range | Units | ++===========+========+========+ +| 0.01 | 0 to 2 | meters | ++-----------+--------+--------+ + + + + + +.. _parameters_FOLL: + +FOLL Parameters +--------------- + + +.. _FOLL_ENABLE: + +FOLL\_ENABLE: Follow enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable following a target + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _FOLL_SYSID: + +FOLL\_SYSID: Follow target\'s mavlink system id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow target\'s mavlink system id + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _FOLL_DIST_MAX: + +FOLL\_DIST\_MAX: Follow distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow distance maximum\. targets further than this will be ignored + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| 1 to 1000 | meters | ++-----------+--------+ + + + + +.. _FOLL_OFS_TYPE: + +FOLL\_OFS\_TYPE: Follow offset type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offset type + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| 0 | North-East-Down | ++-------+----------------------------------+ +| 1 | Relative to lead vehicle heading | ++-------+----------------------------------+ + + + + +.. _FOLL_OFS_X: + +FOLL\_OFS\_X: Follow offsets in meters north\/forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters north\/forward\. If positive\, this vehicle fly ahead or north of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Y: + +FOLL\_OFS\_Y: Follow offsets in meters east\/right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters east\/right\. If positive\, this vehicle will fly to the right or east of lead vehicle\. Depends on FOLL\_OFS\_TYPE + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_OFS_Z: + +FOLL\_OFS\_Z: Follow offsets in meters down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow offsets in meters down\. If positive\, this vehicle will fly below the lead vehicle + + ++-----------+-------------+--------+ +| Increment | Range | Units | ++===========+=============+========+ +| 1 | -100 to 100 | meters | ++-----------+-------------+--------+ + + + + +.. _FOLL_YAW_BEHAVE: + +FOLL\_YAW\_BEHAVE: Follow yaw behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow yaw behaviour + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | None | ++-------+----------------------+ +| 1 | Face Lead Vehicle | ++-------+----------------------+ +| 2 | Same as Lead vehicle | ++-------+----------------------+ +| 3 | Direction of Flight | ++-------+----------------------+ + + + + +.. _FOLL_POS_P: + +FOLL\_POS\_P: Follow position error P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow position error P gain\. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.01 to 1.00 | ++-----------+--------------+ + + + + +.. _FOLL_ALT_TYPE: + +FOLL\_ALT\_TYPE: Follow altitude type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow altitude type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | absolute | ++-------+----------+ +| 1 | relative | ++-------+----------+ + + + + +.. _FOLL_OPTIONS: + +FOLL\_OPTIONS: Follow options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Follow options bitmask + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | None | ++-------+------------------------------------------+ +| 1 | Mount Follows lead vehicle on mode enter | ++-------+------------------------------------------+ + + + + + +.. _parameters_FRSKY_: + +FRSKY\_ Parameters +------------------ + + +.. _FRSKY_UPLINK_ID: + +FRSKY\_UPLINK\_ID: Uplink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the uplink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK1_ID: + +FRSKY\_DNLINK1\_ID: First downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the first extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK2_ID: + +FRSKY\_DNLINK2\_ID: Second downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the second extra downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ + + + + +.. _FRSKY_DNLINK_ID: + +FRSKY\_DNLINK\_ID: Default downlink sensor id +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Change the default downlink sensor id \(SPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| -1 | Disable | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ +| 15 | 15 | ++-------+---------+ +| 16 | 16 | ++-------+---------+ +| 17 | 17 | ++-------+---------+ +| 18 | 18 | ++-------+---------+ +| 19 | 19 | ++-------+---------+ +| 20 | 20 | ++-------+---------+ +| 21 | 21 | ++-------+---------+ +| 22 | 22 | ++-------+---------+ +| 23 | 23 | ++-------+---------+ +| 24 | 24 | ++-------+---------+ +| 25 | 25 | ++-------+---------+ +| 26 | 26 | ++-------+---------+ +| 27 | 27 | ++-------+---------+ + + + + +.. _FRSKY_OPTIONS: + +FRSKY\_OPTIONS: FRSky Telemetry Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some FRSky Telemetry specific options + + ++-----+------------------------------+ +| Bit | Meaning | ++=====+==============================+ +| 0 | EnableAirspeedAndGroundspeed | ++-----+------------------------------+ + + + + + +.. _parameters_GEN_: + +GEN\_ Parameters +---------------- + + +.. _GEN_TYPE: + +GEN\_TYPE: Generator type +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Generator type + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | Disabled | ++-------+------------------------+ +| 1 | IE 650w 800w Fuel Cell | ++-------+------------------------+ +| 2 | IE 2.4kW Fuel Cell | ++-------+------------------------+ +| 3 | Richenpower | ++-------+------------------------+ + + + + +.. _GEN_OPTIONS: + +GEN\_OPTIONS: Generator Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of options for generators + + ++-----+----------------------------------------+ +| Bit | Meaning | ++=====+========================================+ +| 0 | Suppress Maintenance-Required Warnings | ++-----+----------------------------------------+ + + + + + +.. _parameters_GPS: + +GPS Parameters +-------------- + + +.. _GPS_NAVFILTER: + +GPS\_NAVFILTER: Navigation filter setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Navigation filter engine setting + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Portable | ++-------+------------+ +| 2 | Stationary | ++-------+------------+ +| 3 | Pedestrian | ++-------+------------+ +| 4 | Automotive | ++-------+------------+ +| 5 | Sea | ++-------+------------+ +| 6 | Airborne1G | ++-------+------------+ +| 7 | Airborne2G | ++-------+------------+ +| 8 | Airborne4G | ++-------+------------+ + + + + +.. _GPS_AUTO_SWITCH: + +GPS\_AUTO\_SWITCH: Automatic Switchover Setting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Automatic switchover to GPS reporting best lock\, 1\:UseBest selects the GPS with highest status\, if both are equal the GPS with highest satellite count is used 4\:Use primary if 3D fix or better\, will revert to \'UseBest\' behaviour if 3D fix is lost on primary + + ++-------+---------------------------------+ +| Value | Meaning | ++=======+=================================+ +| 0 | Use primary | ++-------+---------------------------------+ +| 1 | UseBest | ++-------+---------------------------------+ +| 2 | Blend | ++-------+---------------------------------+ +| 4 | Use primary if 3D fix or better | ++-------+---------------------------------+ + + + + +.. _GPS_SBAS_MODE: + +GPS\_SBAS\_MODE: SBAS Mode +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBAS \(satellite based augmentation system\) mode if available on this GPS\. If set to 2 then the SBAS mode is not changed in the GPS\. Otherwise the GPS will be reconfigured to enable\/disable SBAS\. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _GPS_MIN_ELEV: + +GPS\_MIN\_ELEV: Minimum elevation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the minimum elevation of satellites above the horizon for them to be used for navigation\. Setting this to \-100 leaves the minimum elevation set to the GPS modules default\. + + ++------------+---------+ +| Range | Units | ++============+=========+ +| -100 to 90 | degrees | ++------------+---------+ + + + + +.. _GPS_INJECT_TO: + +GPS\_INJECT\_TO: Destination for GPS\_INJECT\_DATA MAVLink packets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The GGS can send raw serial packets to inject data to multiple GPSes\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | send to first GPS | ++-------+-------------------+ +| 1 | send to 2nd GPS | ++-------+-------------------+ +| 127 | send to all | ++-------+-------------------+ + + + + +.. _GPS_SBP_LOGMASK: + +GPS\_SBP\_LOGMASK: Swift Binary Protocol Logging Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Masked with the SBP msg\_type field to determine whether SBR1\/SBR2 data is logged + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None (0x0000) | ++-------+------------------------+ +| -1 | All (0xFFFF) | ++-------+------------------------+ +| -256 | External only (0xFF00) | ++-------+------------------------+ + + + + +.. _GPS_RAW_DATA: + +GPS\_RAW\_DATA: Raw data logging +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Handles logging raw data\; on uBlox chips that support raw data this will log RXM messages into logger\; on Septentrio this will log on the equipment\'s SD card and when set to 2\, the autopilot will try to stop logging after disarming and restart after arming + + ++-------+------------------------------------------+ +| Value | Meaning | ++=======+==========================================+ +| 0 | Ignore | ++-------+------------------------------------------+ +| 1 | Always log | ++-------+------------------------------------------+ +| 2 | Stop logging when disarmed (SBF only) | ++-------+------------------------------------------+ +| 5 | Only log every five samples (uBlox only) | ++-------+------------------------------------------+ + + + + +.. _GPS_SAVE_CFG: + +GPS\_SAVE\_CFG: Save GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines whether the configuration for this GPS should be written to non\-volatile memory on the GPS\. Currently working for UBlox 6 series and above\. + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | Do not save config | ++-------+-----------------------+ +| 1 | Save config | ++-------+-----------------------+ +| 2 | Save only when needed | ++-------+-----------------------+ + + + + +.. _GPS_AUTO_CONFIG: + +GPS\_AUTO\_CONFIG: Automatic GPS configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls if the autopilot should automatically configure the GPS based on the parameters and default settings + + ++-------+------------------------------------------------------+ +| Value | Meaning | ++=======+======================================================+ +| 0 | Disables automatic configuration | ++-------+------------------------------------------------------+ +| 1 | Enable automatic configuration for Serial GPSes only | ++-------+------------------------------------------------------+ +| 2 | Enable automatic configuration for DroneCAN as well | ++-------+------------------------------------------------------+ + + + + +.. _GPS_BLEND_MASK: + +GPS\_BLEND\_MASK: Multi GPS Blending Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines which of the accuracy measures Horizontal position\, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS\_AUTO\_SWITCH to 2\(Blend\) + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Horiz Pos | ++-----+-----------+ +| 1 | Vert Pos | ++-----+-----------+ +| 2 | Speed | ++-----+-----------+ + + + + +.. _GPS_DRV_OPTIONS: + +GPS\_DRV\_OPTIONS: driver options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Additional backend specific options + + ++-----+-----------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================================+ +| 0 | Use UART2 for moving baseline on ublox | ++-----+-----------------------------------------------------------------------------+ +| 1 | Use base station for GPS yaw on SBF | ++-----+-----------------------------------------------------------------------------+ +| 2 | Use baudrate 115200 | ++-----+-----------------------------------------------------------------------------+ +| 3 | Use dedicated CAN port b/w GPSes for moving baseline | ++-----+-----------------------------------------------------------------------------+ +| 4 | Use ellipsoid height instead of AMSL | ++-----+-----------------------------------------------------------------------------+ +| 5 | Override GPS satellite health of L5 band from L1 health | ++-----+-----------------------------------------------------------------------------+ +| 6 | Enable RTCM full parse even for a single channel | ++-----+-----------------------------------------------------------------------------+ +| 7 | Disable automatic full RTCM parsing when RTCM seen on more than one channel | ++-----+-----------------------------------------------------------------------------+ + + + + +.. _GPS_PRIMARY: + +GPS\_PRIMARY: Primary GPS +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This GPS will be used when GPS\_AUTO\_SWITCH is 0 and used preferentially with GPS\_AUTO\_SWITCH \= 4\. + + ++-------+-----------+ +| Value | Meaning | ++=======+===========+ +| 0 | FirstGPS | ++-------+-----------+ +| 1 | SecondGPS | ++-------+-----------+ + + + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_GPS1_: + +GPS1\_ Parameters +----------------- + + +.. _GPS1_TYPE: + +GPS1\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS1_GNSS_MODE: + +GPS1\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS1_RATE_MS: + +GPS1\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS1_POS_X: + +GPS1\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Y: + +GPS1\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_POS_Z: + +GPS1\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_DELAY_MS: + +GPS1\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS1_COM_PORT: + +GPS1\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS1_CAN_NODEID: + +GPS1\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS1_CAN_OVRIDE: + +GPS1\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS1_MB_: + +GPS1\_MB\_ Parameters +--------------------- + + +.. _GPS1_MB_TYPE: + +GPS1\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS1_MB_OFS_X: + +GPS1\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Y: + +GPS1\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS1_MB_OFS_Z: + +GPS1\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS2_: + +GPS2\_ Parameters +----------------- + + +.. _GPS2_TYPE: + +GPS2\_TYPE: GPS type +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +GPS type + + ++-------+-------------------------------+ +| Value | Meaning | ++=======+===============================+ +| 0 | None | ++-------+-------------------------------+ +| 1 | AUTO | ++-------+-------------------------------+ +| 2 | uBlox | ++-------+-------------------------------+ +| 5 | NMEA | ++-------+-------------------------------+ +| 6 | SiRF | ++-------+-------------------------------+ +| 7 | HIL | ++-------+-------------------------------+ +| 8 | SwiftNav | ++-------+-------------------------------+ +| 9 | DroneCAN | ++-------+-------------------------------+ +| 10 | Septentrio(SBF) | ++-------+-------------------------------+ +| 11 | Trimble(GSOF) | ++-------+-------------------------------+ +| 13 | ERB | ++-------+-------------------------------+ +| 14 | MAVLink | ++-------+-------------------------------+ +| 15 | NOVA | ++-------+-------------------------------+ +| 16 | HemisphereNMEA | ++-------+-------------------------------+ +| 17 | uBlox-MovingBaseline-Base | ++-------+-------------------------------+ +| 18 | uBlox-MovingBaseline-Rover | ++-------+-------------------------------+ +| 19 | MSP | ++-------+-------------------------------+ +| 20 | AllyStar | ++-------+-------------------------------+ +| 21 | ExternalAHRS | ++-------+-------------------------------+ +| 22 | DroneCAN-MovingBaseline-Base | ++-------+-------------------------------+ +| 23 | DroneCAN-MovingBaseline-Rover | ++-------+-------------------------------+ +| 24 | UnicoreNMEA | ++-------+-------------------------------+ +| 25 | UnicoreMovingBaselineNMEA | ++-------+-------------------------------+ +| 26 | Septentrio-DualAntenna(SBF) | ++-------+-------------------------------+ + + + + +.. _GPS2_GNSS_MODE: + +GPS2\_GNSS\_MODE: GNSS system configuration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask for what GNSS system to use on the first GPS \(all unchecked or zero to leave GPS as configured\) + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPS | ++-----+---------+ +| 1 | SBAS | ++-----+---------+ +| 2 | Galileo | ++-----+---------+ +| 3 | Beidou | ++-----+---------+ +| 4 | IMES | ++-----+---------+ +| 5 | QZSS | ++-----+---------+ +| 6 | GLONASS | ++-----+---------+ + + + + +.. _GPS2_RATE_MS: + +GPS2\_RATE\_MS: GPS update rate in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls how often the GPS should provide a position update\. Lowering below 5Hz\(default\) is not allowed\. Raising the rate above 5Hz usually provides little benefit and for some GPS \(eg Ublox M9N\) can severely impact performance\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 100 | 10Hz | ++-------+---------+ +| 125 | 8Hz | ++-------+---------+ +| 200 | 5Hz | ++-------+---------+ + + + + ++-----------+--------------+ +| Range | Units | ++===========+==============+ +| 50 to 200 | milliseconds | ++-----------+--------------+ + + + + +.. _GPS2_POS_X: + +GPS2\_POS\_X: Antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first GPS antenna in body frame\. Positive X is forward of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Y: + +GPS2\_POS\_Y: Antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first GPS antenna in body frame\. Positive Y is to the right of the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_POS_Z: + +GPS2\_POS\_Z: Antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first GPS antenna in body frame\. Positive Z is down from the origin\. Use antenna phase centroid location if provided by the manufacturer\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_DELAY_MS: + +GPS2\_DELAY\_MS: GPS delay in milliseconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the amount of GPS measurement delay that the autopilot compensates for\. Set to zero to use the default delay for the detected GPS type\. + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _GPS2_COM_PORT: + +GPS2\_COM\_PORT: GPS physical COM port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The physical COM port on the connected device\, currently only applies to SBF and GSOF GPS + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | COM1(RS232) on GSOF | ++-------+---------------------+ +| 1 | COM2(TTL) on GSOF | ++-------+---------------------+ + + + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _GPS2_CAN_NODEID: + +GPS2\_CAN\_NODEID: Detected CAN Node ID for GPS +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. Detected node unless CAN\_OVRIDE is set + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _GPS2_CAN_OVRIDE: + +GPS2\_CAN\_OVRIDE: DroneCAN GPS NODE ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS Node id for GPS\. If 0 the gps will be automatically selected on a first\-come\-first\-GPS basis\. + + + +.. _parameters_GPS2_MB_: + +GPS2\_MB\_ Parameters +--------------------- + + +.. _GPS2_MB_TYPE: + +GPS2\_MB\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS2_MB_OFS_X: + +GPS2\_MB\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Y: + +GPS2\_MB\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS2_MB_OFS_Z: + +GPS2\_MB\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB1_: + +GPS\_MB1\_ Parameters +--------------------- + + +.. _GPS_MB1_TYPE: + +GPS\_MB1\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB1_OFS_X: + +GPS\_MB1\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Y: + +GPS\_MB1\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB1_OFS_Z: + +GPS\_MB1\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GPS_MB2_: + +GPS\_MB2\_ Parameters +--------------------- + + +.. _GPS_MB2_TYPE: + +GPS\_MB2\_TYPE: Moving base type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls the type of moving base used if using moving base\.This is renamed in 4\.6 and later to GPSx\_MB\_TYPE\. + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | Relative to alternate GPS instance | ++-------+------------------------------------+ +| 1 | RelativeToCustomBase | ++-------+------------------------------------+ + + + + +.. _GPS_MB2_OFS_X: + +GPS\_MB2\_OFS\_X: Base antenna X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive X is forward of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_X\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Y: + +GPS\_MB2\_OFS\_Y: Base antenna Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Y is to the right of the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Y\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _GPS_MB2_OFS_Z: + +GPS\_MB2\_OFS\_Z: Base antenna Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the base \(primary\) GPS antenna in body frame from the position of the 2nd antenna\. Positive Z is down from the 2nd antenna\. Use antenna phase centroid location if provided by the manufacturer\.This is renamed in 4\.6 and later to GPSx\_MB\_OFS\_Z\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_GRIP_: + +GRIP\_ Parameters +----------------- + + +.. _GRIP_ENABLE: + +GRIP\_ENABLE: Gripper Enable\/Disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _GRIP_TYPE: + +GRIP\_TYPE: Gripper Type +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gripper enable\/disable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | Servo | ++-------+---------+ +| 2 | EPM | ++-------+---------+ + + + + +.. _GRIP_GRAB: + +GRIP\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_RELEASE: + +GRIP\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_NEUTRAL: + +GRIP\_NEUTRAL: Neutral PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to grabber when not grabbing or releasing + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _GRIP_REGRAB: + +GRIP\_REGRAB: EPM Gripper Regrab interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened\; 0 to disable + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 255 | seconds | ++----------+---------+ + + + + +.. _GRIP_CAN_ID: + +GRIP\_CAN\_ID: EPM UAVCAN Hardpoint ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Refer to https\:\/\/docs\.zubax\.com\/opengrab\_epm\_v3\#UAVCAN\_interface + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _GRIP_AUTOCLOSE: + +GRIP\_AUTOCLOSE: Gripper Autoclose time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Time in seconds that gripper close the gripper after opening\; 0 to disable + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.25 to 255 | seconds | ++-------------+---------+ + + + + + +.. _parameters_INS: + +INS Parameters +-------------- + + +.. _INS_GYROFFS_X: + +INS\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Y: + +INS\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYROFFS_Z: + +INS\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_X: + +INS\_GYR2OFFS\_X: Gyro2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Y: + +INS\_GYR2OFFS\_Y: Gyro2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR2OFFS_Z: + +INS\_GYR2OFFS\_Z: Gyro2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_X: + +INS\_GYR3OFFS\_X: Gyro3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Y: + +INS\_GYR3OFFS\_Y: Gyro3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_GYR3OFFS_Z: + +INS\_GYR3OFFS\_Z: Gyro3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS_ACCSCAL_X: + +INS\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Y: + +INS\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCSCAL_Z: + +INS\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACCOFFS_X: + +INS\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Y: + +INS\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACCOFFS_Z: + +INS\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2SCAL_X: + +INS\_ACC2SCAL\_X: Accelerometer2 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Y: + +INS\_ACC2SCAL\_Y: Accelerometer2 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2SCAL_Z: + +INS\_ACC2SCAL\_Z: Accelerometer2 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC2OFFS_X: + +INS\_ACC2OFFS\_X: Accelerometer2 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Y: + +INS\_ACC2OFFS\_Y: Accelerometer2 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC2OFFS_Z: + +INS\_ACC2OFFS\_Z: Accelerometer2 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3SCAL_X: + +INS\_ACC3SCAL\_X: Accelerometer3 scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Y: + +INS\_ACC3SCAL\_Y: Accelerometer3 scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3SCAL_Z: + +INS\_ACC3SCAL\_Z: Accelerometer3 scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS_ACC3OFFS_X: + +INS\_ACC3OFFS\_X: Accelerometer3 offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Y: + +INS\_ACC3OFFS\_Y: Accelerometer3 offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_ACC3OFFS_Z: + +INS\_ACC3OFFS\_Z: Accelerometer3 offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS_GYRO_FILTER: + +INS\_GYRO\_FILTER: Gyro filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for gyroscopes\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_ACCEL_FILTER: + +INS\_ACCEL\_FILTER: Accel filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Filter cutoff frequency for accelerometers\. This can be set to a lower value to try to cope with very high vibration levels in aircraft\. A value of zero means no filtering \(not recommended\!\) + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 256 | hertz | ++----------+-------+ + + + + +.. _INS_USE: + +INS\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE2: + +INS\_USE2: Use second IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use second IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_USE3: + +INS\_USE3: Use third IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use third IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_STILL_THRESH: + +INS\_STILL\_THRESH: Stillness threshold for detecting if we are moving +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Threshold to tolerate vibration to determine if vehicle is motionless\. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing\. Total motionless is about 0\.05\. Suggested values\: Planes\/rover use 0\.1\, multirotors use 1\, tradHeli uses 5 + + ++------------+ +| Range | ++============+ +| 0.05 to 50 | ++------------+ + + + + +.. _INS_GYR_CAL: + +INS\_GYR\_CAL: Gyro Calibration scheme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Conrols when automatic gyro calibration is performed + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Never | ++-------+---------------+ +| 1 | Start-up only | ++-------+---------------+ + + + + +.. _INS_TRIM_OPTION: + +INS\_TRIM\_OPTION: Accel cal trim option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies how the accel cal routine determines the trims + + ++-------+--------------------------------------------------------+ +| Value | Meaning | ++=======+========================================================+ +| 0 | Don't adjust the trims | ++-------+--------------------------------------------------------+ +| 1 | Assume first orientation was level | ++-------+--------------------------------------------------------+ +| 2 | Assume ACC_BODYFIX is perfectly aligned to the vehicle | ++-------+--------------------------------------------------------+ + + + + +.. _INS_ACC_BODYFIX: + +INS\_ACC\_BODYFIX: Body\-fixed accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The body\-fixed accelerometer to be used for trim calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | IMU 1 | ++-------+---------+ +| 2 | IMU 2 | ++-------+---------+ +| 3 | IMU 3 | ++-------+---------+ + + + + +.. _INS_POS1_X: + +INS\_POS1\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Y: + +INS\_POS1\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS1_Z: + +INS\_POS1\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_X: + +INS\_POS2\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the second IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Y: + +INS\_POS2\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the second IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS2_Z: + +INS\_POS2\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the second IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_X: + +INS\_POS3\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the third IMU accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+--------+ +| Range | Units | ++===========+========+ +| -10 to 10 | meters | ++-----------+--------+ + + + + +.. _INS_POS3_Y: + +INS\_POS3\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the third IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_POS3_Z: + +INS\_POS3\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the third IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS_GYR_ID: + +INS\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR2_ID: + +INS\_GYR2\_ID: Gyro2 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_GYR3_ID: + +INS\_GYR3\_ID: Gyro3 ID +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC_ID: + +INS\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC2_ID: + +INS\_ACC2\_ID: Accelerometer2 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer2 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_ACC3_ID: + +INS\_ACC3\_ID: Accelerometer3 ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer3 sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS_FAST_SAMPLE: + +INS\_FAST\_SAMPLE: Fast sampling mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of IMUs to enable fast sampling on\, if available + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | FirstIMU | ++-----+-----------+ +| 1 | SecondIMU | ++-----+-----------+ +| 2 | ThirdIMU | ++-----+-----------+ + + + + +.. _INS_ENABLE_MASK: + +INS\_ENABLE\_MASK: IMU enable mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of IMUs to enable\. It can be used to prevent startup of specific detected IMUs + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | FirstIMU | ++-----+------------+ +| 1 | SecondIMU | ++-----+------------+ +| 2 | ThirdIMU | ++-----+------------+ +| 3 | FourthIMU | ++-----+------------+ +| 4 | FifthIMU | ++-----+------------+ +| 5 | SixthIMU | ++-----+------------+ +| 6 | SeventhIMU | ++-----+------------+ + + + + +.. _INS_GYRO_RATE: + +INS\_GYRO\_RATE: Gyro rate for IMUs with Fast Sampling enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Gyro rate for IMUs with fast sampling enabled\. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency\. If the sensor does not support the selected rate the next highest supported rate will be used\. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 1kHz | ++-------+---------+ +| 1 | 2kHz | ++-------+---------+ +| 2 | 4kHz | ++-------+---------+ +| 3 | 8kHz | ++-------+---------+ + + + + +.. _INS_ACC1_CALTEMP: + +INS\_ACC1\_CALTEMP: Calibration temperature for 1st accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR1_CALTEMP: + +INS\_GYR1\_CALTEMP: Calibration temperature for 1st gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 1st gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC2_CALTEMP: + +INS\_ACC2\_CALTEMP: Calibration temperature for 2nd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR2_CALTEMP: + +INS\_GYR2\_CALTEMP: Calibration temperature for 2nd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 2nd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_ACC3_CALTEMP: + +INS\_ACC3\_CALTEMP: Calibration temperature for 3rd accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_GYR3_CALTEMP: + +INS\_GYR3\_CALTEMP: Calibration temperature for 3rd gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the 3rd gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS_TCAL_OPTIONS: + +INS\_TCAL\_OPTIONS: Options for temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This enables optional temperature calibration features\. Setting of the Persist bits will save the temperature and\/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | PersistTemps | ++-----+---------------+ +| 1 | PersistAccels | ++-----+---------------+ + + + + +.. _INS_RAW_LOG_OPT: + +INS\_RAW\_LOG\_OPT: Raw logging options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Raw logging options bitmask + + ++-----+-----------------------+ +| Bit | Meaning | ++=====+=======================+ +| 0 | Log primary gyro only | ++-----+-----------------------+ +| 1 | Log all gyros | ++-----+-----------------------+ +| 2 | Post filter | ++-----+-----------------------+ +| 3 | Pre and post filter | ++-----+-----------------------+ + + + + + +.. _parameters_INS4_: + +INS4\_ Parameters +----------------- + + +.. _INS4_USE: + +INS4\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS4_ACC_ID: + +INS4\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_ACCSCAL_X: + +INS4\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Y: + +INS4\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCSCAL_Z: + +INS4\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS4_ACCOFFS_X: + +INS4\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Y: + +INS4\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_ACCOFFS_Z: + +INS4\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS4_POS_X: + +INS4\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Y: + +INS4\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_POS_Z: + +INS4\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS4_ACC_CALTEMP: + +INS4\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS4_GYR_ID: + +INS4\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS4_GYROFFS_X: + +INS4\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Y: + +INS4\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYROFFS_Z: + +INS4\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS4_GYR_CALTEMP: + +INS4\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS4_TCAL_: + +INS4\_TCAL\_ Parameters +----------------------- + + +.. _INS4_TCAL_ENABLE: + +INS4\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS4_TCAL_TMIN: + +INS4\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_TMAX: + +INS4\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS4_TCAL_ACC1_X: + +INS4\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Y: + +INS4\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC1_Z: + +INS4\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_X: + +INS4\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Y: + +INS4\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC2_Z: + +INS4\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_X: + +INS4\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Y: + +INS4\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_ACC3_Z: + +INS4\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_X: + +INS4\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Y: + +INS4\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR1_Z: + +INS4\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_X: + +INS4\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Y: + +INS4\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR2_Z: + +INS4\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_X: + +INS4\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Y: + +INS4\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS4_TCAL_GYR3_Z: + +INS4\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS5_: + +INS5\_ Parameters +----------------- + + +.. _INS5_USE: + +INS5\_USE: Use first IMU for attitude\, velocity and position estimates +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Use first IMU for attitude\, velocity and position estimates + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS5_ACC_ID: + +INS5\_ACC\_ID: Accelerometer ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_ACCSCAL_X: + +INS5\_ACCSCAL\_X: Accelerometer scaling of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of X axis\. Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Y: + +INS5\_ACCSCAL\_Y: Accelerometer scaling of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Y axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCSCAL_Z: + +INS5\_ACCSCAL\_Z: Accelerometer scaling of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer scaling of Z axis Calculated during acceleration calibration routine + + ++-------------+------------+ +| Calibration | Range | ++=============+============+ +| 1 | 0.8 to 1.2 | ++-------------+------------+ + + + + +.. _INS5_ACCOFFS_X: + +INS5\_ACCOFFS\_X: Accelerometer offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of X axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Y: + +INS5\_ACCOFFS\_Y: Accelerometer offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Y axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_ACCOFFS_Z: + +INS5\_ACCOFFS\_Z: Accelerometer offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Accelerometer offsets of Z axis\. This is setup using the acceleration calibration or level operations + + ++-------------+-------------+--------------------------+ +| Calibration | Range | Units | ++=============+=============+==========================+ +| 1 | -3.5 to 3.5 | meters per square second | ++-------------+-------------+--------------------------+ + + + + +.. _INS5_POS_X: + +INS5\_POS\_X: IMU accelerometer X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the first IMU Accelerometer in body frame\. Positive X is forward of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Y: + +INS5\_POS\_Y: IMU accelerometer Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the first IMU accelerometer in body frame\. Positive Y is to the right of the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_POS_Z: + +INS5\_POS\_Z: IMU accelerometer Z position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the first IMU accelerometer in body frame\. Positive Z is down from the origin\. Attention\: The IMU should be located as close to the vehicle c\.g\. as practical so that the value of this parameter is minimised\. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise\. If the IMU cannot be moved and velocity noise is a problem\, a location closer to the IMU can be used as the body frame origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _INS5_ACC_CALTEMP: + +INS5\_ACC\_CALTEMP: Calibration temperature for accelerometer +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the accelerometer was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + +.. _INS5_GYR_ID: + +INS5\_GYR\_ID: Gyro ID +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor ID\, taking into account its type\, bus and instance + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _INS5_GYROFFS_X: + +INS5\_GYROFFS\_X: Gyro offsets of X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of X axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Y: + +INS5\_GYROFFS\_Y: Gyro offsets of Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Y axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYROFFS_Z: + +INS5\_GYROFFS\_Z: Gyro offsets of Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Gyro sensor offsets of Z axis\. This is setup on each boot during gyro calibrations + + ++-------------+--------------------+ +| Calibration | Units | ++=============+====================+ +| 1 | radians per second | ++-------------+--------------------+ + + + + +.. _INS5_GYR_CALTEMP: + +INS5\_GYR\_CALTEMP: Calibration temperature for gyroscope +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Temperature that the gyroscope was calibrated at + + ++-------------+-----------------+ +| Calibration | Units | ++=============+=================+ +| 1 | degrees Celsius | ++-------------+-----------------+ + + + + + +.. _parameters_INS5_TCAL_: + +INS5\_TCAL\_ Parameters +----------------------- + + +.. _INS5_TCAL_ENABLE: + +INS5\_TCAL\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS5_TCAL_TMIN: + +INS5\_TCAL\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_TMAX: + +INS5\_TCAL\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS5_TCAL_ACC1_X: + +INS5\_TCAL\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Y: + +INS5\_TCAL\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC1_Z: + +INS5\_TCAL\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_X: + +INS5\_TCAL\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Y: + +INS5\_TCAL\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC2_Z: + +INS5\_TCAL\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_X: + +INS5\_TCAL\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Y: + +INS5\_TCAL\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_ACC3_Z: + +INS5\_TCAL\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_X: + +INS5\_TCAL\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Y: + +INS5\_TCAL\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR1_Z: + +INS5\_TCAL\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_X: + +INS5\_TCAL\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Y: + +INS5\_TCAL\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR2_Z: + +INS5\_TCAL\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_X: + +INS5\_TCAL\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Y: + +INS5\_TCAL\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS5_TCAL_GYR3_Z: + +INS5\_TCAL\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_HNTC2_: + +INS\_HNTC2\_ Parameters +----------------------- + + +.. _INS_HNTC2_ENABLE: + +INS\_HNTC2\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTC2_FREQ: + +INS\_HNTC2\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTC2_BW: + +INS\_HNTC2\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTC2_ATT: + +INS\_HNTC2\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTC2_HMNCS: + +INS\_HNTC2\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTC2_REF: + +INS\_HNTC2\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTC2_MODE: + +INS\_HNTC2\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTC2_OPTS: + +INS\_HNTC2\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTC2_FM_RAT: + +INS\_HNTC2\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_HNTCH_: + +INS\_HNTCH\_ Parameters +----------------------- + + +.. _INS_HNTCH_ENABLE: + +INS\_HNTCH\_ENABLE: Harmonic Notch Filter enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter enable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _INS_HNTCH_FREQ: + +INS\_HNTCH\_FREQ: Harmonic Notch Filter base frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter base center frequency in Hz\. This is the center frequency for static notches\, the center frequency for Throttle based notches at the reference thrust value\, and the minimum limit of center frequency variation for all other notch types\. This should always be set lower than half the backend gyro rate \(which is typically 1Khz\)\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 10 to 495 | hertz | ++-----------+-------+ + + + + +.. _INS_HNTCH_BW: + +INS\_HNTCH\_BW: Harmonic Notch Filter bandwidth +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter bandwidth in Hz\. This is typically set to half the base frequency\. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 5 to 250 | hertz | ++----------+-------+ + + + + +.. _INS_HNTCH_ATT: + +INS\_HNTCH\_ATT: Harmonic Notch Filter attenuation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter attenuation in dB\. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 5 to 50 | decibel | ++---------+---------+ + + + + +.. _INS_HNTCH_HMNCS: + +INS\_HNTCH\_HMNCS: Harmonic Notch Filter harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of harmonic frequencies to apply Harmonic Notch Filter to\. This option takes effect on the next reboot\. A value of 0 disables this filter\. The first harmonic refers to the base frequency\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | 1st harmonic | ++-----+---------------+ +| 1 | 2nd harmonic | ++-----+---------------+ +| 2 | 3rd harmonic | ++-----+---------------+ +| 3 | 4th harmonic | ++-----+---------------+ +| 4 | 5th harmonic | ++-----+---------------+ +| 5 | 6th harmonic | ++-----+---------------+ +| 6 | 7th harmonic | ++-----+---------------+ +| 7 | 8th harmonic | ++-----+---------------+ +| 8 | 9th harmonic | ++-----+---------------+ +| 9 | 10th harmonic | ++-----+---------------+ +| 10 | 11th harmonic | ++-----+---------------+ +| 11 | 12th harmonic | ++-----+---------------+ +| 12 | 13th harmonic | ++-----+---------------+ +| 13 | 14th harmonic | ++-----+---------------+ +| 14 | 15th harmonic | ++-----+---------------+ +| 15 | 16th harmonic | ++-----+---------------+ + + + + +.. _INS_HNTCH_REF: + +INS\_HNTCH\_REF: Harmonic Notch Filter reference value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter\. For throttle\-based scaling\, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter\. For RPM and ESC telemetry based tracking\, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed\. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter\. This reference value may also be used to scale the sensor data\, if required\. For example\, rpm sensor data is required to measure heli motor RPM\. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM\. + + ++------------+ +| Range | ++============+ +| 0.0 to 1.0 | ++------------+ + + + + +.. _INS_HNTCH_MODE: + +INS\_HNTCH\_MODE: Harmonic Notch Filter dynamic frequency tracking mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Harmonic Notch Filter dynamic frequency tracking mode\. Dynamic updates can be throttle\, RPM sensor\, ESC telemetry or dynamic FFT based\. Throttle\-based harmonic notch cannot be used on fixed wing only planes\. It can for Copters\, QuaadPlane\(while in VTOL modes\)\, and Rovers\. + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Fixed | ++-------+-------------------+ +| 1 | Throttle | ++-------+-------------------+ +| 2 | RPM Sensor | ++-------+-------------------+ +| 3 | ESC Telemetry | ++-------+-------------------+ +| 4 | Dynamic FFT | ++-------+-------------------+ +| 5 | Second RPM Sensor | ++-------+-------------------+ + + + + ++--------+ +| Range | ++========+ +| 0 to 5 | ++--------+ + + + + +.. _INS_HNTCH_OPTS: + +INS\_HNTCH\_OPTS: Harmonic Notch Filter options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Harmonic Notch Filter options\. Triple and double\-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft\. Multi\-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency\, in the case of FFT it will attach notches to each of three detected noise peaks\, in the case of ESC it will attach notches to each of four motor RPM values\. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz\. If both double and triple notches are specified only double notches will take effect\. + + ++-----+------------------------------------+ +| Bit | Meaning | ++=====+====================================+ +| 0 | Double notch | ++-----+------------------------------------+ +| 1 | Multi-Source | ++-----+------------------------------------+ +| 2 | Update at loop rate | ++-----+------------------------------------+ +| 3 | EnableOnAllIMUs | ++-----+------------------------------------+ +| 4 | Triple notch | ++-----+------------------------------------+ +| 5 | Use min freq on RPM source failure | ++-----+------------------------------------+ + + + + +.. _INS_HNTCH_FM_RAT: + +INS\_HNTCH\_FM\_RAT: Throttle notch min freqency ratio +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle\. Note that lower frequency notch filters will have more phase lag\. If you want throttle based notch filtering to be effective at a throttle up to 30\% below the configured notch frequency then set this parameter to 0\.7\. The default of 1\.0 means the notch will not go below the frequency in the FREQ parameter\. + + ++------------+ +| Range | ++============+ +| 0.1 to 1.0 | ++------------+ + + + + + +.. _parameters_INS_LOG_: + +INS\_LOG\_ Parameters +--------------------- + + +.. _INS_LOG_BAT_CNT: + +INS\_LOG\_BAT\_CNT: sample count per batch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Number of samples to take when logging streams of IMU sensor readings\. Will be rounded down to a multiple of 32\. This option takes effect on the next reboot\. + + ++-----------+ +| Increment | ++===========+ +| 32 | ++-----------+ + + + + +.. _INS_LOG_BAT_MASK: + +INS\_LOG\_BAT\_MASK: Sensor Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmap of which IMUs to log batch data for\. This option takes effect on the next reboot\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | IMU1 | ++-----+---------+ +| 1 | IMU2 | ++-----+---------+ +| 2 | IMU3 | ++-----+---------+ + + + + +.. _INS_LOG_BAT_OPT: + +INS\_LOG\_BAT\_OPT: Batch Logging Options Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Options for the BatchSampler\. + + ++-----+-------------------------------------------------------------+ +| Bit | Meaning | ++=====+=============================================================+ +| 0 | Sensor-Rate Logging (sample at full sensor rate seen by AP) | ++-----+-------------------------------------------------------------+ +| 1 | Sample post-filtering | ++-----+-------------------------------------------------------------+ +| 2 | Sample pre- and post-filter | ++-----+-------------------------------------------------------------+ + + + + +.. _INS_LOG_BAT_LGIN: + +INS\_LOG\_BAT\_LGIN: logging interval +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Interval between pushing samples to the AP\_Logger log + + ++-----------+--------------+ +| Increment | Units | ++===========+==============+ +| 10 | milliseconds | ++-----------+--------------+ + + + + +.. _INS_LOG_BAT_LGCT: + +INS\_LOG\_BAT\_LGCT: logging count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of samples to push to count every INS\_LOG\_BAT\_LGIN + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + + +.. _parameters_INS_TCAL1_: + +INS\_TCAL1\_ Parameters +----------------------- + + +.. _INS_TCAL1_ENABLE: + +INS\_TCAL1\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL1_TMIN: + +INS\_TCAL1\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_TMAX: + +INS\_TCAL1\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL1_ACC1_X: + +INS\_TCAL1\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Y: + +INS\_TCAL1\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC1_Z: + +INS\_TCAL1\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_X: + +INS\_TCAL1\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Y: + +INS\_TCAL1\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC2_Z: + +INS\_TCAL1\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_X: + +INS\_TCAL1\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Y: + +INS\_TCAL1\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_ACC3_Z: + +INS\_TCAL1\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_X: + +INS\_TCAL1\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Y: + +INS\_TCAL1\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR1_Z: + +INS\_TCAL1\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_X: + +INS\_TCAL1\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Y: + +INS\_TCAL1\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR2_Z: + +INS\_TCAL1\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_X: + +INS\_TCAL1\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Y: + +INS\_TCAL1\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL1_GYR3_Z: + +INS\_TCAL1\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL2_: + +INS\_TCAL2\_ Parameters +----------------------- + + +.. _INS_TCAL2_ENABLE: + +INS\_TCAL2\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL2_TMIN: + +INS\_TCAL2\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_TMAX: + +INS\_TCAL2\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL2_ACC1_X: + +INS\_TCAL2\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Y: + +INS\_TCAL2\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC1_Z: + +INS\_TCAL2\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_X: + +INS\_TCAL2\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Y: + +INS\_TCAL2\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC2_Z: + +INS\_TCAL2\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_X: + +INS\_TCAL2\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Y: + +INS\_TCAL2\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_ACC3_Z: + +INS\_TCAL2\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_X: + +INS\_TCAL2\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Y: + +INS\_TCAL2\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR1_Z: + +INS\_TCAL2\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_X: + +INS\_TCAL2\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Y: + +INS\_TCAL2\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR2_Z: + +INS\_TCAL2\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_X: + +INS\_TCAL2\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Y: + +INS\_TCAL2\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL2_GYR3_Z: + +INS\_TCAL2\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_INS_TCAL3_: + +INS\_TCAL3\_ Parameters +----------------------- + + +.. _INS_TCAL3_ENABLE: + +INS\_TCAL3\_ENABLE: Enable temperature calibration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable the use of temperature calibration parameters for this IMU\. For automatic learning set to 2 and also set the INS\_TCALn\_TMAX to the target temperature\, then reboot + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Enabled | ++-------+------------------+ +| 2 | LearnCalibration | ++-------+------------------+ + + + + +.. _INS_TCAL3_TMIN: + +INS\_TCAL3\_TMIN: Temperature calibration min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The minimum temperature that the calibration is valid for + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_TMAX: + +INS\_TCAL3\_TMAX: Temperature calibration max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The maximum temperature that the calibration is valid for\. This must be at least 10 degrees above TMIN for calibration + + ++-------------+-----------+-----------------+ +| Calibration | Range | Units | ++=============+===========+=================+ +| 1 | -70 to 80 | degrees Celsius | ++-------------+-----------+-----------------+ + + + + +.. _INS_TCAL3_ACC1_X: + +INS\_TCAL3\_ACC1\_X: Accelerometer 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Y: + +INS\_TCAL3\_ACC1\_Y: Accelerometer 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC1_Z: + +INS\_TCAL3\_ACC1\_Z: Accelerometer 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_X: + +INS\_TCAL3\_ACC2\_X: Accelerometer 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Y: + +INS\_TCAL3\_ACC2\_Y: Accelerometer 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC2_Z: + +INS\_TCAL3\_ACC2\_Z: Accelerometer 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_X: + +INS\_TCAL3\_ACC3\_X: Accelerometer 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Y: + +INS\_TCAL3\_ACC3\_Y: Accelerometer 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_ACC3_Z: + +INS\_TCAL3\_ACC3\_Z: Accelerometer 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_X: + +INS\_TCAL3\_GYR1\_X: Gyroscope 1st order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Y: + +INS\_TCAL3\_GYR1\_Y: Gyroscope 1st order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR1_Z: + +INS\_TCAL3\_GYR1\_Z: Gyroscope 1st order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 1st order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_X: + +INS\_TCAL3\_GYR2\_X: Gyroscope 2nd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Y: + +INS\_TCAL3\_GYR2\_Y: Gyroscope 2nd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR2_Z: + +INS\_TCAL3\_GYR2\_Z: Gyroscope 2nd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 2nd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_X: + +INS\_TCAL3\_GYR3\_X: Gyroscope 3rd order temperature coefficient X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Y: + +INS\_TCAL3\_GYR3\_Y: Gyroscope 3rd order temperature coefficient Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + +.. _INS_TCAL3_GYR3_Z: + +INS\_TCAL3\_GYR3\_Z: Gyroscope 3rd order temperature coefficient Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This is the 3rd order temperature coefficient from a temperature calibration + + ++-------------+ +| Calibration | ++=============+ +| 1 | ++-------------+ + + + + + +.. _parameters_KDE_: + +KDE\_ Parameters +---------------- + + +.. _KDE_NPOLE: + +KDE\_NPOLE: Number of motor poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the number of motor poles to calculate the correct RPM value + + + +.. _parameters_LOG: + +LOG Parameters +-------------- + + +.. _LOG_BACKEND_TYPE: + +LOG\_BACKEND\_TYPE: AP\_Logger Backend Storage type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmap of what Logger backend types to enable\. Block\-based logging is available on SITL and boards with dataflash chips\. Multiple backends can be selected\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | File | ++-----+---------+ +| 1 | MAVLink | ++-----+---------+ +| 2 | Block | ++-----+---------+ + + + + +.. _LOG_FILE_BUFSIZE: + +LOG\_FILE\_BUFSIZE: Maximum AP\_Logger File and Block Backend buffer size \(in kilobytes\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The File and Block backends use a buffer to store data before writing to the block device\. Raising this value may reduce \"gaps\" in your SD card logging\. This buffer size may be reduced depending on available memory\. PixHawk requires at least 4 kilobytes\. Maximum value available here is 64 kilobytes\. + + +.. _LOG_DISARMED: + +LOG\_DISARMED: Enable logging while disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_DISARMED is set to 1 then logging will be enabled at all times including when disarmed\. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG\_REPLAY parameter\. If LOG\_DISARMED is set to 2\, then logging will be enabled when disarmed\, but not if a USB connection is detected\. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes\. If LOG\_DISARMED is set to 3 then logging will happen while disarmed\, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| 0 | Disabled | ++-------+--------------------------------------+ +| 1 | Enabled | ++-------+--------------------------------------+ +| 2 | Disabled on USB connection | ++-------+--------------------------------------+ +| 3 | Discard log on reboot if never armed | ++-------+--------------------------------------+ + + + + +.. _LOG_REPLAY: + +LOG\_REPLAY: Enable logging of information needed for Replay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If LOG\_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter\. LOG\_DISARMED must be set to 1 or 2 or else the log will not contain the pre\-flight data required for replay testing of the EKF\'s\. It is suggested that you also raise LOG\_FILE\_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_FILE_DSRMROT: + +LOG\_FILE\_DSRMROT: Stop logging to current file on disarm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set\, the current log file is closed when the vehicle is disarmed\. If LOG\_DISARMED is set then a fresh log will be opened\. Applies to the File and Block logging backends\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _LOG_MAV_BUFSIZE: + +LOG\_MAV\_BUFSIZE: Maximum AP\_Logger MAVLink Backend buffer size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum amount of memory to allocate to AP\_Logger\-over\-mavlink + + ++-----------+ +| Units | ++===========+ +| kilobytes | ++-----------+ + + + + +.. _LOG_FILE_TIMEOUT: + +LOG\_FILE\_TIMEOUT: Timeout before giving up on file writes +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped\. + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _LOG_FILE_MB_FREE: + +LOG\_FILE\_MB\_FREE: Old logs on the SD card will be deleted to maintain this amount of free space +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set this such that the free space is larger than your largest typical flight log + + ++------------+----------+ +| Range | Units | ++============+==========+ +| 10 to 1000 | megabyte | ++------------+----------+ + + + + +.. _LOG_FILE_RATEMAX: + +LOG\_FILE\_RATEMAX: Maximum logging rate for file backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the file backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAV_RATEMAX: + +LOG\_MAV\_RATEMAX: Maximum logging rate for mavlink backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the mavlink backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_BLK_RATEMAX: + +LOG\_BLK\_RATEMAX: Maximum logging rate for block backend +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to the block backend\. A value of zero means that rate limiting is disabled\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_DARM_RATEMAX: + +LOG\_DARM\_RATEMAX: Maximum logging rate when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the maximum rate that streaming log messages will be logged to any backend when disarmed\. A value of zero means that the normal backend rate limit is applied\. + + ++-----------+-----------+-------+ +| Increment | Range | Units | ++===========+===========+=======+ +| 0.1 | 0 to 1000 | hertz | ++-----------+-----------+-------+ + + + + +.. _LOG_MAX_FILES: + +LOG\_MAX\_FILES: Maximum number of log files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number\. Limit is capped at 500 logs\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 2 to 500 | ++-----------+----------+ + + + + + +.. _parameters_MIS_: + +MIS\_ Parameters +---------------- + + +.. _MIS_TOTAL: + +MIS\_TOTAL: Total mission commands +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number of mission mission items that has been loaded by the ground station\. Do not change this manually\. + + ++-----------+------------+----------+ +| Increment | Range | ReadOnly | ++===========+============+==========+ +| 1 | 0 to 32766 | True | ++-----------+------------+----------+ + + + + +.. _MIS_RESTART: + +MIS\_RESTART: Mission Restart when entering Auto mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls mission starting point when entering Auto mode \(either restart from beginning of mission or resume from last command run\) + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | Resume Mission | ++-------+-----------------+ +| 1 | Restart Mission | ++-------+-----------------+ + + + + +.. _MIS_OPTIONS: + +MIS\_OPTIONS: Mission options bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of what options to use in missions\. + + ++-----+-------------------------+ +| Bit | Meaning | ++=====+=========================+ +| 0 | Clear Mission on reboot | ++-----+-------------------------+ + + + + + +.. _parameters_MNT1: + +MNT1 Parameters +--------------- + + +.. _MNT1_TYPE: + +MNT1\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT1_DEFLT_MODE: + +MNT1\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT1_RC_RATE: + +MNT1\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT1_ROLL_MIN: + +MNT1\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_ROLL_MAX: + +MNT1\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_PITCH_MIN: + +MNT1\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_PITCH_MAX: + +MNT1\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT1_YAW_MIN: + +MNT1\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_YAW_MAX: + +MNT1\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT1_RETRACT_X: + +MNT1\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Y: + +MNT1\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_RETRACT_Z: + +MNT1\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_X: + +MNT1\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Y: + +MNT1\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_NEUTRAL_Z: + +MNT1\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT1_LEAD_RLL: + +MNT1\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_LEAD_PTCH: + +MNT1\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT1_SYSID_DFLT: + +MNT1\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT1_DEVID: + +MNT1\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT1_OPTIONS: + +MNT1\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MNT2: + +MNT2 Parameters +--------------- + + +.. _MNT2_TYPE: + +MNT2\_TYPE: Mount Type +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Mount Type + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Servo | ++-------+-----------------+ +| 2 | 3DR Solo | ++-------+-----------------+ +| 3 | Alexmos Serial | ++-------+-----------------+ +| 4 | SToRM32 MAVLink | ++-------+-----------------+ +| 5 | SToRM32 Serial | ++-------+-----------------+ +| 6 | Gremsy | ++-------+-----------------+ +| 7 | BrushlessPWM | ++-------+-----------------+ +| 8 | Siyi | ++-------+-----------------+ +| 9 | Scripting | ++-------+-----------------+ +| 10 | Xacti | ++-------+-----------------+ +| 11 | Viewpro | ++-------+-----------------+ +| 12 | Topotek | ++-------+-----------------+ + + + + +.. _MNT2_DEFLT_MODE: + +MNT2\_DEFLT\_MODE: Mount default operating mode +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount default operating mode on startup and after control is returned from autopilot + + ++-------+-------------------+ +| Value | Meaning | ++=======+===================+ +| 0 | Retracted | ++-------+-------------------+ +| 1 | Neutral | ++-------+-------------------+ +| 2 | MavLink Targeting | ++-------+-------------------+ +| 3 | RC Targeting | ++-------+-------------------+ +| 4 | GPS Point | ++-------+-------------------+ +| 5 | SysID Target | ++-------+-------------------+ +| 6 | Home Location | ++-------+-------------------+ + + + + +.. _MNT2_RC_RATE: + +MNT2\_RC\_RATE: Mount RC Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pilot rate control\'s maximum rate\. Set to zero to use angle control + + ++-----------+---------+--------------------+ +| Increment | Range | Units | ++===========+=========+====================+ +| 1 | 0 to 90 | degrees per second | ++-----------+---------+--------------------+ + + + + +.. _MNT2_ROLL_MIN: + +MNT2\_ROLL\_MIN: Mount Roll angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_ROLL_MAX: + +MNT2\_ROLL\_MAX: Mount Roll angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Roll angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_PITCH_MIN: + +MNT2\_PITCH\_MIN: Mount Pitch angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle minimum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_PITCH_MAX: + +MNT2\_PITCH\_MAX: Mount Pitch angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Pitch angle maximum + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _MNT2_YAW_MIN: + +MNT2\_YAW\_MIN: Mount Yaw angle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle minimum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_YAW_MAX: + +MNT2\_YAW\_MAX: Mount Yaw angle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount Yaw angle maximum + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 1 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _MNT2_RETRACT_X: + +MNT2\_RETRACT\_X: Mount roll angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Y: + +MNT2\_RETRACT\_Y: Mount pitch angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_RETRACT_Z: + +MNT2\_RETRACT\_Z: Mount yaw angle when in retracted position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in retracted position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_X: + +MNT2\_NEUTRAL\_X: Mount roll angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount roll angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Y: + +MNT2\_NEUTRAL\_Y: Mount pitch angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount pitch angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_NEUTRAL_Z: + +MNT2\_NEUTRAL\_Z: Mount yaw angle when in neutral position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount yaw angle when in neutral position + + ++-----------+-----------------+---------+ +| Increment | Range | Units | ++===========+=================+=========+ +| 1 | -180.0 to 180.0 | degrees | ++-----------+-----------------+---------+ + + + + +.. _MNT2_LEAD_RLL: + +MNT2\_LEAD\_RLL: Mount Roll stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_LEAD_PTCH: + +MNT2\_LEAD\_PTCH: Mount Pitch stabilization lead time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate\. Increase until the servo is responsive but does not overshoot + + ++-----------+------------+---------+ +| Increment | Range | Units | ++===========+============+=========+ +| .005 | 0.0 to 0.2 | seconds | ++-----------+------------+---------+ + + + + +.. _MNT2_SYSID_DFLT: + +MNT2\_SYSID\_DFLT: Mount Target sysID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Default Target sysID for the mount to point to + + +.. _MNT2_DEVID: + +MNT2\_DEVID: Mount Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mount device ID\, taking into account its type\, bus and instance + + +.. _MNT2_OPTIONS: + +MNT2\_OPTIONS: Mount options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mount options bitmask + + ++-----+----------------------------------+ +| Bit | Meaning | ++=====+==================================+ +| 0 | RC lock state from previous mode | ++-----+----------------------------------+ + + + + + +.. _parameters_MOT_: + +MOT\_ Parameters +---------------- + + +.. _MOT_PWM_TYPE: + +MOT\_PWM\_TYPE: Motor Output PWM type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This selects the output PWM type as regular PWM\, OneShot\, Brushed motor support using PWM \(duty cycle\) with separated direction signal\, Brushed motor support with separate throttle and direction PWM \(duty cyle\) + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Normal | ++-------+------------------+ +| 1 | OneShot | ++-------+------------------+ +| 2 | OneShot125 | ++-------+------------------+ +| 3 | BrushedWithRelay | ++-------+------------------+ +| 4 | BrushedBiPolar | ++-------+------------------+ +| 5 | DShot150 | ++-------+------------------+ +| 6 | DShot300 | ++-------+------------------+ +| 7 | DShot600 | ++-------+------------------+ +| 8 | DShot1200 | ++-------+------------------+ + + + + +.. _MOT_PWM_FREQ: + +MOT\_PWM\_FREQ: Motor Output PWM freq for brushed motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Motor Output PWM freq for brushed motors + + ++-----------+---------+-----------+ +| Increment | Range | Units | ++===========+=========+===========+ +| 1 | 1 to 20 | kilohertz | ++-----------+---------+-----------+ + + + + +.. _MOT_SAFE_DISARM: + +MOT\_SAFE\_DISARM: Motor PWM output disabled when disarmed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables motor PWM output when disarmed + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | PWM enabled while disarmed | ++-------+-----------------------------+ +| 1 | PWM disabled while disarmed | ++-------+-----------------------------+ + + + + +.. _MOT_THR_MIN: + +MOT\_THR\_MIN: Throttle minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle minimum percentage the autopilot will apply\. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 20 | percent | ++-----------+---------+---------+ + + + + +.. _MOT_THR_MAX: + +MOT\_THR\_MAX: Throttle maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle maximum percentage the autopilot will apply\. This can be used to prevent overheating an ESC or motor on an electric rover + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 1 | 30 to 100 | percent | ++-----------+-----------+---------+ + + + + +.. _MOT_SLEWRATE: + +MOT\_SLEWRATE: Throttle slew rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Throttle slew rate as a percentage of total range per second\. A value of 100 allows the motor to change over its full range in one second\. A value of zero disables the limit\. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts\. + + ++-----------+-----------+--------------------+ +| Increment | Range | Units | ++===========+===========+====================+ +| 1 | 0 to 1000 | percent per second | ++-----------+-----------+--------------------+ + + + + +.. _MOT_THST_EXPO: + +MOT\_THST\_EXPO: Thrust Curve Expo +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Thrust curve exponent \(\-1 to \+1 with 0 being linear\) + + ++-------------+ +| Range | ++=============+ +| -1.0 to 1.0 | ++-------------+ + + + + +.. _MOT_SPD_SCA_BASE: + +MOT\_SPD\_SCA\_BASE: Motor speed scaling base speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Speed above which steering is scaled down when using regular steering\/throttle vehicles\. zero to disable speed scaling + + ++---------+-------------------+ +| Range | Units | ++=========+===================+ +| 0 to 10 | meters per second | ++---------+-------------------+ + + + + +.. _MOT_STR_THR_MIX: + +MOT\_STR\_THR\_MIX: Motor steering vs throttle prioritisation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Steering vs Throttle priorisation\. Higher numbers prioritise steering\, lower numbers prioritise throttle\. Only valid for Skid Steering vehicles + + ++------------+ +| Range | ++============+ +| 0.2 to 1.0 | ++------------+ + + + + +.. _MOT_VEC_ANGLEMAX: + +MOT\_VEC\_ANGLEMAX: Vector thrust angle max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The angle between steering\'s middle position and maximum position when using vectored thrust \(boats only\) + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 90 | degrees | ++---------+---------+ + + + + +.. _MOT_THST_ASYM: + +MOT\_THST\_ASYM: Motor Thrust Asymmetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Thrust Asymetry\. Used for skid\-steering\. 2\.0 means your motors move twice as fast forward than they do backwards\. + + ++-------------+ +| Range | ++=============+ +| 1.0 to 10.0 | ++-------------+ + + + + + +.. _parameters_MSP: + +MSP Parameters +-------------- + + +.. _MSP_OSD_NCELLS: + +MSP\_OSD\_NCELLS: Cell count override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Used for average cell voltage calculation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Auto | ++-------+---------+ +| 1 | 1 | ++-------+---------+ +| 2 | 2 | ++-------+---------+ +| 3 | 3 | ++-------+---------+ +| 4 | 4 | ++-------+---------+ +| 5 | 5 | ++-------+---------+ +| 6 | 6 | ++-------+---------+ +| 7 | 7 | ++-------+---------+ +| 8 | 8 | ++-------+---------+ +| 9 | 9 | ++-------+---------+ +| 10 | 10 | ++-------+---------+ +| 11 | 11 | ++-------+---------+ +| 12 | 12 | ++-------+---------+ +| 13 | 13 | ++-------+---------+ +| 14 | 14 | ++-------+---------+ + + + + +.. _MSP_OPTIONS: + +MSP\_OPTIONS: MSP OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +A bitmask to set some MSP specific options\: EnableTelemetryMode\-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot\, EnableBTFLFonts\-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts\. + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | EnableTelemetryMode | ++-----+---------------------+ +| 1 | unused | ++-----+---------------------+ +| 2 | EnableBTFLFonts | ++-----+---------------------+ + + + + + +.. _parameters_NET_: + +NET\_ Parameters +---------------- + + +.. _NET_ENABLE: + +NET\_ENABLE: Networking Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking Enable + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_NETMASK: + +NET\_NETMASK: IP Subnet mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Allows setting static subnet mask\. The value is a count of consecutive bits\. Examples\: 24 \= 255\.255\.255\.0\, 16 \= 255\.255\.0\.0 + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + +.. _NET_DHCP: + +NET\_DHCP: DHCP client +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable DHCP client + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _NET_TESTS: + +NET\_TESTS: Test enable flags +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable\/Disable networking tests + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 0 | UDP echo test | ++-----+------------------+ +| 1 | TCP echo test | ++-----+------------------+ +| 2 | TCP discard test | ++-----+------------------+ +| 3 | TCP reflect test | ++-----+------------------+ + + + + +.. _NET_OPTIONS: + +NET\_OPTIONS: Networking options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networking options + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | EnablePPP Ethernet gateway | ++-----+-------------------------------+ +| 1 | Enable CAN1 multicast gateway | ++-----+-------------------------------+ +| 2 | Enable CAN2 multicast gateway | ++-----+-------------------------------+ + + + + + +.. _parameters_NET_GWADDR: + +NET\_GWADDR Parameters +---------------------- + + +.. _NET_GWADDR0: + +NET\_GWADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR1: + +NET\_GWADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR2: + +NET\_GWADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_GWADDR3: + +NET\_GWADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_IPADDR: + +NET\_IPADDR Parameters +---------------------- + + +.. _NET_IPADDR0: + +NET\_IPADDR0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR1: + +NET\_IPADDR1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR2: + +NET\_IPADDR2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_IPADDR3: + +NET\_IPADDR3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_MACADDR: + +NET\_MACADDR Parameters +----------------------- + + +.. _NET_MACADDR0: + +NET\_MACADDR0: MAC Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 1st byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR1: + +NET\_MACADDR1: MAC Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 2nd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR2: + +NET\_MACADDR2: MAC Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 3rd byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR3: + +NET\_MACADDR3: MAC Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 4th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR4: + +NET\_MACADDR4: MAC Address 5th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 5th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_MACADDR5: + +NET\_MACADDR5: MAC Address 6th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAC address 6th byte + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P1_: + +NET\_P1\_ Parameters +-------------------- + + +.. _NET_P1_TYPE: + +NET\_P1\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P1_PROTOCOL: + +NET\_P1\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P1_PORT: + +NET\_P1\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P1_IP: + +NET\_P1\_IP Parameters +---------------------- + + +.. _NET_P1_IP0: + +NET\_P1\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP1: + +NET\_P1\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP2: + +NET\_P1\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P1_IP3: + +NET\_P1\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P2_: + +NET\_P2\_ Parameters +-------------------- + + +.. _NET_P2_TYPE: + +NET\_P2\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P2_PROTOCOL: + +NET\_P2\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P2_PORT: + +NET\_P2\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P2_IP: + +NET\_P2\_IP Parameters +---------------------- + + +.. _NET_P2_IP0: + +NET\_P2\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP1: + +NET\_P2\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP2: + +NET\_P2\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P2_IP3: + +NET\_P2\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P3_: + +NET\_P3\_ Parameters +-------------------- + + +.. _NET_P3_TYPE: + +NET\_P3\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P3_PROTOCOL: + +NET\_P3\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P3_PORT: + +NET\_P3\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P3_IP: + +NET\_P3\_IP Parameters +---------------------- + + +.. _NET_P3_IP0: + +NET\_P3\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP1: + +NET\_P3\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP2: + +NET\_P3\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P3_IP3: + +NET\_P3\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_P4_: + +NET\_P4\_ Parameters +-------------------- + + +.. _NET_P4_TYPE: + +NET\_P4\_TYPE: Port type +~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port type for network serial port\. For the two client types a valid destination IP address must be set\. For the two server types either 0\.0\.0\.0 or a local address can be used\. The UDP client type will use broadcast if the IP is set to 255\.255\.255\.255 and will use UDP multicast if the IP is in the multicast address range\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | UDP client | ++-------+------------+ +| 2 | UDP server | ++-------+------------+ +| 3 | TCP client | ++-------+------------+ +| 4 | TCP server | ++-------+------------+ + + + + +.. _NET_P4_PROTOCOL: + +NET\_P4\_PROTOCOL: Protocol +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Networked serial port protocol + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _NET_P4_PORT: + +NET\_P4\_PORT: Port number +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Port number + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_NET_P4_IP: + +NET\_P4\_IP Parameters +---------------------- + + +.. _NET_P4_IP0: + +NET\_P4\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP1: + +NET\_P4\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP2: + +NET\_P4\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_P4_IP3: + +NET\_P4\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_REMPPP_IP: + +NET\_REMPPP\_IP Parameters +-------------------------- + + +.. _NET_REMPPP_IP0: + +NET\_REMPPP\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP1: + +NET\_REMPPP\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP2: + +NET\_REMPPP\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_REMPPP_IP3: + +NET\_REMPPP\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NET_TEST_IP: + +NET\_TEST\_IP Parameters +------------------------ + + +.. _NET_TEST_IP0: + +NET\_TEST\_IP0: IPv4 Address 1st byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: 192\.xxx\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP1: + +NET\_TEST\_IP1: IPv4 Address 2nd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.168\.xxx\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP2: + +NET\_TEST\_IP2: IPv4 Address 3rd byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.13\.xxx + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _NET_TEST_IP3: + +NET\_TEST\_IP3: IPv4 Address 4th byte +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +IPv4 address\. Example\: xxx\.xxx\.xxx\.14 + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _parameters_NMEA_: + +NMEA\_ Parameters +----------------- + + +.. _NMEA_RATE_MS: + +NMEA\_RATE\_MS: NMEA Output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +NMEA Output rate\. This controls the interval at which all the enabled NMEA messages are sent\. Most NMEA systems expect 100ms \(10Hz\) or slower\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 1 | 20 to 2000 | milliseconds | ++-----------+------------+--------------+ + + + + +.. _NMEA_MSG_EN: + +NMEA\_MSG\_EN: Messages Enable bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This is a bitmask of enabled NMEA messages\. All messages will be sent consecutively at the same rate interval + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | GPGGA | ++-----+---------+ +| 1 | GPRMC | ++-----+---------+ +| 2 | PASHR | ++-----+---------+ + + + + + +.. _parameters_NTF_: + +NTF\_ Parameters +---------------- + + +.. _NTF_LED_BRIGHT: + +NTF\_LED\_BRIGHT: LED Brightness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Select the RGB LED brightness level\. When USB is connected brightness will never be higher than low regardless of the setting\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Off | ++-------+---------+ +| 1 | Low | ++-------+---------+ +| 2 | Medium | ++-------+---------+ +| 3 | High | ++-------+---------+ + + + + +.. _NTF_BUZZ_TYPES: + +NTF\_BUZZ\_TYPES: Buzzer Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of Buzzer will be enabled + + ++-----+-----------------+ +| Bit | Meaning | ++=====+=================+ +| 0 | Built-in buzzer | ++-----+-----------------+ +| 1 | DShot | ++-----+-----------------+ +| 2 | DroneCAN | ++-----+-----------------+ + + + + +.. _NTF_LED_OVERRIDE: + +NTF\_LED\_OVERRIDE: Specifies colour source for the RGBLed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the source for the colours and brightness for the LED\. OutbackChallenge conforms to the MedicalExpress \(https\:\/\/uavchallenge\.org\/medical\-express\/\) rules\, essentially \"Green\" is disarmed \(safe\-to\-approach\)\, \"Red\" is armed \(not safe\-to\-approach\)\. Traffic light is a simplified color set\, red when armed\, yellow when the safety switch is not surpressing outputs \(but disarmed\)\, and green when outputs are surpressed and disarmed\, the LED will blink faster if disarmed and failing arming checks\. + + ++-------+-----------------------------+ +| Value | Meaning | ++=======+=============================+ +| 0 | Standard | ++-------+-----------------------------+ +| 1 | MAVLink/Scripting/AP_Periph | ++-------+-----------------------------+ +| 2 | OutbackChallenge | ++-------+-----------------------------+ +| 3 | TrafficLight | ++-------+-----------------------------+ + + + + +.. _NTF_DISPLAY_TYPE: + +NTF\_DISPLAY\_TYPE: Type of on\-board I2C display +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets up the type of on\-board I2C display\. Disabled by default\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | ssd1306 | ++-------+---------+ +| 2 | sh1106 | ++-------+---------+ +| 10 | SITL | ++-------+---------+ + + + + +.. _NTF_OREO_THEME: + +NTF\_OREO\_THEME: OreoLED Theme +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable\/Disable Solo Oreo LED driver\, 0 to disable\, 1 for Aircraft theme\, 2 for Rover theme + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Aircraft | ++-------+----------+ +| 2 | Rover | ++-------+----------+ + + + + +.. _NTF_BUZZ_PIN: + +NTF\_BUZZ\_PIN: Buzzer pin +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enables to connect active buzzer to arbitrary pin\. Requires 3\-pin buzzer or additional MOSFET\! Some the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ + + + + +.. _NTF_LED_TYPES: + +NTF\_LED\_TYPES: LED Driver Types +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Controls what types of LEDs will be enabled + + ++-----+---------------------+ +| Bit | Meaning | ++=====+=====================+ +| 0 | Built-in LED | ++-----+---------------------+ +| 1 | Internal ToshibaLED | ++-----+---------------------+ +| 2 | External ToshibaLED | ++-----+---------------------+ +| 3 | External PCA9685 | ++-----+---------------------+ +| 4 | Oreo LED | ++-----+---------------------+ +| 5 | DroneCAN | ++-----+---------------------+ +| 6 | NCP5623 External | ++-----+---------------------+ +| 7 | NCP5623 Internal | ++-----+---------------------+ +| 8 | NeoPixel | ++-----+---------------------+ +| 9 | ProfiLED | ++-----+---------------------+ +| 10 | Scripting | ++-----+---------------------+ +| 11 | DShot | ++-----+---------------------+ +| 12 | ProfiLED_SPI | ++-----+---------------------+ +| 13 | LP5562 External | ++-----+---------------------+ +| 14 | LP5562 Internal | ++-----+---------------------+ +| 15 | IS31FL3195 External | ++-----+---------------------+ +| 16 | IS31FL3195 Internal | ++-----+---------------------+ +| 17 | DiscreteRGB | ++-----+---------------------+ +| 18 | NeoPixelRGB | ++-----+---------------------+ + + + + +.. _NTF_BUZZ_ON_LVL: + +NTF\_BUZZ\_ON\_LVL: Buzzer\-on pin logic level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies pin level that indicates buzzer should play + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | LowIsOn | ++-------+----------+ +| 1 | HighIsOn | ++-------+----------+ + + + + +.. _NTF_BUZZ_VOLUME: + +NTF\_BUZZ\_VOLUME: Buzzer volume +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control the volume of the buzzer + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _NTF_LED_LEN: + +NTF\_LED\_LEN: Serial LED String Length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +The number of Serial LED\'s to use for notifications \(NeoPixel\'s and ProfiLED\) + + ++---------+ +| Range | ++=========+ +| 1 to 32 | ++---------+ + + + + + +.. _parameters_OA_: + +OA\_ Parameters +--------------- + + +.. _OA_TYPE: + +OA\_TYPE: Object Avoidance Path Planning algorithm to use +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enabled\/disable path planning around obstacles + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | Disabled | ++-------+--------------------------+ +| 1 | BendyRuler | ++-------+--------------------------+ +| 2 | Dijkstra | ++-------+--------------------------+ +| 3 | Dijkstra with BendyRuler | ++-------+--------------------------+ + + + + +.. _OA_MARGIN_MAX: + +OA\_MARGIN\_MAX: Object Avoidance wide margin distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will ignore objects more than this many meters from vehicle + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0.1 to 100 | meters | ++-----------+------------+--------+ + + + + +.. _OA_OPTIONS: + +OA\_OPTIONS: Options while recovering from Object Avoidance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance \(i\.e Avoidance is turned off after the path ahead is clear\)\. + + ++-----+----------------------------------------------------------+ +| Bit | Meaning | ++=====+==========================================================+ +| 0 | Reset the origin of the waypoint to the present location | ++-----+----------------------------------------------------------+ +| 1 | log Dijkstra points | ++-----+----------------------------------------------------------+ + + + + + +.. _parameters_OA_BR_: + +OA\_BR\_ Parameters +------------------- + + +.. _OA_BR_LOOKAHEAD: + +OA\_BR\_LOOKAHEAD: Object Avoidance look ahead distance maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Object Avoidance will look this many meters ahead of vehicle + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 1 | 1 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _OA_BR_CONT_RATIO: + +OA\_BR\_CONT\_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle \(or fence\) to present calculated margin is atleast this much\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.1 | 1.1 to 2 | ++-----------+----------+ + + + + +.. _OA_BR_CONT_ANGLE: + +OA\_BR\_CONT\_ANGLE: BendyRuler\'s bearing change resistance threshold angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + + BendyRuler will resist changing current bearing if the change in bearing is over this angle + + ++-----------+-----------+ +| Increment | Range | ++===========+===========+ +| 5 | 20 to 180 | ++-----------+-----------+ + + + + + +.. _parameters_OA_DB_: + +OA\_DB\_ Parameters +------------------- + + +.. _OA_DB_SIZE: + +OA\_DB\_SIZE: OADatabase maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase maximum number of points\. Set to 0 to disable the OA Database\. Larger means more points but is more cpu intensive to process + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _OA_DB_EXPIRE: + +OA\_DB\_EXPIRE: OADatabase item timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase item timeout\. The time an item will linger without any updates before it expires\. Zero means never expires which is useful for a sent\-once static environment but terrible for dynamic ones\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 127 | seconds | ++-----------+----------+---------+ + + + + +.. _OA_DB_QUEUE_SIZE: + +OA\_DB\_QUEUE\_SIZE: OADatabase queue maximum number of points +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +OADatabase queue maximum number of points\. This in an input buffer size\. Larger means it can handle larger bursts of incoming data points to filter into the database\. No impact on cpu\, only RAM\. Recommend larger for faster datalinks or for sensors that generate a lot of data\. + + ++----------+ +| Range | ++==========+ +| 1 to 200 | ++----------+ + + + + +.. _OA_DB_OUTPUT: + +OA\_DB\_OUTPUT: OADatabase output level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +OADatabase output level to configure which database objects are sent to the ground station\. All data is always available internally for avoidance algorithms\. + + ++-------+---------------------------------------+ +| Value | Meaning | ++=======+=======================================+ +| 0 | Disabled | ++-------+---------------------------------------+ +| 1 | Send only HIGH importance items | ++-------+---------------------------------------+ +| 2 | Send HIGH and NORMAL importance items | ++-------+---------------------------------------+ +| 3 | Send all items | ++-------+---------------------------------------+ + + + + +.. _OA_DB_BEAM_WIDTH: + +OA\_DB\_BEAM\_WIDTH: OADatabase beam width +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Beam width of incoming lidar data + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 1 to 10 | degrees | ++---------+---------+ + + + + +.. _OA_DB_RADIUS_MIN: + +OA\_DB\_RADIUS\_MIN: OADatabase Minimum radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum radius of objects held in database + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _OA_DB_DIST_MAX: + +OA\_DB\_DIST\_MAX: OADatabase Distance Maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance of objects held in database\. Set to zero to disable the limits + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + + +.. _parameters_OSD: + +OSD Parameters +-------------- + + +.. _OSD_TYPE: + +OSD\_TYPE: OSD type +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + +.. _OSD_CHAN: + +OSD\_CHAN: Screen switch transmitter channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the channel used to switch different OSD screens\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 5 | Chan5 | ++-------+---------+ +| 6 | Chan6 | ++-------+---------+ +| 7 | Chan7 | ++-------+---------+ +| 8 | Chan8 | ++-------+---------+ +| 9 | Chan9 | ++-------+---------+ +| 10 | Chan10 | ++-------+---------+ +| 11 | Chan11 | ++-------+---------+ +| 12 | Chan12 | ++-------+---------+ +| 13 | Chan13 | ++-------+---------+ +| 14 | Chan14 | ++-------+---------+ +| 15 | Chan15 | ++-------+---------+ +| 16 | Chan16 | ++-------+---------+ + + + + +.. _OSD_SW_METHOD: + +OSD\_SW\_METHOD: Screen switch method +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the method used to switch different OSD screens\. + + ++-------+---------------------------------------------------------------------------------------------+ +| Value | Meaning | ++=======+=============================================================================================+ +| 0 | switch to next screen if channel value was changed | ++-------+---------------------------------------------------------------------------------------------+ +| 1 | select screen based on pwm ranges specified for each screen | ++-------+---------------------------------------------------------------------------------------------+ +| 2 | switch to next screen after low to high transition and every 1s while channel value is high | ++-------+---------------------------------------------------------------------------------------------+ + + + + +.. _OSD_OPTIONS: + +OSD\_OPTIONS: OSD Options +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets options that change the display + + ++-----+----------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================+ +| 0 | UseDecimalPack | ++-----+----------------------------------------------------+ +| 1 | InvertedWindArrow | ++-----+----------------------------------------------------+ +| 2 | InvertedAHRoll | ++-----+----------------------------------------------------+ +| 3 | Convert feet to miles at 5280ft instead of 10000ft | ++-----+----------------------------------------------------+ +| 4 | DisableCrosshair | ++-----+----------------------------------------------------+ +| 5 | TranslateArrows | ++-----+----------------------------------------------------+ +| 6 | AviationStyleAH | ++-----+----------------------------------------------------+ +| 7 | Prefix LQ with RF Mode | ++-----+----------------------------------------------------+ + + + + +.. _OSD_FONT: + +OSD\_FONT: OSD Font +~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This sets which OSD font to use\. It is an integer from 0 to the number of fonts available + + +.. _OSD_V_OFFSET: + +OSD\_V\_OFFSET: OSD vertical offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets vertical offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 31 | ++---------+ + + + + +.. _OSD_H_OFFSET: + +OSD\_H\_OFFSET: OSD horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Sets horizontal offset of the osd inside image + + ++---------+ +| Range | ++=========+ +| 0 to 63 | ++---------+ + + + + +.. _OSD_W_RSSI: + +OSD\_W\_RSSI: RSSI warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RSSI item will flash \(in positive \% or negative dBm values as applicable\)\. 30\% or \-100dBm are defaults\. + + ++-------------+ +| Range | ++=============+ +| -128 to 100 | ++-------------+ + + + + +.. _OSD_W_NSAT: + +OSD\_W\_NSAT: NSAT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which NSAT item will flash + + ++---------+ +| Range | ++=========+ +| 1 to 30 | ++---------+ + + + + +.. _OSD_W_BATVOLT: + +OSD\_W\_BATVOLT: BAT\_VOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which BAT\_VOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_UNITS: + +OSD\_UNITS: Display Units +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the units to use in displaying items + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Metric | ++-------+----------+ +| 1 | Imperial | ++-------+----------+ +| 2 | SI | ++-------+----------+ +| 3 | Aviation | ++-------+----------+ + + + + +.. _OSD_MSG_TIME: + +OSD\_MSG\_TIME: Message display duration in seconds +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets message duration seconds + + ++---------+ +| Range | ++=========+ +| 1 to 20 | ++---------+ + + + + +.. _OSD_ARM_SCR: + +OSD\_ARM\_SCR: Arm screen +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on Arm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_DSARM_SCR: + +OSD\_DSARM\_SCR: Disarm screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on disarm event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_FS_SCR: + +OSD\_FS\_SCR: Failsafe screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Screen to be shown on failsafe event\. Zero to disable the feature\. + + ++--------+ +| Range | ++========+ +| 0 to 4 | ++--------+ + + + + +.. _OSD_BTN_DELAY: + +OSD\_BTN\_DELAY: Button delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debounce time in ms for stick commanded parameter navigation\. + + ++-----------+ +| Range | ++===========+ +| 0 to 3000 | ++-----------+ + + + + +.. _OSD_W_TERR: + +OSD\_W\_TERR: Terrain warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level below which TER\_HGT item will flash\. \-1 disables\. + + ++------------+--------+ +| Range | Units | ++============+========+ +| -1 to 3000 | meters | ++------------+--------+ + + + + +.. _OSD_W_AVGCELLV: + +OSD\_W\_AVGCELLV: AVGCELLV warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which AVGCELLV item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_CELL_COUNT: + +OSD\_CELL\_COUNT: Battery cell count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Used for average cell voltage display\. \-1 disables\, 0 uses cell count autodetection for well charged LIPO\/LIION batteries at connection\, other values manually select cell count used\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _OSD_W_RESTVOLT: + +OSD\_W\_RESTVOLT: RESTVOLT warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RESTVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_ACRVOLT: + +OSD\_W\_ACRVOLT: Avg Cell Resting Volt warn level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which ACRVOLT item will flash + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_LQ: + +OSD\_W\_LQ: RC link quality warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_LQ item will flash \(\%\) + + ++----------+ +| Range | ++==========+ +| 0 to 100 | ++----------+ + + + + +.. _OSD_W_SNR: + +OSD\_W\_SNR: RC link SNR warn level \(in \%\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Set level at which RC\_SNR item will flash \(in db\) + + ++-----------+ +| Range | ++===========+ +| -20 to 10 | ++-----------+ + + + + +.. _OSD_SB_H_OFS: + +OSD\_SB\_H\_OFS: Sidebar horizontal offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extends the spacing between the sidebar elements by this amount of columns\. Positive values increases the width to the right of the screen\. + + ++---------+ +| Range | ++=========+ +| 0 to 20 | ++---------+ + + + + +.. _OSD_SB_V_EXT: + +OSD\_SB\_V\_EXT: Sidebar vertical extension +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increase of vertical length of the sidebar itens by this amount of lines\. Applied equally both above and below the default setting\. + + ++---------+ +| Range | ++=========+ +| 0 to 10 | ++---------+ + + + + +.. _OSD_TYPE2: + +OSD\_TYPE2: OSD type 2 +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +OSD type 2\. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board\, for instance CRSF\. + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | MAX7456 | ++-------+-----------------+ +| 2 | SITL | ++-------+-----------------+ +| 3 | MSP | ++-------+-----------------+ +| 4 | TXONLY | ++-------+-----------------+ +| 5 | MSP_DISPLAYPORT | ++-------+-----------------+ + + + + + +.. _parameters_OSD1_: + +OSD1\_ Parameters +----------------- + + +.. _OSD1_ENABLE: + +OSD1\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CHAN_MIN: + +OSD1\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_CHAN_MAX: + +OSD1\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD1_ALTITUDE_EN: + +OSD1\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ALTITUDE_X: + +OSD1\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ALTITUDE_Y: + +OSD1\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_EN: + +OSD1\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT_VOLT_X: + +OSD1\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT_VOLT_Y: + +OSD1\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSI_EN: + +OSD1\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSI_X: + +OSD1\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSI_Y: + +OSD1\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT_EN: + +OSD1\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT_X: + +OSD1\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT_Y: + +OSD1\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATUSED_EN: + +OSD1\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATUSED_X: + +OSD1\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATUSED_Y: + +OSD1\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SATS_EN: + +OSD1\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SATS_X: + +OSD1\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SATS_Y: + +OSD1\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTMODE_EN: + +OSD1\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTMODE_X: + +OSD1\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTMODE_Y: + +OSD1\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_MESSAGE_EN: + +OSD1\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_MESSAGE_X: + +OSD1\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_MESSAGE_Y: + +OSD1\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GSPEED_EN: + +OSD1\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GSPEED_X: + +OSD1\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GSPEED_Y: + +OSD1\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HORIZON_EN: + +OSD1\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HORIZON_X: + +OSD1\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HORIZON_Y: + +OSD1\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOME_EN: + +OSD1\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOME_X: + +OSD1\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOME_Y: + +OSD1\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HEADING_EN: + +OSD1\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HEADING_X: + +OSD1\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HEADING_Y: + +OSD1\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_THROTTLE_EN: + +OSD1\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_THROTTLE_X: + +OSD1\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_THROTTLE_Y: + +OSD1\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_COMPASS_EN: + +OSD1\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_COMPASS_X: + +OSD1\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_COMPASS_Y: + +OSD1\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WIND_EN: + +OSD1\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WIND_X: + +OSD1\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WIND_Y: + +OSD1\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPEED_EN: + +OSD1\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPEED_X: + +OSD1\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPEED_Y: + +OSD1\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VSPEED_EN: + +OSD1\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VSPEED_X: + +OSD1\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VSPEED_Y: + +OSD1\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCTEMP_EN: + +OSD1\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCTEMP_X: + +OSD1\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCTEMP_Y: + +OSD1\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCRPM_EN: + +OSD1\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCRPM_X: + +OSD1\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCRPM_Y: + +OSD1\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESCAMPS_EN: + +OSD1\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ESCAMPS_X: + +OSD1\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ESCAMPS_Y: + +OSD1\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLAT_EN: + +OSD1\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLAT_X: + +OSD1\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLAT_Y: + +OSD1\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_GPSLONG_EN: + +OSD1\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_GPSLONG_X: + +OSD1\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_GPSLONG_Y: + +OSD1\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ROLL_EN: + +OSD1\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ROLL_X: + +OSD1\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ROLL_Y: + +OSD1\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PITCH_EN: + +OSD1\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PITCH_X: + +OSD1\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PITCH_Y: + +OSD1\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TEMP_EN: + +OSD1\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TEMP_X: + +OSD1\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TEMP_Y: + +OSD1\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HDOP_EN: + +OSD1\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HDOP_X: + +OSD1\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HDOP_Y: + +OSD1\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_WAYPOINT_EN: + +OSD1\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_WAYPOINT_X: + +OSD1\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_WAYPOINT_Y: + +OSD1\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_XTRACK_EN: + +OSD1\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_XTRACK_X: + +OSD1\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_XTRACK_Y: + +OSD1\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_DIST_EN: + +OSD1\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_DIST_X: + +OSD1\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_DIST_Y: + +OSD1\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_STATS_EN: + +OSD1\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_STATS_X: + +OSD1\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_STATS_Y: + +OSD1\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FLTIME_EN: + +OSD1\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FLTIME_X: + +OSD1\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FLTIME_Y: + +OSD1\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_EN: + +OSD1\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLIMBEFF_X: + +OSD1\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLIMBEFF_Y: + +OSD1\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_EFF_EN: + +OSD1\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_EFF_X: + +OSD1\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_EFF_Y: + +OSD1\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BTEMP_EN: + +OSD1\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BTEMP_X: + +OSD1\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BTEMP_Y: + +OSD1\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ATEMP_EN: + +OSD1\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ATEMP_X: + +OSD1\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ATEMP_Y: + +OSD1\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_EN: + +OSD1\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2_VLT_X: + +OSD1\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2_VLT_Y: + +OSD1\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BAT2USED_EN: + +OSD1\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BAT2USED_X: + +OSD1\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BAT2USED_Y: + +OSD1\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD2_EN: + +OSD1\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD2_X: + +OSD1\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD2_Y: + +OSD1\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ASPD1_EN: + +OSD1\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ASPD1_X: + +OSD1\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ASPD1_Y: + +OSD1\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CLK_EN: + +OSD1\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CLK_X: + +OSD1\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CLK_Y: + +OSD1\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_SIDEBARS_EN: + +OSD1\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_SIDEBARS_X: + +OSD1\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_SIDEBARS_Y: + +OSD1\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_EN: + +OSD1\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CRSSHAIR_X: + +OSD1\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CRSSHAIR_Y: + +OSD1\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIST_EN: + +OSD1\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIST_X: + +OSD1\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIST_Y: + +OSD1\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_HOMEDIR_EN: + +OSD1\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_HOMEDIR_X: + +OSD1\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_HOMEDIR_Y: + +OSD1\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_POWER_EN: + +OSD1\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_POWER_X: + +OSD1\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_POWER_Y: + +OSD1\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CELLVOLT_EN: + +OSD1\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CELLVOLT_X: + +OSD1\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CELLVOLT_Y: + +OSD1\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_BATTBAR_EN: + +OSD1\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_BATTBAR_X: + +OSD1\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_BATTBAR_Y: + +OSD1\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ARMING_EN: + +OSD1\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ARMING_X: + +OSD1\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ARMING_Y: + +OSD1\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_PLUSCODE_EN: + +OSD1\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_PLUSCODE_X: + +OSD1\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_PLUSCODE_Y: + +OSD1\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CALLSIGN_EN: + +OSD1\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CALLSIGN_X: + +OSD1\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CALLSIGN_Y: + +OSD1\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_CURRENT2_EN: + +OSD1\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_CURRENT2_X: + +OSD1\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_CURRENT2_Y: + +OSD1\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_VTX_PWR_EN: + +OSD1\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_VTX_PWR_X: + +OSD1\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_VTX_PWR_Y: + +OSD1\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TER_HGT_EN: + +OSD1\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_TER_HGT_X: + +OSD1\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_TER_HGT_Y: + +OSD1\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_AVGCELLV_EN: + +OSD1\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_AVGCELLV_X: + +OSD1\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_AVGCELLV_Y: + +OSD1\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RESTVOLT_EN: + +OSD1\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RESTVOLT_X: + +OSD1\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RESTVOLT_Y: + +OSD1\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_FENCE_EN: + +OSD1\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_FENCE_X: + +OSD1\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_FENCE_Y: + +OSD1\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RNGF_EN: + +OSD1\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RNGF_X: + +OSD1\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RNGF_Y: + +OSD1\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ACRVOLT_EN: + +OSD1\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_ACRVOLT_X: + +OSD1\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_ACRVOLT_Y: + +OSD1\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RPM_EN: + +OSD1\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RPM_X: + +OSD1\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD1_RPM_Y: + +OSD1\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD1_LINK_Q_EN: + +OSD1\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_LINK_Q_X: + +OSD1\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_LINK_Q_Y: + +OSD1\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_TXT_RES: + +OSD1\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD1_FONT: + +OSD1\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_PWR_EN: + +OSD1\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_PWR_X: + +OSD1\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_PWR_Y: + +OSD1\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RSSIDBM_EN: + +OSD1\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RSSIDBM_X: + +OSD1\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RSSIDBM_Y: + +OSD1\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_SNR_EN: + +OSD1\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_SNR_X: + +OSD1\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_SNR_Y: + +OSD1\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_ANT_EN: + +OSD1\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_ANT_X: + +OSD1\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_ANT_Y: + +OSD1\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_RC_LQ_EN: + +OSD1\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD1_RC_LQ_X: + +OSD1\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD1_RC_LQ_Y: + +OSD1\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD1_ESC_IDX: + +OSD1\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD2_: + +OSD2\_ Parameters +----------------- + + +.. _OSD2_ENABLE: + +OSD2\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CHAN_MIN: + +OSD2\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_CHAN_MAX: + +OSD2\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD2_ALTITUDE_EN: + +OSD2\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ALTITUDE_X: + +OSD2\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ALTITUDE_Y: + +OSD2\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_EN: + +OSD2\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT_VOLT_X: + +OSD2\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT_VOLT_Y: + +OSD2\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSI_EN: + +OSD2\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSI_X: + +OSD2\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSI_Y: + +OSD2\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT_EN: + +OSD2\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT_X: + +OSD2\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT_Y: + +OSD2\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATUSED_EN: + +OSD2\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATUSED_X: + +OSD2\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATUSED_Y: + +OSD2\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SATS_EN: + +OSD2\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SATS_X: + +OSD2\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SATS_Y: + +OSD2\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTMODE_EN: + +OSD2\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTMODE_X: + +OSD2\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTMODE_Y: + +OSD2\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_MESSAGE_EN: + +OSD2\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_MESSAGE_X: + +OSD2\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_MESSAGE_Y: + +OSD2\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GSPEED_EN: + +OSD2\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GSPEED_X: + +OSD2\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GSPEED_Y: + +OSD2\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HORIZON_EN: + +OSD2\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HORIZON_X: + +OSD2\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HORIZON_Y: + +OSD2\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOME_EN: + +OSD2\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOME_X: + +OSD2\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOME_Y: + +OSD2\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HEADING_EN: + +OSD2\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HEADING_X: + +OSD2\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HEADING_Y: + +OSD2\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_THROTTLE_EN: + +OSD2\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_THROTTLE_X: + +OSD2\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_THROTTLE_Y: + +OSD2\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_COMPASS_EN: + +OSD2\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_COMPASS_X: + +OSD2\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_COMPASS_Y: + +OSD2\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WIND_EN: + +OSD2\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WIND_X: + +OSD2\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WIND_Y: + +OSD2\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPEED_EN: + +OSD2\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPEED_X: + +OSD2\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPEED_Y: + +OSD2\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VSPEED_EN: + +OSD2\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VSPEED_X: + +OSD2\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VSPEED_Y: + +OSD2\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCTEMP_EN: + +OSD2\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCTEMP_X: + +OSD2\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCTEMP_Y: + +OSD2\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCRPM_EN: + +OSD2\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCRPM_X: + +OSD2\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCRPM_Y: + +OSD2\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESCAMPS_EN: + +OSD2\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ESCAMPS_X: + +OSD2\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ESCAMPS_Y: + +OSD2\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLAT_EN: + +OSD2\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLAT_X: + +OSD2\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLAT_Y: + +OSD2\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_GPSLONG_EN: + +OSD2\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_GPSLONG_X: + +OSD2\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_GPSLONG_Y: + +OSD2\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ROLL_EN: + +OSD2\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ROLL_X: + +OSD2\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ROLL_Y: + +OSD2\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PITCH_EN: + +OSD2\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PITCH_X: + +OSD2\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PITCH_Y: + +OSD2\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TEMP_EN: + +OSD2\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TEMP_X: + +OSD2\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TEMP_Y: + +OSD2\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HDOP_EN: + +OSD2\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HDOP_X: + +OSD2\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HDOP_Y: + +OSD2\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_WAYPOINT_EN: + +OSD2\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_WAYPOINT_X: + +OSD2\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_WAYPOINT_Y: + +OSD2\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_XTRACK_EN: + +OSD2\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_XTRACK_X: + +OSD2\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_XTRACK_Y: + +OSD2\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_DIST_EN: + +OSD2\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_DIST_X: + +OSD2\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_DIST_Y: + +OSD2\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_STATS_EN: + +OSD2\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_STATS_X: + +OSD2\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_STATS_Y: + +OSD2\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FLTIME_EN: + +OSD2\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FLTIME_X: + +OSD2\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FLTIME_Y: + +OSD2\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_EN: + +OSD2\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLIMBEFF_X: + +OSD2\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLIMBEFF_Y: + +OSD2\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_EFF_EN: + +OSD2\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_EFF_X: + +OSD2\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_EFF_Y: + +OSD2\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BTEMP_EN: + +OSD2\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BTEMP_X: + +OSD2\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BTEMP_Y: + +OSD2\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ATEMP_EN: + +OSD2\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ATEMP_X: + +OSD2\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ATEMP_Y: + +OSD2\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_EN: + +OSD2\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2_VLT_X: + +OSD2\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2_VLT_Y: + +OSD2\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BAT2USED_EN: + +OSD2\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BAT2USED_X: + +OSD2\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BAT2USED_Y: + +OSD2\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD2_EN: + +OSD2\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD2_X: + +OSD2\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD2_Y: + +OSD2\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ASPD1_EN: + +OSD2\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ASPD1_X: + +OSD2\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ASPD1_Y: + +OSD2\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CLK_EN: + +OSD2\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CLK_X: + +OSD2\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CLK_Y: + +OSD2\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_SIDEBARS_EN: + +OSD2\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_SIDEBARS_X: + +OSD2\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_SIDEBARS_Y: + +OSD2\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_EN: + +OSD2\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CRSSHAIR_X: + +OSD2\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CRSSHAIR_Y: + +OSD2\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIST_EN: + +OSD2\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIST_X: + +OSD2\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIST_Y: + +OSD2\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_HOMEDIR_EN: + +OSD2\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_HOMEDIR_X: + +OSD2\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_HOMEDIR_Y: + +OSD2\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_POWER_EN: + +OSD2\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_POWER_X: + +OSD2\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_POWER_Y: + +OSD2\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CELLVOLT_EN: + +OSD2\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CELLVOLT_X: + +OSD2\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CELLVOLT_Y: + +OSD2\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_BATTBAR_EN: + +OSD2\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_BATTBAR_X: + +OSD2\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_BATTBAR_Y: + +OSD2\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ARMING_EN: + +OSD2\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ARMING_X: + +OSD2\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ARMING_Y: + +OSD2\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_PLUSCODE_EN: + +OSD2\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_PLUSCODE_X: + +OSD2\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_PLUSCODE_Y: + +OSD2\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CALLSIGN_EN: + +OSD2\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CALLSIGN_X: + +OSD2\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CALLSIGN_Y: + +OSD2\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_CURRENT2_EN: + +OSD2\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_CURRENT2_X: + +OSD2\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_CURRENT2_Y: + +OSD2\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_VTX_PWR_EN: + +OSD2\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_VTX_PWR_X: + +OSD2\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_VTX_PWR_Y: + +OSD2\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TER_HGT_EN: + +OSD2\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_TER_HGT_X: + +OSD2\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_TER_HGT_Y: + +OSD2\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_AVGCELLV_EN: + +OSD2\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_AVGCELLV_X: + +OSD2\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_AVGCELLV_Y: + +OSD2\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RESTVOLT_EN: + +OSD2\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RESTVOLT_X: + +OSD2\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RESTVOLT_Y: + +OSD2\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_FENCE_EN: + +OSD2\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_FENCE_X: + +OSD2\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_FENCE_Y: + +OSD2\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RNGF_EN: + +OSD2\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RNGF_X: + +OSD2\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RNGF_Y: + +OSD2\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ACRVOLT_EN: + +OSD2\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_ACRVOLT_X: + +OSD2\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_ACRVOLT_Y: + +OSD2\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RPM_EN: + +OSD2\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RPM_X: + +OSD2\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD2_RPM_Y: + +OSD2\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD2_LINK_Q_EN: + +OSD2\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_LINK_Q_X: + +OSD2\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_LINK_Q_Y: + +OSD2\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_TXT_RES: + +OSD2\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD2_FONT: + +OSD2\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_PWR_EN: + +OSD2\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_PWR_X: + +OSD2\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_PWR_Y: + +OSD2\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RSSIDBM_EN: + +OSD2\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RSSIDBM_X: + +OSD2\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RSSIDBM_Y: + +OSD2\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_SNR_EN: + +OSD2\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_SNR_X: + +OSD2\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_SNR_Y: + +OSD2\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_ANT_EN: + +OSD2\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_ANT_X: + +OSD2\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_ANT_Y: + +OSD2\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_RC_LQ_EN: + +OSD2\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD2_RC_LQ_X: + +OSD2\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD2_RC_LQ_Y: + +OSD2\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD2_ESC_IDX: + +OSD2\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD3_: + +OSD3\_ Parameters +----------------- + + +.. _OSD3_ENABLE: + +OSD3\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CHAN_MIN: + +OSD3\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_CHAN_MAX: + +OSD3\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD3_ALTITUDE_EN: + +OSD3\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ALTITUDE_X: + +OSD3\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ALTITUDE_Y: + +OSD3\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_EN: + +OSD3\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT_VOLT_X: + +OSD3\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT_VOLT_Y: + +OSD3\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSI_EN: + +OSD3\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSI_X: + +OSD3\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSI_Y: + +OSD3\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT_EN: + +OSD3\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT_X: + +OSD3\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT_Y: + +OSD3\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATUSED_EN: + +OSD3\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATUSED_X: + +OSD3\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATUSED_Y: + +OSD3\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SATS_EN: + +OSD3\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SATS_X: + +OSD3\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SATS_Y: + +OSD3\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTMODE_EN: + +OSD3\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTMODE_X: + +OSD3\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTMODE_Y: + +OSD3\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_MESSAGE_EN: + +OSD3\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_MESSAGE_X: + +OSD3\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_MESSAGE_Y: + +OSD3\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GSPEED_EN: + +OSD3\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GSPEED_X: + +OSD3\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GSPEED_Y: + +OSD3\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HORIZON_EN: + +OSD3\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HORIZON_X: + +OSD3\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HORIZON_Y: + +OSD3\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOME_EN: + +OSD3\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOME_X: + +OSD3\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOME_Y: + +OSD3\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HEADING_EN: + +OSD3\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HEADING_X: + +OSD3\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HEADING_Y: + +OSD3\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_THROTTLE_EN: + +OSD3\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_THROTTLE_X: + +OSD3\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_THROTTLE_Y: + +OSD3\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_COMPASS_EN: + +OSD3\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_COMPASS_X: + +OSD3\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_COMPASS_Y: + +OSD3\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WIND_EN: + +OSD3\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WIND_X: + +OSD3\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WIND_Y: + +OSD3\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPEED_EN: + +OSD3\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPEED_X: + +OSD3\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPEED_Y: + +OSD3\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VSPEED_EN: + +OSD3\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VSPEED_X: + +OSD3\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VSPEED_Y: + +OSD3\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCTEMP_EN: + +OSD3\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCTEMP_X: + +OSD3\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCTEMP_Y: + +OSD3\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCRPM_EN: + +OSD3\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCRPM_X: + +OSD3\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCRPM_Y: + +OSD3\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESCAMPS_EN: + +OSD3\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ESCAMPS_X: + +OSD3\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ESCAMPS_Y: + +OSD3\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLAT_EN: + +OSD3\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLAT_X: + +OSD3\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLAT_Y: + +OSD3\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_GPSLONG_EN: + +OSD3\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_GPSLONG_X: + +OSD3\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_GPSLONG_Y: + +OSD3\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ROLL_EN: + +OSD3\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ROLL_X: + +OSD3\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ROLL_Y: + +OSD3\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PITCH_EN: + +OSD3\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PITCH_X: + +OSD3\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PITCH_Y: + +OSD3\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TEMP_EN: + +OSD3\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TEMP_X: + +OSD3\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TEMP_Y: + +OSD3\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HDOP_EN: + +OSD3\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HDOP_X: + +OSD3\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HDOP_Y: + +OSD3\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_WAYPOINT_EN: + +OSD3\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_WAYPOINT_X: + +OSD3\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_WAYPOINT_Y: + +OSD3\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_XTRACK_EN: + +OSD3\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_XTRACK_X: + +OSD3\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_XTRACK_Y: + +OSD3\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_DIST_EN: + +OSD3\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_DIST_X: + +OSD3\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_DIST_Y: + +OSD3\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_STATS_EN: + +OSD3\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_STATS_X: + +OSD3\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_STATS_Y: + +OSD3\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FLTIME_EN: + +OSD3\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FLTIME_X: + +OSD3\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FLTIME_Y: + +OSD3\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_EN: + +OSD3\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLIMBEFF_X: + +OSD3\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLIMBEFF_Y: + +OSD3\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_EFF_EN: + +OSD3\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_EFF_X: + +OSD3\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_EFF_Y: + +OSD3\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BTEMP_EN: + +OSD3\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BTEMP_X: + +OSD3\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BTEMP_Y: + +OSD3\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ATEMP_EN: + +OSD3\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ATEMP_X: + +OSD3\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ATEMP_Y: + +OSD3\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_EN: + +OSD3\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2_VLT_X: + +OSD3\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2_VLT_Y: + +OSD3\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BAT2USED_EN: + +OSD3\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BAT2USED_X: + +OSD3\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BAT2USED_Y: + +OSD3\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD2_EN: + +OSD3\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD2_X: + +OSD3\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD2_Y: + +OSD3\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ASPD1_EN: + +OSD3\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ASPD1_X: + +OSD3\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ASPD1_Y: + +OSD3\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CLK_EN: + +OSD3\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CLK_X: + +OSD3\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CLK_Y: + +OSD3\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_SIDEBARS_EN: + +OSD3\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_SIDEBARS_X: + +OSD3\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_SIDEBARS_Y: + +OSD3\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_EN: + +OSD3\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CRSSHAIR_X: + +OSD3\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CRSSHAIR_Y: + +OSD3\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIST_EN: + +OSD3\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIST_X: + +OSD3\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIST_Y: + +OSD3\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_HOMEDIR_EN: + +OSD3\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_HOMEDIR_X: + +OSD3\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_HOMEDIR_Y: + +OSD3\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_POWER_EN: + +OSD3\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_POWER_X: + +OSD3\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_POWER_Y: + +OSD3\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CELLVOLT_EN: + +OSD3\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CELLVOLT_X: + +OSD3\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CELLVOLT_Y: + +OSD3\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_BATTBAR_EN: + +OSD3\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_BATTBAR_X: + +OSD3\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_BATTBAR_Y: + +OSD3\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ARMING_EN: + +OSD3\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ARMING_X: + +OSD3\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ARMING_Y: + +OSD3\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_PLUSCODE_EN: + +OSD3\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_PLUSCODE_X: + +OSD3\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_PLUSCODE_Y: + +OSD3\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CALLSIGN_EN: + +OSD3\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CALLSIGN_X: + +OSD3\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CALLSIGN_Y: + +OSD3\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_CURRENT2_EN: + +OSD3\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_CURRENT2_X: + +OSD3\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_CURRENT2_Y: + +OSD3\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_VTX_PWR_EN: + +OSD3\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_VTX_PWR_X: + +OSD3\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_VTX_PWR_Y: + +OSD3\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TER_HGT_EN: + +OSD3\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_TER_HGT_X: + +OSD3\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_TER_HGT_Y: + +OSD3\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_AVGCELLV_EN: + +OSD3\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_AVGCELLV_X: + +OSD3\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_AVGCELLV_Y: + +OSD3\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RESTVOLT_EN: + +OSD3\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RESTVOLT_X: + +OSD3\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RESTVOLT_Y: + +OSD3\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_FENCE_EN: + +OSD3\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_FENCE_X: + +OSD3\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_FENCE_Y: + +OSD3\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RNGF_EN: + +OSD3\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RNGF_X: + +OSD3\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RNGF_Y: + +OSD3\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ACRVOLT_EN: + +OSD3\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_ACRVOLT_X: + +OSD3\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_ACRVOLT_Y: + +OSD3\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RPM_EN: + +OSD3\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RPM_X: + +OSD3\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD3_RPM_Y: + +OSD3\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD3_LINK_Q_EN: + +OSD3\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_LINK_Q_X: + +OSD3\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_LINK_Q_Y: + +OSD3\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_TXT_RES: + +OSD3\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD3_FONT: + +OSD3\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_PWR_EN: + +OSD3\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_PWR_X: + +OSD3\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_PWR_Y: + +OSD3\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RSSIDBM_EN: + +OSD3\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RSSIDBM_X: + +OSD3\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RSSIDBM_Y: + +OSD3\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_SNR_EN: + +OSD3\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_SNR_X: + +OSD3\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_SNR_Y: + +OSD3\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_ANT_EN: + +OSD3\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_ANT_X: + +OSD3\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_ANT_Y: + +OSD3\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_RC_LQ_EN: + +OSD3\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD3_RC_LQ_X: + +OSD3\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD3_RC_LQ_Y: + +OSD3\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD3_ESC_IDX: + +OSD3\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD4_: + +OSD4\_ Parameters +----------------- + + +.. _OSD4_ENABLE: + +OSD4\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CHAN_MIN: + +OSD4\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_CHAN_MAX: + +OSD4\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD4_ALTITUDE_EN: + +OSD4\_ALTITUDE\_EN: ALTITUDE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of altitude AGL + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ALTITUDE_X: + +OSD4\_ALTITUDE\_X: ALTITUDE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ALTITUDE_Y: + +OSD4\_ALTITUDE\_Y: ALTITUDE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_EN: + +OSD4\_BAT\_VOLT\_EN: BATVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT_VOLT_X: + +OSD4\_BAT\_VOLT\_X: BATVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT_VOLT_Y: + +OSD4\_BAT\_VOLT\_Y: BATVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSI_EN: + +OSD4\_RSSI\_EN: RSSI\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC signal strength + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSI_X: + +OSD4\_RSSI\_X: RSSI\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSI_Y: + +OSD4\_RSSI\_Y: RSSI\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT_EN: + +OSD4\_CURRENT\_EN: CURRENT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT_X: + +OSD4\_CURRENT\_X: CURRENT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT_Y: + +OSD4\_CURRENT\_Y: CURRENT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATUSED_EN: + +OSD4\_BATUSED\_EN: BATUSED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays primary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATUSED_X: + +OSD4\_BATUSED\_X: BATUSED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATUSED_Y: + +OSD4\_BATUSED\_Y: BATUSED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SATS_EN: + +OSD4\_SATS\_EN: SATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays number of acquired satellites + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SATS_X: + +OSD4\_SATS\_X: SATS\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SATS_Y: + +OSD4\_SATS\_Y: SATS\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTMODE_EN: + +OSD4\_FLTMODE\_EN: FLTMODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight mode + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTMODE_X: + +OSD4\_FLTMODE\_X: FLTMODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTMODE_Y: + +OSD4\_FLTMODE\_Y: FLTMODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_MESSAGE_EN: + +OSD4\_MESSAGE\_EN: MESSAGE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Mavlink messages + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_MESSAGE_X: + +OSD4\_MESSAGE\_X: MESSAGE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_MESSAGE_Y: + +OSD4\_MESSAGE\_Y: MESSAGE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GSPEED_EN: + +OSD4\_GSPEED\_EN: GSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS ground speed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GSPEED_X: + +OSD4\_GSPEED\_X: GSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GSPEED_Y: + +OSD4\_GSPEED\_Y: GSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HORIZON_EN: + +OSD4\_HORIZON\_EN: HORIZON\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HORIZON_X: + +OSD4\_HORIZON\_X: HORIZON\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HORIZON_Y: + +OSD4\_HORIZON\_Y: HORIZON\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOME_EN: + +OSD4\_HOME\_EN: HOME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance and relative direction to HOME + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOME_X: + +OSD4\_HOME\_X: HOME\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOME_Y: + +OSD4\_HOME\_Y: HOME\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HEADING_EN: + +OSD4\_HEADING\_EN: HEADING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays heading + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HEADING_X: + +OSD4\_HEADING\_X: HEADING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HEADING_Y: + +OSD4\_HEADING\_Y: HEADING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_THROTTLE_EN: + +OSD4\_THROTTLE\_EN: THROTTLE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays actual throttle percentage being sent to motor\(s\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_THROTTLE_X: + +OSD4\_THROTTLE\_X: THROTTLE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_THROTTLE_Y: + +OSD4\_THROTTLE\_Y: THROTTLE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_COMPASS_EN: + +OSD4\_COMPASS\_EN: COMPASS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enables display of compass rose + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_COMPASS_X: + +OSD4\_COMPASS\_X: COMPASS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_COMPASS_Y: + +OSD4\_COMPASS\_Y: COMPASS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WIND_EN: + +OSD4\_WIND\_EN: WIND\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays wind speed and relative direction\, on Rover this is the apparent wind speed and direction from the windvane\, if fitted + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WIND_X: + +OSD4\_WIND\_X: WIND\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WIND_Y: + +OSD4\_WIND\_Y: WIND\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPEED_EN: + +OSD4\_ASPEED\_EN: ASPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed value being used by TECS \(fused value\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPEED_X: + +OSD4\_ASPEED\_X: ASPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPEED_Y: + +OSD4\_ASPEED\_Y: ASPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VSPEED_EN: + +OSD4\_VSPEED\_EN: VSPEED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb rate + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VSPEED_X: + +OSD4\_VSPEED\_X: VSPEED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VSPEED_Y: + +OSD4\_VSPEED\_Y: VSPEED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCTEMP_EN: + +OSD4\_ESCTEMP\_EN: ESCTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest temp of all active ESCs\, or of a specific ECS if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCTEMP_X: + +OSD4\_ESCTEMP\_X: ESCTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCTEMP_Y: + +OSD4\_ESCTEMP\_Y: ESCTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCRPM_EN: + +OSD4\_ESCRPM\_EN: ESCRPM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCRPM_X: + +OSD4\_ESCRPM\_X: ESCRPM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCRPM_Y: + +OSD4\_ESCRPM\_Y: ESCRPM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESCAMPS_EN: + +OSD4\_ESCAMPS\_EN: ESCAMPS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current of the ESC with the highest rpm of all active ESCs\, or of a specific ESC if OSDx\_ESC\_IDX is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ESCAMPS_X: + +OSD4\_ESCAMPS\_X: ESCAMPS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ESCAMPS_Y: + +OSD4\_ESCAMPS\_Y: ESCAMPS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLAT_EN: + +OSD4\_GPSLAT\_EN: GPSLAT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS latitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLAT_X: + +OSD4\_GPSLAT\_X: GPSLAT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLAT_Y: + +OSD4\_GPSLAT\_Y: GPSLAT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_GPSLONG_EN: + +OSD4\_GPSLONG\_EN: GPSLONG\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays GPS longitude + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_GPSLONG_X: + +OSD4\_GPSLONG\_X: GPSLONG\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_GPSLONG_Y: + +OSD4\_GPSLONG\_Y: GPSLONG\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ROLL_EN: + +OSD4\_ROLL\_EN: ROLL\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of roll from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ROLL_X: + +OSD4\_ROLL\_X: ROLL\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ROLL_Y: + +OSD4\_ROLL\_Y: ROLL\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PITCH_EN: + +OSD4\_PITCH\_EN: PITCH\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays degrees of pitch from level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PITCH_X: + +OSD4\_PITCH\_X: PITCH\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PITCH_Y: + +OSD4\_PITCH\_Y: PITCH\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TEMP_EN: + +OSD4\_TEMP\_EN: TEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TEMP_X: + +OSD4\_TEMP\_X: TEMP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TEMP_Y: + +OSD4\_TEMP\_Y: TEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HDOP_EN: + +OSD4\_HDOP\_EN: HDOP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Horizontal Dilution Of Position + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HDOP_X: + +OSD4\_HDOP\_X: HDOP\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HDOP_Y: + +OSD4\_HDOP\_Y: HDOP\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_WAYPOINT_EN: + +OSD4\_WAYPOINT\_EN: WAYPOINT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays bearing and distance to next waypoint + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_WAYPOINT_X: + +OSD4\_WAYPOINT\_X: WAYPOINT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_WAYPOINT_Y: + +OSD4\_WAYPOINT\_Y: WAYPOINT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_XTRACK_EN: + +OSD4\_XTRACK\_EN: XTRACK\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays crosstrack error + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_XTRACK_X: + +OSD4\_XTRACK\_X: XTRACK\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_XTRACK_Y: + +OSD4\_XTRACK\_Y: XTRACK\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_DIST_EN: + +OSD4\_DIST\_EN: DIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total distance flown + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_DIST_X: + +OSD4\_DIST\_X: DIST\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_DIST_Y: + +OSD4\_DIST\_Y: DIST\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_STATS_EN: + +OSD4\_STATS\_EN: STATS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight stats + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_STATS_X: + +OSD4\_STATS\_X: STATS\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_STATS_Y: + +OSD4\_STATS\_Y: STATS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FLTIME_EN: + +OSD4\_FLTIME\_EN: FLTIME\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays total flight time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FLTIME_X: + +OSD4\_FLTIME\_X: FLTIME\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FLTIME_Y: + +OSD4\_FLTIME\_Y: FLTIME\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_EN: + +OSD4\_CLIMBEFF\_EN: CLIMBEFF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays climb efficiency \(climb rate\/current\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLIMBEFF_X: + +OSD4\_CLIMBEFF\_X: CLIMBEFF\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLIMBEFF_Y: + +OSD4\_CLIMBEFF\_Y: CLIMBEFF\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_EFF_EN: + +OSD4\_EFF\_EN: EFF\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays flight efficiency \(mAh\/km or \/mi\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_EFF_X: + +OSD4\_EFF\_X: EFF\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_EFF_Y: + +OSD4\_EFF\_Y: EFF\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BTEMP_EN: + +OSD4\_BTEMP\_EN: BTEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by secondary barometer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BTEMP_X: + +OSD4\_BTEMP\_X: BTEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BTEMP_Y: + +OSD4\_BTEMP\_Y: BTEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ATEMP_EN: + +OSD4\_ATEMP\_EN: ATEMP\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays temperature reported by primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ATEMP_X: + +OSD4\_ATEMP\_X: ATEMP\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ATEMP_Y: + +OSD4\_ATEMP\_Y: ATEMP\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_EN: + +OSD4\_BAT2\_VLT\_EN: BAT2VLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery2 voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2_VLT_X: + +OSD4\_BAT2\_VLT\_X: BAT2VLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2_VLT_Y: + +OSD4\_BAT2\_VLT\_Y: BAT2VLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BAT2USED_EN: + +OSD4\_BAT2USED\_EN: BAT2USED\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays secondary battery mAh consumed + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BAT2USED_X: + +OSD4\_BAT2USED\_X: BAT2USED\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BAT2USED_Y: + +OSD4\_BAT2USED\_Y: BAT2USED\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD2_EN: + +OSD4\_ASPD2\_EN: ASPD2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from secondary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD2_X: + +OSD4\_ASPD2\_X: ASPD2\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD2_Y: + +OSD4\_ASPD2\_Y: ASPD2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ASPD1_EN: + +OSD4\_ASPD1\_EN: ASPD1\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays airspeed reported directly from primary airspeed sensor + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ASPD1_X: + +OSD4\_ASPD1\_X: ASPD1\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ASPD1_Y: + +OSD4\_ASPD1\_Y: ASPD1\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CLK_EN: + +OSD4\_CLK\_EN: CLK\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a clock panel based on AP\_RTC local time + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CLK_X: + +OSD4\_CLK\_X: CLK\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CLK_Y: + +OSD4\_CLK\_Y: CLK\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_SIDEBARS_EN: + +OSD4\_SIDEBARS\_EN: SIDEBARS\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon side bars + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_SIDEBARS_X: + +OSD4\_SIDEBARS\_X: SIDEBARS\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_SIDEBARS_Y: + +OSD4\_SIDEBARS\_Y: SIDEBARS\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_EN: + +OSD4\_CRSSHAIR\_EN: CRSSHAIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays artificial horizon crosshair \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CRSSHAIR_X: + +OSD4\_CRSSHAIR\_X: CRSSHAIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CRSSHAIR_Y: + +OSD4\_CRSSHAIR\_Y: CRSSHAIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIST_EN: + +OSD4\_HOMEDIST\_EN: HOMEDIST\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays distance from HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIST_X: + +OSD4\_HOMEDIST\_X: HOMEDIST\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIST_Y: + +OSD4\_HOMEDIST\_Y: HOMEDIST\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen \(MSP OSD only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_HOMEDIR_EN: + +OSD4\_HOMEDIR\_EN: HOMEDIR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays relative direction to HOME \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_HOMEDIR_X: + +OSD4\_HOMEDIR\_X: HOMEDIR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_HOMEDIR_Y: + +OSD4\_HOMEDIR\_Y: HOMEDIR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_POWER_EN: + +OSD4\_POWER\_EN: POWER\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays power \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_POWER_X: + +OSD4\_POWER\_X: POWER\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_POWER_Y: + +OSD4\_POWER\_Y: POWER\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CELLVOLT_EN: + +OSD4\_CELLVOLT\_EN: CELL\_VOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CELLVOLT_X: + +OSD4\_CELLVOLT\_X: CELL\_VOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CELLVOLT_Y: + +OSD4\_CELLVOLT\_Y: CELL\_VOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_BATTBAR_EN: + +OSD4\_BATTBAR\_EN: BATT\_BAR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays battery usage bar \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_BATTBAR_X: + +OSD4\_BATTBAR\_X: BATT\_BAR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_BATTBAR_Y: + +OSD4\_BATTBAR\_Y: BATT\_BAR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ARMING_EN: + +OSD4\_ARMING\_EN: ARMING\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays arming status \(MSP OSD only\) + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ARMING_X: + +OSD4\_ARMING\_X: ARMING\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ARMING_Y: + +OSD4\_ARMING\_Y: ARMING\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_PLUSCODE_EN: + +OSD4\_PLUSCODE\_EN: PLUSCODE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays pluscode \(OLC\) element + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_PLUSCODE_X: + +OSD4\_PLUSCODE\_X: PLUSCODE\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_PLUSCODE_Y: + +OSD4\_PLUSCODE\_Y: PLUSCODE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CALLSIGN_EN: + +OSD4\_CALLSIGN\_EN: CALLSIGN\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays callsign from callsign\.txt on microSD card + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CALLSIGN_X: + +OSD4\_CALLSIGN\_X: CALLSIGN\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CALLSIGN_Y: + +OSD4\_CALLSIGN\_Y: CALLSIGN\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_CURRENT2_EN: + +OSD4\_CURRENT2\_EN: CURRENT2\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays 2nd battery current + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_CURRENT2_X: + +OSD4\_CURRENT2\_X: CURRENT2\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_CURRENT2_Y: + +OSD4\_CURRENT2\_Y: CURRENT2\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_VTX_PWR_EN: + +OSD4\_VTX\_PWR\_EN: VTX\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays VTX Power + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_VTX_PWR_X: + +OSD4\_VTX\_PWR\_X: VTX\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_VTX_PWR_Y: + +OSD4\_VTX\_PWR\_Y: VTX\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TER_HGT_EN: + +OSD4\_TER\_HGT\_EN: TER\_HGT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Height above terrain + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_TER_HGT_X: + +OSD4\_TER\_HGT\_X: TER\_HGT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_TER_HGT_Y: + +OSD4\_TER\_HGT\_Y: TER\_HGT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_AVGCELLV_EN: + +OSD4\_AVGCELLV\_EN: AVGCELLV\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays average cell voltage\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_AVGCELLV_X: + +OSD4\_AVGCELLV\_X: AVGCELLV\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_AVGCELLV_Y: + +OSD4\_AVGCELLV\_Y: AVGCELLV\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RESTVOLT_EN: + +OSD4\_RESTVOLT\_EN: RESTVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main battery resting voltage + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RESTVOLT_X: + +OSD4\_RESTVOLT\_X: RESTVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RESTVOLT_Y: + +OSD4\_RESTVOLT\_Y: RESTVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_FENCE_EN: + +OSD4\_FENCE\_EN: FENCE\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays indication of fence enable and breach + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_FENCE_X: + +OSD4\_FENCE\_X: FENCE\_X +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_FENCE_Y: + +OSD4\_FENCE\_Y: FENCE\_Y +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RNGF_EN: + +OSD4\_RNGF\_EN: RNGF\_EN +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays a rangefinder\'s distance in cm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RNGF_X: + +OSD4\_RNGF\_X: RNGF\_X +~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RNGF_Y: + +OSD4\_RNGF\_Y: RNGF\_Y +~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ACRVOLT_EN: + +OSD4\_ACRVOLT\_EN: ACRVOLT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays resting voltage for the average cell\. WARNING\: this can be inaccurate if the cell count is not detected or set properly\. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used \(OSD\_CELL\_COUNT\=0\)\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_ACRVOLT_X: + +OSD4\_ACRVOLT\_X: ACRVOLT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_ACRVOLT_Y: + +OSD4\_ACRVOLT\_Y: ACRVOLT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RPM_EN: + +OSD4\_RPM\_EN: RPM\_EN +~~~~~~~~~~~~~~~~~~~~~~ + + +Displays main rotor revs\/min + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RPM_X: + +OSD4\_RPM\_X: RPM\_X +~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD4_RPM_Y: + +OSD4\_RPM\_Y: RPM\_Y +~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD4_LINK_Q_EN: + +OSD4\_LINK\_Q\_EN: LINK\_Q\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays Receiver link quality + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_LINK_Q_X: + +OSD4\_LINK\_Q\_X: LINK\_Q\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_LINK_Q_Y: + +OSD4\_LINK\_Q\_Y: LINK\_Q\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_TXT_RES: + +OSD4\_TXT\_RES: Sets the overlay text resolution \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18\/60x22 \(MSP DisplayPort only\) + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | 30x16 | ++-------+---------+ +| 1 | 50x18 | ++-------+---------+ +| 2 | 60x22 | ++-------+---------+ + + + + +.. _OSD4_FONT: + +OSD4\_FONT: Sets the font index for this screen \(MSP DisplayPort only\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the font index for this screen \(MSP DisplayPort only\) + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_PWR_EN: + +OSD4\_RC\_PWR\_EN: RC\_PWR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link transmit \(TX\) power in mW or W\, depending on level + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_PWR_X: + +OSD4\_RC\_PWR\_X: RC\_PWR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_PWR_Y: + +OSD4\_RC\_PWR\_Y: RC\_PWR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RSSIDBM_EN: + +OSD4\_RSSIDBM\_EN: RSSIDBM\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal strength in dBm + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RSSIDBM_X: + +OSD4\_RSSIDBM\_X: RSSIDBM\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RSSIDBM_Y: + +OSD4\_RSSIDBM\_Y: RSSIDBM\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_SNR_EN: + +OSD4\_RC\_SNR\_EN: RC\_SNR\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays RC link signal to noise ratio in dB + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_SNR_X: + +OSD4\_RC\_SNR\_X: RC\_SNR\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_SNR_Y: + +OSD4\_RC\_SNR\_Y: RC\_SNR\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_ANT_EN: + +OSD4\_RC\_ANT\_EN: RC\_ANT\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the current RC link active antenna + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_ANT_X: + +OSD4\_RC\_ANT\_X: RC\_ANT\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_ANT_Y: + +OSD4\_RC\_ANT\_Y: RC\_ANT\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_RC_LQ_EN: + +OSD4\_RC\_LQ\_EN: RC\_LQ\_EN +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Displays the RC link quality \(uplink\, 0 to 100\%\) and also RF mode if bit 7 of OSD\_OPTIONS is set + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD4_RC_LQ_X: + +OSD4\_RC\_LQ\_X: RC\_LQ\_X +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 59 | ++---------+ + + + + +.. _OSD4_RC_LQ_Y: + +OSD4\_RC\_LQ\_Y: RC\_LQ\_Y +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 21 | ++---------+ + + + + +.. _OSD4_ESC_IDX: + +OSD4\_ESC\_IDX: ESC\_IDX +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the ESC to use for displaying ESC information\. 0 means use the ESC with the highest value\. + + ++---------+ +| Range | ++=========+ +| 0 to 32 | ++---------+ + + + + + +.. _parameters_OSD5_: + +OSD5\_ Parameters +----------------- + + +.. _OSD5_ENABLE: + +OSD5\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_CHAN_MIN: + +OSD5\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_CHAN_MAX: + +OSD5\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD5_SAVE_X: + +OSD5\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD5_SAVE_Y: + +OSD5\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD5_PARAM1: + +OSD5\_PARAM1 Parameters +----------------------- + + +.. _OSD5_PARAM1_EN: + +OSD5\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM1_X: + +OSD5\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM1_Y: + +OSD5\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM1_KEY: + +OSD5\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_IDX: + +OSD5\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_GRP: + +OSD5\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MIN: + +OSD5\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_MAX: + +OSD5\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_INCR: + +OSD5\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM1_TYPE: + +OSD5\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM2: + +OSD5\_PARAM2 Parameters +----------------------- + + +.. _OSD5_PARAM2_EN: + +OSD5\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM2_X: + +OSD5\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM2_Y: + +OSD5\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM2_KEY: + +OSD5\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_IDX: + +OSD5\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_GRP: + +OSD5\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MIN: + +OSD5\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_MAX: + +OSD5\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_INCR: + +OSD5\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM2_TYPE: + +OSD5\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM3: + +OSD5\_PARAM3 Parameters +----------------------- + + +.. _OSD5_PARAM3_EN: + +OSD5\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM3_X: + +OSD5\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM3_Y: + +OSD5\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM3_KEY: + +OSD5\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_IDX: + +OSD5\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_GRP: + +OSD5\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MIN: + +OSD5\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_MAX: + +OSD5\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_INCR: + +OSD5\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM3_TYPE: + +OSD5\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM4: + +OSD5\_PARAM4 Parameters +----------------------- + + +.. _OSD5_PARAM4_EN: + +OSD5\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM4_X: + +OSD5\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM4_Y: + +OSD5\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM4_KEY: + +OSD5\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_IDX: + +OSD5\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_GRP: + +OSD5\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MIN: + +OSD5\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_MAX: + +OSD5\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_INCR: + +OSD5\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM4_TYPE: + +OSD5\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM5: + +OSD5\_PARAM5 Parameters +----------------------- + + +.. _OSD5_PARAM5_EN: + +OSD5\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM5_X: + +OSD5\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM5_Y: + +OSD5\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM5_KEY: + +OSD5\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_IDX: + +OSD5\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_GRP: + +OSD5\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MIN: + +OSD5\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_MAX: + +OSD5\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_INCR: + +OSD5\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM5_TYPE: + +OSD5\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM6: + +OSD5\_PARAM6 Parameters +----------------------- + + +.. _OSD5_PARAM6_EN: + +OSD5\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM6_X: + +OSD5\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM6_Y: + +OSD5\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM6_KEY: + +OSD5\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_IDX: + +OSD5\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_GRP: + +OSD5\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MIN: + +OSD5\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_MAX: + +OSD5\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_INCR: + +OSD5\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM6_TYPE: + +OSD5\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM7: + +OSD5\_PARAM7 Parameters +----------------------- + + +.. _OSD5_PARAM7_EN: + +OSD5\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM7_X: + +OSD5\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM7_Y: + +OSD5\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM7_KEY: + +OSD5\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_IDX: + +OSD5\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_GRP: + +OSD5\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MIN: + +OSD5\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_MAX: + +OSD5\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_INCR: + +OSD5\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM7_TYPE: + +OSD5\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM8: + +OSD5\_PARAM8 Parameters +----------------------- + + +.. _OSD5_PARAM8_EN: + +OSD5\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM8_X: + +OSD5\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM8_Y: + +OSD5\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM8_KEY: + +OSD5\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_IDX: + +OSD5\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_GRP: + +OSD5\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MIN: + +OSD5\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_MAX: + +OSD5\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_INCR: + +OSD5\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM8_TYPE: + +OSD5\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD5_PARAM9: + +OSD5\_PARAM9 Parameters +----------------------- + + +.. _OSD5_PARAM9_EN: + +OSD5\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD5_PARAM9_X: + +OSD5\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD5_PARAM9_Y: + +OSD5\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD5_PARAM9_KEY: + +OSD5\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_IDX: + +OSD5\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_GRP: + +OSD5\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MIN: + +OSD5\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_MAX: + +OSD5\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_INCR: + +OSD5\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD5_PARAM9_TYPE: + +OSD5\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_: + +OSD6\_ Parameters +----------------- + + +.. _OSD6_ENABLE: + +OSD6\_ENABLE: Enable screen +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable this screen + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_CHAN_MIN: + +OSD6\_CHAN\_MIN: Transmitter switch screen minimum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM lower limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_CHAN_MAX: + +OSD6\_CHAN\_MAX: Transmitter switch screen maximum pwm +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the PWM upper limit for this screen + + ++-------------+ +| Range | ++=============+ +| 900 to 2100 | ++-------------+ + + + + +.. _OSD6_SAVE_X: + +OSD6\_SAVE\_X: SAVE\_X +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Horizontal position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 25 | ++---------+ + + + + +.. _OSD6_SAVE_Y: + +OSD6\_SAVE\_Y: SAVE\_Y +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Vertical position of Save button on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_OSD6_PARAM1: + +OSD6\_PARAM1 Parameters +----------------------- + + +.. _OSD6_PARAM1_EN: + +OSD6\_PARAM1\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM1_X: + +OSD6\_PARAM1\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM1_Y: + +OSD6\_PARAM1\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM1_KEY: + +OSD6\_PARAM1\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_IDX: + +OSD6\_PARAM1\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_GRP: + +OSD6\_PARAM1\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MIN: + +OSD6\_PARAM1\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_MAX: + +OSD6\_PARAM1\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_INCR: + +OSD6\_PARAM1\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM1_TYPE: + +OSD6\_PARAM1\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM2: + +OSD6\_PARAM2 Parameters +----------------------- + + +.. _OSD6_PARAM2_EN: + +OSD6\_PARAM2\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM2_X: + +OSD6\_PARAM2\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM2_Y: + +OSD6\_PARAM2\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM2_KEY: + +OSD6\_PARAM2\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_IDX: + +OSD6\_PARAM2\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_GRP: + +OSD6\_PARAM2\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MIN: + +OSD6\_PARAM2\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_MAX: + +OSD6\_PARAM2\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_INCR: + +OSD6\_PARAM2\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM2_TYPE: + +OSD6\_PARAM2\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM3: + +OSD6\_PARAM3 Parameters +----------------------- + + +.. _OSD6_PARAM3_EN: + +OSD6\_PARAM3\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM3_X: + +OSD6\_PARAM3\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM3_Y: + +OSD6\_PARAM3\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM3_KEY: + +OSD6\_PARAM3\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_IDX: + +OSD6\_PARAM3\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_GRP: + +OSD6\_PARAM3\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MIN: + +OSD6\_PARAM3\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_MAX: + +OSD6\_PARAM3\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_INCR: + +OSD6\_PARAM3\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM3_TYPE: + +OSD6\_PARAM3\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM4: + +OSD6\_PARAM4 Parameters +----------------------- + + +.. _OSD6_PARAM4_EN: + +OSD6\_PARAM4\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM4_X: + +OSD6\_PARAM4\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM4_Y: + +OSD6\_PARAM4\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM4_KEY: + +OSD6\_PARAM4\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_IDX: + +OSD6\_PARAM4\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_GRP: + +OSD6\_PARAM4\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MIN: + +OSD6\_PARAM4\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_MAX: + +OSD6\_PARAM4\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_INCR: + +OSD6\_PARAM4\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM4_TYPE: + +OSD6\_PARAM4\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM5: + +OSD6\_PARAM5 Parameters +----------------------- + + +.. _OSD6_PARAM5_EN: + +OSD6\_PARAM5\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM5_X: + +OSD6\_PARAM5\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM5_Y: + +OSD6\_PARAM5\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM5_KEY: + +OSD6\_PARAM5\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_IDX: + +OSD6\_PARAM5\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_GRP: + +OSD6\_PARAM5\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MIN: + +OSD6\_PARAM5\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_MAX: + +OSD6\_PARAM5\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_INCR: + +OSD6\_PARAM5\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM5_TYPE: + +OSD6\_PARAM5\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM6: + +OSD6\_PARAM6 Parameters +----------------------- + + +.. _OSD6_PARAM6_EN: + +OSD6\_PARAM6\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM6_X: + +OSD6\_PARAM6\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM6_Y: + +OSD6\_PARAM6\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM6_KEY: + +OSD6\_PARAM6\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_IDX: + +OSD6\_PARAM6\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_GRP: + +OSD6\_PARAM6\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MIN: + +OSD6\_PARAM6\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_MAX: + +OSD6\_PARAM6\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_INCR: + +OSD6\_PARAM6\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM6_TYPE: + +OSD6\_PARAM6\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM7: + +OSD6\_PARAM7 Parameters +----------------------- + + +.. _OSD6_PARAM7_EN: + +OSD6\_PARAM7\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM7_X: + +OSD6\_PARAM7\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM7_Y: + +OSD6\_PARAM7\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM7_KEY: + +OSD6\_PARAM7\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_IDX: + +OSD6\_PARAM7\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_GRP: + +OSD6\_PARAM7\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MIN: + +OSD6\_PARAM7\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_MAX: + +OSD6\_PARAM7\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_INCR: + +OSD6\_PARAM7\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM7_TYPE: + +OSD6\_PARAM7\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM8: + +OSD6\_PARAM8 Parameters +----------------------- + + +.. _OSD6_PARAM8_EN: + +OSD6\_PARAM8\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM8_X: + +OSD6\_PARAM8\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM8_Y: + +OSD6\_PARAM8\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM8_KEY: + +OSD6\_PARAM8\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_IDX: + +OSD6\_PARAM8\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_GRP: + +OSD6\_PARAM8\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MIN: + +OSD6\_PARAM8\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_MAX: + +OSD6\_PARAM8\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_INCR: + +OSD6\_PARAM8\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM8_TYPE: + +OSD6\_PARAM8\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_OSD6_PARAM9: + +OSD6\_PARAM9 Parameters +----------------------- + + +.. _OSD6_PARAM9_EN: + +OSD6\_PARAM9\_EN: Enable +~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable setting + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _OSD6_PARAM9_X: + +OSD6\_PARAM9\_X: X position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Horizontal position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 29 | ++---------+ + + + + +.. _OSD6_PARAM9_Y: + +OSD6\_PARAM9\_Y: Y position +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vertical position on screen + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _OSD6_PARAM9_KEY: + +OSD6\_PARAM9\_KEY: Parameter key +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Key of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_IDX: + +OSD6\_PARAM9\_IDX: Parameter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Index of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_GRP: + +OSD6\_PARAM9\_GRP: Parameter group +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Group of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MIN: + +OSD6\_PARAM9\_MIN: Parameter minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum value of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_MAX: + +OSD6\_PARAM9\_MAX: Parameter maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_INCR: + +OSD6\_PARAM9\_INCR: Parameter increment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Increment of the parameter to be displayed and modified + + +.. _OSD6_PARAM9_TYPE: + +OSD6\_PARAM9\_TYPE: Parameter type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of the parameter to be displayed and modified + + + +.. _parameters_PLND_: + +PLND\_ Parameters +----------------- + + +.. _PLND_ENABLED: + +PLND\_ENABLED: Precision Land enabled\/disabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land enabled\/disabled + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _PLND_TYPE: + +PLND\_TYPE: Precision Land Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Land Type + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | MAVLink | ++-------+-------------+ +| 2 | IRLock | ++-------+-------------+ +| 3 | SITL_Gazebo | ++-------+-------------+ +| 4 | SITL | ++-------+-------------+ + + + + +.. _PLND_YAW_ALIGN: + +PLND\_YAW\_ALIGN: Sensor yaw alignment +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Yaw angle from body x\-axis to sensor x\-axis\. + + ++-----------+------------+--------------+ +| Increment | Range | Units | ++===========+============+==============+ +| 10 | 0 to 36000 | centidegrees | ++-----------+------------+--------------+ + + + + +.. _PLND_LAND_OFS_X: + +PLND\_LAND\_OFS\_X: Land offset forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired landing position of the camera forward of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_LAND_OFS_Y: + +PLND\_LAND\_OFS\_Y: Land offset right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +desired landing position of the camera right of the target in vehicle body frame + + ++-----------+-----------+-------------+ +| Increment | Range | Units | ++===========+===========+=============+ +| 1 | -20 to 20 | centimeters | ++-----------+-----------+-------------+ + + + + +.. _PLND_EST_TYPE: + +PLND\_EST\_TYPE: Precision Land Estimator Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies the estimation method to be used + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | RawSensor | ++-------+--------------+ +| 1 | KalmanFilter | ++-------+--------------+ + + + + +.. _PLND_ACC_P_NSE: + +PLND\_ACC\_P\_NSE: Kalman Filter Accelerometer Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Kalman Filter Accelerometer Noise\, higher values weight the input from the camera more\, accels less + + ++----------+ +| Range | ++==========+ +| 0.5 to 5 | ++----------+ + + + + +.. _PLND_CAM_POS_X: + +PLND\_CAM\_POS\_X: Camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Y: + +PLND\_CAM\_POS\_Y: Camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_CAM_POS_Z: + +PLND\_CAM\_POS\_Z: Camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _PLND_BUS: + +PLND\_BUS: Sensor Bus +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland sensor bus for I2C sensors\. + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| -1 | DefaultBus | ++-------+-------------+ +| 0 | InternalI2C | ++-------+-------------+ +| 1 | ExternalI2C | ++-------+-------------+ + + + + +.. _PLND_LAG: + +PLND\_LAG: Precision Landing sensor lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Precision Landing sensor lag\, to cope with variable landing\_target latency + + ++-----------+---------------+---------+ +| Increment | Range | Units | ++===========+===============+=========+ +| 1 | 0.02 to 0.250 | seconds | ++-----------+---------------+---------+ + + + + +.. _PLND_XY_DIST_MAX: + +PLND\_XY\_DIST\_MAX: Precision Landing maximum distance to target before descending +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The vehicle will not start descending if the landing target is detected and it is further than this many meters away\. Set 0 to always descend\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _PLND_STRICT: + +PLND\_STRICT: PrecLand strictness +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +How strictly should the vehicle land on the target if target is lost + + ++-------+----------------------------------------+ +| Value | Meaning | ++=======+========================================+ +| 0 | Land Vertically (Not strict) | ++-------+----------------------------------------+ +| 1 | Retry Landing(Normal Strictness) | ++-------+----------------------------------------+ +| 2 | Do not land (just Hover) (Very Strict) | ++-------+----------------------------------------+ + + + + +.. _PLND_RET_MAX: + +PLND\_RET\_MAX: PrecLand Maximum number of retires for a failed landing +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PrecLand Maximum number of retires for a failed landing\. Set to zero to disable landing retry\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _PLND_TIMEOUT: + +PLND\_TIMEOUT: PrecLand retry timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time for which vehicle continues descend even if target is lost\. After this time period\, vehicle will attempt a landing retry depending on PLND\_STRICT parameter\. + + ++---------+---------+ +| Range | Units | ++=========+=========+ +| 0 to 20 | seconds | ++---------+---------+ + + + + +.. _PLND_RET_BEHAVE: + +PLND\_RET\_BEHAVE: PrecLand retry behaviour +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Prec Land will do the action selected by this parameter if a retry to a landing is needed + + ++-------+--------------------------------------------------------------------+ +| Value | Meaning | ++=======+====================================================================+ +| 0 | Go to the last location where landing target was detected | ++-------+--------------------------------------------------------------------+ +| 1 | Go towards the approximate location of the detected landing target | ++-------+--------------------------------------------------------------------+ + + + + +.. _PLND_ALT_MIN: + +PLND\_ALT\_MIN: PrecLand minimum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically even if target is lost below this height\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++--------+--------+ +| Range | Units | ++========+========+ +| 0 to 5 | meters | ++--------+--------+ + + + + +.. _PLND_ALT_MAX: + +PLND\_ALT\_MAX: PrecLand maximum alt for retry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle will continue landing vertically until this height if target is not found\. Below this height if landing target is not found\, landing retry\/failsafe might be attempted\. This needs a rangefinder to work\. Set to zero to disable this\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 50 | meters | ++---------+--------+ + + + + +.. _PLND_OPTIONS: + +PLND\_OPTIONS: Precision Landing Extra Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precision Landing Extra Options + + ++-----+-------------------------------------------------+ +| Bit | Meaning | ++=====+=================================================+ +| 0 | Moving Landing Target | ++-----+-------------------------------------------------+ +| 1 | Allow Precision Landing after manual reposition | ++-----+-------------------------------------------------+ +| 2 | Maintain high speed in final descent | ++-----+-------------------------------------------------+ + + + + +.. _PLND_ORIENT: + +PLND\_ORIENT: Camera Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Orientation of camera\/sensor on body + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + + +.. _parameters_PRX: + +PRX Parameters +-------------- + + +.. _PRX_LOG_RAW: + +PRX\_LOG\_RAW: Proximity raw distances log +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set this parameter to one if logging unfiltered\(raw\) distances from sensor should be enabled + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Off | ++-------+---------+ +| 1 | On | ++-------+---------+ + + + + +.. _PRX_FILT: + +PRX\_FILT: Proximity filter cutoff frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Cutoff frequency for low pass filter applied to each face in the proximity boundary + + ++---------+-------+ +| Range | Units | ++=========+=======+ +| 0 to 20 | hertz | ++---------+-------+ + + + + + +.. _parameters_PRX1: + +PRX1 Parameters +--------------- + + +.. _PRX1_TYPE: + +PRX1\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX1_ORIENT: + +PRX1\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX1_YAW_CORR: + +PRX1\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX1_IGN_ANG1: + +PRX1\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID1: + +PRX1\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG2: + +PRX1\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID2: + +PRX1\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG3: + +PRX1\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID3: + +PRX1\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_ANG4: + +PRX1\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX1_IGN_WID4: + +PRX1\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX1_MIN: + +PRX1\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_MAX: + +PRX1\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX1_ADDR: + +PRX1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX1_: + +PRX1\_ Parameters +----------------- + + +.. _PRX1_RECV_ID: + +PRX1\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX2: + +PRX2 Parameters +--------------- + + +.. _PRX2_TYPE: + +PRX2\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX2_ORIENT: + +PRX2\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX2_YAW_CORR: + +PRX2\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX2_IGN_ANG1: + +PRX2\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID1: + +PRX2\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG2: + +PRX2\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID2: + +PRX2\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG3: + +PRX2\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID3: + +PRX2\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_ANG4: + +PRX2\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX2_IGN_WID4: + +PRX2\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX2_MIN: + +PRX2\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_MAX: + +PRX2\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX2_ADDR: + +PRX2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX2_: + +PRX2\_ Parameters +----------------- + + +.. _PRX2_RECV_ID: + +PRX2\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX3: + +PRX3 Parameters +--------------- + + +.. _PRX3_TYPE: + +PRX3\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX3_ORIENT: + +PRX3\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX3_YAW_CORR: + +PRX3\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX3_IGN_ANG1: + +PRX3\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID1: + +PRX3\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG2: + +PRX3\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID2: + +PRX3\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG3: + +PRX3\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID3: + +PRX3\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_ANG4: + +PRX3\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX3_IGN_WID4: + +PRX3\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX3_MIN: + +PRX3\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_MAX: + +PRX3\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX3_ADDR: + +PRX3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX3_: + +PRX3\_ Parameters +----------------- + + +.. _PRX3_RECV_ID: + +PRX3\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PRX4: + +PRX4 Parameters +--------------- + + +.. _PRX4_TYPE: + +PRX4\_TYPE: Proximity type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +What type of proximity sensor is connected + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | None | ++-------+--------------------+ +| 7 | LightwareSF40c | ++-------+--------------------+ +| 2 | MAVLink | ++-------+--------------------+ +| 3 | TeraRangerTower | ++-------+--------------------+ +| 4 | RangeFinder | ++-------+--------------------+ +| 5 | RPLidarA2 | ++-------+--------------------+ +| 6 | TeraRangerTowerEvo | ++-------+--------------------+ +| 8 | LightwareSF45B | ++-------+--------------------+ +| 10 | SITL | ++-------+--------------------+ +| 12 | AirSimSITL | ++-------+--------------------+ +| 13 | CygbotD1 | ++-------+--------------------+ +| 14 | DroneCAN | ++-------+--------------------+ +| 15 | Scripting | ++-------+--------------------+ +| 16 | LD06 | ++-------+--------------------+ +| 17 | MR72_CAN | ++-------+--------------------+ + + + + +.. _PRX4_ORIENT: + +PRX4\_ORIENT: Proximity sensor orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor orientation + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | Default | ++-------+-------------+ +| 1 | Upside Down | ++-------+-------------+ + + + + +.. _PRX4_YAW_CORR: + +PRX4\_YAW\_CORR: Proximity sensor yaw correction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor yaw correction + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _PRX4_IGN_ANG1: + +PRX4\_IGN\_ANG1: Proximity sensor ignore angle 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID1: + +PRX4\_IGN\_WID1: Proximity sensor ignore width 1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 1 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG2: + +PRX4\_IGN\_ANG2: Proximity sensor ignore angle 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID2: + +PRX4\_IGN\_WID2: Proximity sensor ignore width 2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 2 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG3: + +PRX4\_IGN\_ANG3: Proximity sensor ignore angle 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID3: + +PRX4\_IGN\_WID3: Proximity sensor ignore width 3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 3 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_ANG4: + +PRX4\_IGN\_ANG4: Proximity sensor ignore angle 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore angle 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _PRX4_IGN_WID4: + +PRX4\_IGN\_WID4: Proximity sensor ignore width 4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Proximity sensor ignore width 4 + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 127 | degrees | ++----------+---------+ + + + + +.. _PRX4_MIN: + +PRX4\_MIN: Proximity minimum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_MAX: + +PRX4\_MAX: Proximity maximum range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum expected range for Proximity Sensor\. Setting this to 0 will set value to manufacturer reported range\. + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 500 | meters | ++----------+--------+ + + + + +.. _PRX4_ADDR: + +PRX4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + + +.. _parameters_PRX4_: + +PRX4\_ Parameters +----------------- + + +.. _PRX4_RECV_ID: + +PRX4\_RECV\_ID: CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_PSC: + +PSC Parameters +-------------- + + +.. _PSC_POS_P: + +PSC\_POS\_P: Position controller P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position controller P gain\. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller + + ++----------------+ +| Range | ++================+ +| 0.500 to 2.000 | ++----------------+ + + + + +.. _PSC_VEL_P: + +PSC\_VEL\_P: Velocity \(horizontal\) P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) P gain\. Converts the difference between desired and actual velocity to a target acceleration + + ++-----------+------------+ +| Increment | Range | ++===========+============+ +| 0.1 | 0.1 to 6.0 | ++-----------+------------+ + + + + +.. _PSC_VEL_I: + +PSC\_VEL\_I: Velocity \(horizontal\) I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) I gain\. Corrects long\-term difference between desired and actual velocity to a target acceleration + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.01 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VEL_D: + +PSC\_VEL\_D: Velocity \(horizontal\) D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) D gain\. Corrects short\-term changes in velocity + + ++-----------+--------------+ +| Increment | Range | ++===========+==============+ +| 0.001 | 0.00 to 1.00 | ++-----------+--------------+ + + + + +.. _PSC_VEL_IMAX: + +PSC\_VEL\_IMAX: Velocity \(horizontal\) integrator maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) integrator maximum\. Constrains the target acceleration that the I gain will output + + ++-----------+-----------+-------------------------------+ +| Increment | Range | Units | ++===========+===========+===============================+ +| 10 | 0 to 4500 | centimeters per square second | ++-----------+-----------+-------------------------------+ + + + + +.. _PSC_VEL_FLTE: + +PSC\_VEL\_FLTE: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for P and I terms + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VEL_FLTD: + +PSC\_VEL\_FLTD: Velocity \(horizontal\) input filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) input filter\. This filter \(in Hz\) is applied to the input for D term + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 100 | hertz | ++----------+-------+ + + + + +.. _PSC_VEL_FF: + +PSC\_VEL\_FF: Velocity \(horizontal\) feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Velocity \(horizontal\) feed forward gain\. Converts the difference between desired velocity to a target acceleration + + ++-----------+--------+ +| Increment | Range | ++===========+========+ +| 0.01 | 0 to 6 | ++-----------+--------+ + + + + + +.. _parameters_RALLY_: + +RALLY\_ Parameters +------------------ + + +.. _RALLY_TOTAL: + +RALLY\_TOTAL: Rally Total +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Number of rally points currently loaded + + +.. _RALLY_LIMIT_KM: + +RALLY\_LIMIT\_KM: Rally Limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Maximum distance to rally point\. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point\. This prevents a leftover rally point from a different airfield being used accidentally\. If this is set to 0 then the closest rally point is always used\. + + ++-----------+------------+ +| Increment | Units | ++===========+============+ +| 0.1 | kilometers | ++-----------+------------+ + + + + +.. _RALLY_INCL_HOME: + +RALLY\_INCL\_HOME: Rally Include Home +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Controls if Home is included as a Rally point \(i\.e\. as a safe landing place\) for RTL + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | DoNotIncludeHome | ++-------+------------------+ +| 1 | IncludeHome | ++-------+------------------+ + + + + + +.. _parameters_RC: + +RC Parameters +------------- + + +.. _RC_OVERRIDE_TIME: + +RC\_OVERRIDE\_TIME: RC override timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Timeout after which RC overrides will no longer be used\, and RC input will resume\, 0 will disable RC overrides\, \-1 will never timeout\, and continue using overrides until they are disabled + + ++--------------+---------+ +| Range | Units | ++==============+=========+ +| 0.0 to 120.0 | seconds | ++--------------+---------+ + + + + +.. _RC_OPTIONS: + +RC\_OPTIONS: RC options +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC input options + + ++-----+--------------------------------------------------------------------+ +| Bit | Meaning | ++=====+====================================================================+ +| 0 | Ignore RC Receiver | ++-----+--------------------------------------------------------------------+ +| 1 | Ignore MAVLink Overrides | ++-----+--------------------------------------------------------------------+ +| 2 | Ignore Receiver Failsafe bit but allow other RC failsafes if setup | ++-----+--------------------------------------------------------------------+ +| 3 | FPort Pad | ++-----+--------------------------------------------------------------------+ +| 4 | Log RC input bytes | ++-----+--------------------------------------------------------------------+ +| 5 | Arming check throttle for 0 input | ++-----+--------------------------------------------------------------------+ +| 6 | Skip the arming check for neutral Roll/Pitch/Yaw sticks | ++-----+--------------------------------------------------------------------+ +| 7 | Allow Switch reverse | ++-----+--------------------------------------------------------------------+ +| 8 | Use passthrough for CRSF telemetry | ++-----+--------------------------------------------------------------------+ +| 9 | Suppress CRSF mode/rate message for ELRS systems | ++-----+--------------------------------------------------------------------+ +| 10 | Enable multiple receiver support | ++-----+--------------------------------------------------------------------+ +| 11 | Use Link Quality for RSSI with CRSF | ++-----+--------------------------------------------------------------------+ +| 12 | Annotate CRSF flight mode with * on disarm | ++-----+--------------------------------------------------------------------+ +| 13 | Use 420kbaud for ELRS protocol | ++-----+--------------------------------------------------------------------+ + + + + +.. _RC_PROTOCOLS: + +RC\_PROTOCOLS: RC protocols enabled +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of enabled RC protocols\. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection\. Set to 1 to enable all protocols\. + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | All | ++-----+----------+ +| 1 | PPM | ++-----+----------+ +| 2 | IBUS | ++-----+----------+ +| 3 | SBUS | ++-----+----------+ +| 4 | SBUS_NI | ++-----+----------+ +| 5 | DSM | ++-----+----------+ +| 6 | SUMD | ++-----+----------+ +| 7 | SRXL | ++-----+----------+ +| 8 | SRXL2 | ++-----+----------+ +| 9 | CRSF | ++-----+----------+ +| 10 | ST24 | ++-----+----------+ +| 11 | FPORT | ++-----+----------+ +| 12 | FPORT2 | ++-----+----------+ +| 13 | FastSBUS | ++-----+----------+ +| 14 | DroneCAN | ++-----+----------+ +| 15 | Ghost | ++-----+----------+ +| 16 | MAVRadio | ++-----+----------+ + + + + +.. _RC_FS_TIMEOUT: + +RC\_FS\_TIMEOUT: RC Failsafe timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RC failsafe will trigger this many seconds after loss of RC + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.5 to 10.0 | seconds | ++-------------+---------+ + + + + + +.. _parameters_RC10_: + +RC10\_ Parameters +----------------- + + +.. _RC10_MIN: + +RC10\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_TRIM: + +RC10\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_MAX: + +RC10\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC10_REVERSED: + +RC10\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC10_DZ: + +RC10\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC10_OPTION: + +RC10\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC11_: + +RC11\_ Parameters +----------------- + + +.. _RC11_MIN: + +RC11\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_TRIM: + +RC11\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_MAX: + +RC11\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC11_REVERSED: + +RC11\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC11_DZ: + +RC11\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC11_OPTION: + +RC11\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC12_: + +RC12\_ Parameters +----------------- + + +.. _RC12_MIN: + +RC12\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_TRIM: + +RC12\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_MAX: + +RC12\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC12_REVERSED: + +RC12\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC12_DZ: + +RC12\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC12_OPTION: + +RC12\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC13_: + +RC13\_ Parameters +----------------- + + +.. _RC13_MIN: + +RC13\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_TRIM: + +RC13\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_MAX: + +RC13\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC13_REVERSED: + +RC13\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC13_DZ: + +RC13\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC13_OPTION: + +RC13\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC14_: + +RC14\_ Parameters +----------------- + + +.. _RC14_MIN: + +RC14\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_TRIM: + +RC14\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_MAX: + +RC14\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC14_REVERSED: + +RC14\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC14_DZ: + +RC14\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC14_OPTION: + +RC14\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC15_: + +RC15\_ Parameters +----------------- + + +.. _RC15_MIN: + +RC15\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_TRIM: + +RC15\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_MAX: + +RC15\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC15_REVERSED: + +RC15\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC15_DZ: + +RC15\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC15_OPTION: + +RC15\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC16_: + +RC16\_ Parameters +----------------- + + +.. _RC16_MIN: + +RC16\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_TRIM: + +RC16\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_MAX: + +RC16\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC16_REVERSED: + +RC16\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC16_DZ: + +RC16\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC16_OPTION: + +RC16\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC1_: + +RC1\_ Parameters +---------------- + + +.. _RC1_MIN: + +RC1\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_TRIM: + +RC1\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_MAX: + +RC1\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC1_REVERSED: + +RC1\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC1_DZ: + +RC1\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC1_OPTION: + +RC1\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC2_: + +RC2\_ Parameters +---------------- + + +.. _RC2_MIN: + +RC2\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_TRIM: + +RC2\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_MAX: + +RC2\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC2_REVERSED: + +RC2\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC2_DZ: + +RC2\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC2_OPTION: + +RC2\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC3_: + +RC3\_ Parameters +---------------- + + +.. _RC3_MIN: + +RC3\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_TRIM: + +RC3\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_MAX: + +RC3\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC3_REVERSED: + +RC3\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC3_DZ: + +RC3\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC3_OPTION: + +RC3\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC4_: + +RC4\_ Parameters +---------------- + + +.. _RC4_MIN: + +RC4\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_TRIM: + +RC4\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_MAX: + +RC4\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC4_REVERSED: + +RC4\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC4_DZ: + +RC4\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC4_OPTION: + +RC4\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC5_: + +RC5\_ Parameters +---------------- + + +.. _RC5_MIN: + +RC5\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_TRIM: + +RC5\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_MAX: + +RC5\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC5_REVERSED: + +RC5\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC5_DZ: + +RC5\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC5_OPTION: + +RC5\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC6_: + +RC6\_ Parameters +---------------- + + +.. _RC6_MIN: + +RC6\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_TRIM: + +RC6\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_MAX: + +RC6\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC6_REVERSED: + +RC6\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC6_DZ: + +RC6\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC6_OPTION: + +RC6\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC7_: + +RC7\_ Parameters +---------------- + + +.. _RC7_MIN: + +RC7\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_TRIM: + +RC7\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_MAX: + +RC7\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC7_REVERSED: + +RC7\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC7_DZ: + +RC7\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC7_OPTION: + +RC7\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC8_: + +RC8\_ Parameters +---------------- + + +.. _RC8_MIN: + +RC8\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_TRIM: + +RC8\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_MAX: + +RC8\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC8_REVERSED: + +RC8\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC8_DZ: + +RC8\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC8_OPTION: + +RC8\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RC9_: + +RC9\_ Parameters +---------------- + + +.. _RC9_MIN: + +RC9\_MIN: RC min PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_TRIM: + +RC9\_TRIM: RC trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC trim \(neutral\) PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_MAX: + +RC9\_MAX: RC max PWM +~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RC maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _RC9_REVERSED: + +RC9\_REVERSED: RC reversed +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse channel input\. Set to 0 for normal operation\. Set to 1 to reverse this input channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _RC9_DZ: + +RC9\_DZ: RC dead\-zone +~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM dead zone in microseconds around trim or bottom + + ++----------+---------------------+ +| Range | Units | ++==========+=====================+ +| 0 to 200 | PWM in microseconds | ++----------+---------------------+ + + + + +.. _RC9_OPTION: + +RC9\_OPTION: RC input option +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Function assigned to this RC channel + + ++-------+-------------------------------------------+ +| Value | Meaning | ++=======+===========================================+ +| 0 | Do Nothing | ++-------+-------------------------------------------+ +| 4 | RTL | ++-------+-------------------------------------------+ +| 5 | Save Trim (4.1 and lower) | ++-------+-------------------------------------------+ +| 7 | Save WP | ++-------+-------------------------------------------+ +| 9 | Camera Trigger | ++-------+-------------------------------------------+ +| 11 | Fence Enable | ++-------+-------------------------------------------+ +| 16 | AUTO Mode | ++-------+-------------------------------------------+ +| 19 | Gripper Release | ++-------+-------------------------------------------+ +| 24 | Auto Mission Reset | ++-------+-------------------------------------------+ +| 27 | Retract Mount1 | ++-------+-------------------------------------------+ +| 28 | Relay1 On/Off | ++-------+-------------------------------------------+ +| 30 | Lost Rover Sound | ++-------+-------------------------------------------+ +| 31 | Motor Emergency Stop | ++-------+-------------------------------------------+ +| 34 | Relay2 On/Off | ++-------+-------------------------------------------+ +| 35 | Relay3 On/Off | ++-------+-------------------------------------------+ +| 36 | Relay4 On/Off | ++-------+-------------------------------------------+ +| 40 | Proximity Avoidance Enable | ++-------+-------------------------------------------+ +| 41 | ArmDisarm (4.1 and lower) | ++-------+-------------------------------------------+ +| 42 | SMARTRTL Mode | ++-------+-------------------------------------------+ +| 46 | RC Override Enable | ++-------+-------------------------------------------+ +| 50 | LearnCruise Speed | ++-------+-------------------------------------------+ +| 51 | MANUAL Mode | ++-------+-------------------------------------------+ +| 52 | ACRO Mode | ++-------+-------------------------------------------+ +| 53 | STEERING Mode | ++-------+-------------------------------------------+ +| 54 | HOLD Mode | ++-------+-------------------------------------------+ +| 55 | GUIDED Mode | ++-------+-------------------------------------------+ +| 56 | LOITER Mode | ++-------+-------------------------------------------+ +| 57 | FOLLOW Mode | ++-------+-------------------------------------------+ +| 58 | Clear Waypoints | ++-------+-------------------------------------------+ +| 59 | Simple Mode | ++-------+-------------------------------------------+ +| 62 | Compass Learn | ++-------+-------------------------------------------+ +| 63 | Sailboat Tack | ++-------+-------------------------------------------+ +| 65 | GPS Disable | ++-------+-------------------------------------------+ +| 66 | Relay5 On/Off | ++-------+-------------------------------------------+ +| 67 | Relay6 On/Off | ++-------+-------------------------------------------+ +| 72 | CIRCLE Mode | ++-------+-------------------------------------------+ +| 74 | Sailboat motoring 3pos | ++-------+-------------------------------------------+ +| 78 | RunCam Control | ++-------+-------------------------------------------+ +| 79 | RunCam OSD Control | ++-------+-------------------------------------------+ +| 80 | VisoOdom Align | ++-------+-------------------------------------------+ +| 81 | Disarm | ++-------+-------------------------------------------+ +| 90 | EKF Source Set | ++-------+-------------------------------------------+ +| 94 | VTX Power | ++-------+-------------------------------------------+ +| 97 | Windvane home heading direction offset | ++-------+-------------------------------------------+ +| 100 | KillIMU1 | ++-------+-------------------------------------------+ +| 101 | KillIMU2 | ++-------+-------------------------------------------+ +| 102 | Camera Mode Toggle | ++-------+-------------------------------------------+ +| 105 | GPS Disable Yaw | ++-------+-------------------------------------------+ +| 106 | Disable Airspeed Use | ++-------+-------------------------------------------+ +| 110 | KillIMU3 | ++-------+-------------------------------------------+ +| 112 | SwitchExternalAHRS | ++-------+-------------------------------------------+ +| 113 | Retract Mount2 | ++-------+-------------------------------------------+ +| 153 | ArmDisarm (4.2 and higher) | ++-------+-------------------------------------------+ +| 155 | Set steering trim to current servo and RC | ++-------+-------------------------------------------+ +| 156 | Torqeedo Clear Err | ++-------+-------------------------------------------+ +| 162 | FFT Tune | ++-------+-------------------------------------------+ +| 163 | Mount Lock | ++-------+-------------------------------------------+ +| 164 | Pause Stream Logging | ++-------+-------------------------------------------+ +| 165 | Arm/Emergency Motor Stop | ++-------+-------------------------------------------+ +| 166 | Camera Record Video | ++-------+-------------------------------------------+ +| 167 | Camera Zoom | ++-------+-------------------------------------------+ +| 168 | Camera Manual Focus | ++-------+-------------------------------------------+ +| 169 | Camera Auto Focus | ++-------+-------------------------------------------+ +| 171 | Calibrate Compasses | ++-------+-------------------------------------------+ +| 172 | Battery MPPT Enable | ++-------+-------------------------------------------+ +| 174 | Camera Image Tracking | ++-------+-------------------------------------------+ +| 175 | Camera Lens | ++-------+-------------------------------------------+ +| 177 | Mount LRF enable | ++-------+-------------------------------------------+ +| 201 | Roll | ++-------+-------------------------------------------+ +| 202 | Pitch | ++-------+-------------------------------------------+ +| 207 | MainSail | ++-------+-------------------------------------------+ +| 208 | Flap | ++-------+-------------------------------------------+ +| 211 | Walking Height | ++-------+-------------------------------------------+ +| 212 | Mount1 Roll | ++-------+-------------------------------------------+ +| 213 | Mount1 Pitch | ++-------+-------------------------------------------+ +| 214 | Mount1 Yaw | ++-------+-------------------------------------------+ +| 215 | Mount2 Roll | ++-------+-------------------------------------------+ +| 216 | Mount2 Pitch | ++-------+-------------------------------------------+ +| 217 | Mount2 Yaw | ++-------+-------------------------------------------+ +| 300 | Scripting1 | ++-------+-------------------------------------------+ +| 301 | Scripting2 | ++-------+-------------------------------------------+ +| 302 | Scripting3 | ++-------+-------------------------------------------+ +| 303 | Scripting4 | ++-------+-------------------------------------------+ +| 304 | Scripting5 | ++-------+-------------------------------------------+ +| 305 | Scripting6 | ++-------+-------------------------------------------+ +| 306 | Scripting7 | ++-------+-------------------------------------------+ +| 307 | Scripting8 | ++-------+-------------------------------------------+ + + + + + +.. _parameters_RCMAP_: + +RCMAP\_ Parameters +------------------ + + +.. _RCMAP_ROLL: + +RCMAP\_ROLL: Roll channel +~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Roll channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Roll is normally on channel 1\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_PITCH: + +RCMAP\_PITCH: Pitch channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Pitch channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Pitch is normally on channel 2\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_THROTTLE: + +RCMAP\_THROTTLE: Throttle channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Throttle channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Throttle is normally on channel 3\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + +.. _RCMAP_YAW: + +RCMAP\_YAW: Yaw channel +~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Yaw channel number\. This is useful when you have a RC transmitter that can\'t change the channel order easily\. Yaw \(also known as rudder\) is normally on channel 4\, but you can move it to any channel with this parameter\. Reboot is required for changes to take effect\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 1 to 16 | ++-----------+---------+ + + + + + +.. _parameters_RELAY10_: + +RELAY10\_ Parameters +-------------------- + + +.. _RELAY10_FUNCTION: + +RELAY10\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY10_PIN: + +RELAY10\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY10_DEFAULT: + +RELAY10\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY10_INVERTED: + +RELAY10\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY11_: + +RELAY11\_ Parameters +-------------------- + + +.. _RELAY11_FUNCTION: + +RELAY11\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY11_PIN: + +RELAY11\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY11_DEFAULT: + +RELAY11\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY11_INVERTED: + +RELAY11\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY12_: + +RELAY12\_ Parameters +-------------------- + + +.. _RELAY12_FUNCTION: + +RELAY12\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY12_PIN: + +RELAY12\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY12_DEFAULT: + +RELAY12\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY12_INVERTED: + +RELAY12\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY13_: + +RELAY13\_ Parameters +-------------------- + + +.. _RELAY13_FUNCTION: + +RELAY13\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY13_PIN: + +RELAY13\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY13_DEFAULT: + +RELAY13\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY13_INVERTED: + +RELAY13\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY14_: + +RELAY14\_ Parameters +-------------------- + + +.. _RELAY14_FUNCTION: + +RELAY14\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY14_PIN: + +RELAY14\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY14_DEFAULT: + +RELAY14\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY14_INVERTED: + +RELAY14\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY15_: + +RELAY15\_ Parameters +-------------------- + + +.. _RELAY15_FUNCTION: + +RELAY15\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY15_PIN: + +RELAY15\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY15_DEFAULT: + +RELAY15\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY15_INVERTED: + +RELAY15\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY16_: + +RELAY16\_ Parameters +-------------------- + + +.. _RELAY16_FUNCTION: + +RELAY16\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY16_PIN: + +RELAY16\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY16_DEFAULT: + +RELAY16\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY16_INVERTED: + +RELAY16\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY1_: + +RELAY1\_ Parameters +------------------- + + +.. _RELAY1_FUNCTION: + +RELAY1\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY1_PIN: + +RELAY1\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY1_DEFAULT: + +RELAY1\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY1_INVERTED: + +RELAY1\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY2_: + +RELAY2\_ Parameters +------------------- + + +.. _RELAY2_FUNCTION: + +RELAY2\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY2_PIN: + +RELAY2\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY2_DEFAULT: + +RELAY2\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY2_INVERTED: + +RELAY2\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY3_: + +RELAY3\_ Parameters +------------------- + + +.. _RELAY3_FUNCTION: + +RELAY3\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY3_PIN: + +RELAY3\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY3_DEFAULT: + +RELAY3\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY3_INVERTED: + +RELAY3\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY4_: + +RELAY4\_ Parameters +------------------- + + +.. _RELAY4_FUNCTION: + +RELAY4\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY4_PIN: + +RELAY4\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY4_DEFAULT: + +RELAY4\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY4_INVERTED: + +RELAY4\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY5_: + +RELAY5\_ Parameters +------------------- + + +.. _RELAY5_FUNCTION: + +RELAY5\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY5_PIN: + +RELAY5\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY5_DEFAULT: + +RELAY5\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY5_INVERTED: + +RELAY5\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY6_: + +RELAY6\_ Parameters +------------------- + + +.. _RELAY6_FUNCTION: + +RELAY6\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY6_PIN: + +RELAY6\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY6_DEFAULT: + +RELAY6\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY6_INVERTED: + +RELAY6\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY7_: + +RELAY7\_ Parameters +------------------- + + +.. _RELAY7_FUNCTION: + +RELAY7\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY7_PIN: + +RELAY7\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY7_DEFAULT: + +RELAY7\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY7_INVERTED: + +RELAY7\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY8_: + +RELAY8\_ Parameters +------------------- + + +.. _RELAY8_FUNCTION: + +RELAY8\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY8_PIN: + +RELAY8\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY8_DEFAULT: + +RELAY8\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY8_INVERTED: + +RELAY8\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RELAY9_: + +RELAY9\_ Parameters +------------------- + + +.. _RELAY9_FUNCTION: + +RELAY9\_FUNCTION: Relay function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The function the relay channel is mapped to\. + + ++-------+------------------------------------------------------------------+ +| Value | Meaning | ++=======+==================================================================+ +| 0 | None | ++-------+------------------------------------------------------------------+ +| 1 | Relay | ++-------+------------------------------------------------------------------+ +| 4 | Camera | ++-------+------------------------------------------------------------------+ +| 5 | Bushed motor reverse 1 throttle or throttle-left or omni motor 1 | ++-------+------------------------------------------------------------------+ +| 6 | Bushed motor reverse 2 throttle-right or omni motor 2 | ++-------+------------------------------------------------------------------+ +| 7 | Bushed motor reverse 3 omni motor 3 | ++-------+------------------------------------------------------------------+ +| 8 | Bushed motor reverse 4 omni motor 4 | ++-------+------------------------------------------------------------------+ + + + + +.. _RELAY9_PIN: + +RELAY9\_PIN: Relay pin +~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin number for relay control\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| -1 | Disabled | ++-------+--------------------------+ +| 49 | BB Blue GP0 pin 4 | ++-------+--------------------------+ +| 50 | AUXOUT1 | ++-------+--------------------------+ +| 51 | AUXOUT2 | ++-------+--------------------------+ +| 52 | AUXOUT3 | ++-------+--------------------------+ +| 53 | AUXOUT4 | ++-------+--------------------------+ +| 54 | AUXOUT5 | ++-------+--------------------------+ +| 55 | AUXOUT6 | ++-------+--------------------------+ +| 57 | BB Blue GP0 pin 3 | ++-------+--------------------------+ +| 113 | BB Blue GP0 pin 6 | ++-------+--------------------------+ +| 116 | BB Blue GP0 pin 5 | ++-------+--------------------------+ +| 62 | BBBMini Pin P8.13 | ++-------+--------------------------+ +| 101 | MainOut1 | ++-------+--------------------------+ +| 102 | MainOut2 | ++-------+--------------------------+ +| 103 | MainOut3 | ++-------+--------------------------+ +| 104 | MainOut4 | ++-------+--------------------------+ +| 105 | MainOut5 | ++-------+--------------------------+ +| 106 | MainOut6 | ++-------+--------------------------+ +| 107 | MainOut7 | ++-------+--------------------------+ +| 108 | MainOut8 | ++-------+--------------------------+ +| 1000 | DroneCAN Hardpoint ID 0 | ++-------+--------------------------+ +| 1001 | DroneCAN Hardpoint ID 1 | ++-------+--------------------------+ +| 1002 | DroneCAN Hardpoint ID 2 | ++-------+--------------------------+ +| 1003 | DroneCAN Hardpoint ID 3 | ++-------+--------------------------+ +| 1004 | DroneCAN Hardpoint ID 4 | ++-------+--------------------------+ +| 1005 | DroneCAN Hardpoint ID 5 | ++-------+--------------------------+ +| 1006 | DroneCAN Hardpoint ID 6 | ++-------+--------------------------+ +| 1007 | DroneCAN Hardpoint ID 7 | ++-------+--------------------------+ +| 1008 | DroneCAN Hardpoint ID 8 | ++-------+--------------------------+ +| 1009 | DroneCAN Hardpoint ID 9 | ++-------+--------------------------+ +| 1010 | DroneCAN Hardpoint ID 10 | ++-------+--------------------------+ +| 1011 | DroneCAN Hardpoint ID 11 | ++-------+--------------------------+ +| 1012 | DroneCAN Hardpoint ID 12 | ++-------+--------------------------+ +| 1013 | DroneCAN Hardpoint ID 13 | ++-------+--------------------------+ +| 1014 | DroneCAN Hardpoint ID 14 | ++-------+--------------------------+ +| 1015 | DroneCAN Hardpoint ID 15 | ++-------+--------------------------+ + + + + +.. _RELAY9_DEFAULT: + +RELAY9\_DEFAULT: Relay default state +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay default to on or off\, this only applies to RELAYx\_FUNC \"Relay\" \(1\)\. All other uses will pick the appropriate default output state from within the controlling function\'s parameters\. Note that if INVERTED is set then the default is inverted\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Off | ++-------+----------+ +| 1 | On | ++-------+----------+ +| 2 | NoChange | ++-------+----------+ + + + + +.. _RELAY9_INVERTED: + +RELAY9\_INVERTED: Relay invert output signal +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Should the relay output signal be inverted\. If enabled\, relay on would be pin low and relay off would be pin high\. NOTE\: this impact\'s DEFAULT\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Inverted | ++-------+----------+ + + + + + +.. _parameters_RNGFND1_: + +RNGFND1\_ Parameters +-------------------- + + +.. _RNGFND1_TYPE: + +RNGFND1\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND1_PIN: + +RNGFND1\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND1_SCALING: + +RNGFND1\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND1_OFFSET: + +RNGFND1\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND1_FUNCTION: + +RNGFND1\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND1_MIN_CM: + +RNGFND1\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_MAX_CM: + +RNGFND1\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND1_STOP_PIN: + +RNGFND1\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND1_RMETRIC: + +RNGFND1\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND1_PWRRNG: + +RNGFND1\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND1_GNDCLEAR: + +RNGFND1\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND1_ADDR: + +RNGFND1\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND1_POS_X: + +RNGFND1\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Y: + +RNGFND1\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_POS_Z: + +RNGFND1\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND1_ORIENT: + +RNGFND1\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND1_WSP_MAVG: + +RNGFND1\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_MEDF: + +RNGFND1\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_FRQ: + +RNGFND1\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND1_WSP_AVG: + +RNGFND1\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND1_WSP_THR: + +RNGFND1\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND1_WSP_BAUD: + +RNGFND1\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND1_RECV_ID: + +RNGFND1\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND1_SNR_MIN: + +RNGFND1\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND2_: + +RNGFND2\_ Parameters +-------------------- + + +.. _RNGFND2_TYPE: + +RNGFND2\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND2_PIN: + +RNGFND2\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND2_SCALING: + +RNGFND2\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND2_OFFSET: + +RNGFND2\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND2_FUNCTION: + +RNGFND2\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND2_MIN_CM: + +RNGFND2\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_MAX_CM: + +RNGFND2\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND2_STOP_PIN: + +RNGFND2\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND2_RMETRIC: + +RNGFND2\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND2_PWRRNG: + +RNGFND2\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND2_GNDCLEAR: + +RNGFND2\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND2_ADDR: + +RNGFND2\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND2_POS_X: + +RNGFND2\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Y: + +RNGFND2\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_POS_Z: + +RNGFND2\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND2_ORIENT: + +RNGFND2\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND2_WSP_MAVG: + +RNGFND2\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_MEDF: + +RNGFND2\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_FRQ: + +RNGFND2\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND2_WSP_AVG: + +RNGFND2\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND2_WSP_THR: + +RNGFND2\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND2_WSP_BAUD: + +RNGFND2\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND2_RECV_ID: + +RNGFND2\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND2_SNR_MIN: + +RNGFND2\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND3_: + +RNGFND3\_ Parameters +-------------------- + + +.. _RNGFND3_TYPE: + +RNGFND3\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND3_PIN: + +RNGFND3\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND3_SCALING: + +RNGFND3\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND3_OFFSET: + +RNGFND3\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND3_FUNCTION: + +RNGFND3\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND3_MIN_CM: + +RNGFND3\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_MAX_CM: + +RNGFND3\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND3_STOP_PIN: + +RNGFND3\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND3_RMETRIC: + +RNGFND3\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND3_PWRRNG: + +RNGFND3\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND3_GNDCLEAR: + +RNGFND3\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND3_ADDR: + +RNGFND3\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND3_POS_X: + +RNGFND3\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Y: + +RNGFND3\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_POS_Z: + +RNGFND3\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND3_ORIENT: + +RNGFND3\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND3_WSP_MAVG: + +RNGFND3\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_MEDF: + +RNGFND3\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_FRQ: + +RNGFND3\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND3_WSP_AVG: + +RNGFND3\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND3_WSP_THR: + +RNGFND3\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND3_WSP_BAUD: + +RNGFND3\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND3_RECV_ID: + +RNGFND3\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND3_SNR_MIN: + +RNGFND3\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND4_: + +RNGFND4\_ Parameters +-------------------- + + +.. _RNGFND4_TYPE: + +RNGFND4\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND4_PIN: + +RNGFND4\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND4_SCALING: + +RNGFND4\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND4_OFFSET: + +RNGFND4\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND4_FUNCTION: + +RNGFND4\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND4_MIN_CM: + +RNGFND4\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_MAX_CM: + +RNGFND4\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND4_STOP_PIN: + +RNGFND4\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND4_RMETRIC: + +RNGFND4\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND4_PWRRNG: + +RNGFND4\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND4_GNDCLEAR: + +RNGFND4\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND4_ADDR: + +RNGFND4\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND4_POS_X: + +RNGFND4\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Y: + +RNGFND4\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_POS_Z: + +RNGFND4\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND4_ORIENT: + +RNGFND4\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND4_WSP_MAVG: + +RNGFND4\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_MEDF: + +RNGFND4\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_FRQ: + +RNGFND4\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND4_WSP_AVG: + +RNGFND4\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND4_WSP_THR: + +RNGFND4\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND4_WSP_BAUD: + +RNGFND4\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND4_RECV_ID: + +RNGFND4\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND4_SNR_MIN: + +RNGFND4\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND5_: + +RNGFND5\_ Parameters +-------------------- + + +.. _RNGFND5_TYPE: + +RNGFND5\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND5_PIN: + +RNGFND5\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND5_SCALING: + +RNGFND5\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND5_OFFSET: + +RNGFND5\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND5_FUNCTION: + +RNGFND5\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND5_MIN_CM: + +RNGFND5\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_MAX_CM: + +RNGFND5\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND5_STOP_PIN: + +RNGFND5\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND5_RMETRIC: + +RNGFND5\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND5_PWRRNG: + +RNGFND5\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND5_GNDCLEAR: + +RNGFND5\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND5_ADDR: + +RNGFND5\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND5_POS_X: + +RNGFND5\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Y: + +RNGFND5\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_POS_Z: + +RNGFND5\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND5_ORIENT: + +RNGFND5\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND5_WSP_MAVG: + +RNGFND5\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_MEDF: + +RNGFND5\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_FRQ: + +RNGFND5\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND5_WSP_AVG: + +RNGFND5\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND5_WSP_THR: + +RNGFND5\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND5_WSP_BAUD: + +RNGFND5\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND5_RECV_ID: + +RNGFND5\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND5_SNR_MIN: + +RNGFND5\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND6_: + +RNGFND6\_ Parameters +-------------------- + + +.. _RNGFND6_TYPE: + +RNGFND6\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND6_PIN: + +RNGFND6\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND6_SCALING: + +RNGFND6\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND6_OFFSET: + +RNGFND6\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND6_FUNCTION: + +RNGFND6\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND6_MIN_CM: + +RNGFND6\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_MAX_CM: + +RNGFND6\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND6_STOP_PIN: + +RNGFND6\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND6_RMETRIC: + +RNGFND6\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND6_PWRRNG: + +RNGFND6\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND6_GNDCLEAR: + +RNGFND6\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND6_ADDR: + +RNGFND6\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND6_POS_X: + +RNGFND6\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Y: + +RNGFND6\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_POS_Z: + +RNGFND6\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND6_ORIENT: + +RNGFND6\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND6_WSP_MAVG: + +RNGFND6\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_MEDF: + +RNGFND6\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_FRQ: + +RNGFND6\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND6_WSP_AVG: + +RNGFND6\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND6_WSP_THR: + +RNGFND6\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND6_WSP_BAUD: + +RNGFND6\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND6_RECV_ID: + +RNGFND6\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND6_SNR_MIN: + +RNGFND6\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND7_: + +RNGFND7\_ Parameters +-------------------- + + +.. _RNGFND7_TYPE: + +RNGFND7\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND7_PIN: + +RNGFND7\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND7_SCALING: + +RNGFND7\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND7_OFFSET: + +RNGFND7\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND7_FUNCTION: + +RNGFND7\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND7_MIN_CM: + +RNGFND7\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_MAX_CM: + +RNGFND7\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND7_STOP_PIN: + +RNGFND7\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND7_RMETRIC: + +RNGFND7\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND7_PWRRNG: + +RNGFND7\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND7_GNDCLEAR: + +RNGFND7\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND7_ADDR: + +RNGFND7\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND7_POS_X: + +RNGFND7\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Y: + +RNGFND7\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_POS_Z: + +RNGFND7\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND7_ORIENT: + +RNGFND7\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND7_WSP_MAVG: + +RNGFND7\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_MEDF: + +RNGFND7\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_FRQ: + +RNGFND7\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND7_WSP_AVG: + +RNGFND7\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND7_WSP_THR: + +RNGFND7\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND7_WSP_BAUD: + +RNGFND7\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND7_RECV_ID: + +RNGFND7\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND7_SNR_MIN: + +RNGFND7\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND8_: + +RNGFND8\_ Parameters +-------------------- + + +.. _RNGFND8_TYPE: + +RNGFND8\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND8_PIN: + +RNGFND8\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND8_SCALING: + +RNGFND8\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND8_OFFSET: + +RNGFND8\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND8_FUNCTION: + +RNGFND8\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND8_MIN_CM: + +RNGFND8\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_MAX_CM: + +RNGFND8\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND8_STOP_PIN: + +RNGFND8\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND8_RMETRIC: + +RNGFND8\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND8_PWRRNG: + +RNGFND8\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND8_GNDCLEAR: + +RNGFND8\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND8_ADDR: + +RNGFND8\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND8_POS_X: + +RNGFND8\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Y: + +RNGFND8\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_POS_Z: + +RNGFND8\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND8_ORIENT: + +RNGFND8\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND8_WSP_MAVG: + +RNGFND8\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_MEDF: + +RNGFND8\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_FRQ: + +RNGFND8\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND8_WSP_AVG: + +RNGFND8\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND8_WSP_THR: + +RNGFND8\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND8_WSP_BAUD: + +RNGFND8\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND8_RECV_ID: + +RNGFND8\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND8_SNR_MIN: + +RNGFND8\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFND9_: + +RNGFND9\_ Parameters +-------------------- + + +.. _RNGFND9_TYPE: + +RNGFND9\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFND9_PIN: + +RNGFND9\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFND9_SCALING: + +RNGFND9\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFND9_OFFSET: + +RNGFND9\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFND9_FUNCTION: + +RNGFND9\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFND9_MIN_CM: + +RNGFND9\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_MAX_CM: + +RNGFND9\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFND9_STOP_PIN: + +RNGFND9\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFND9_RMETRIC: + +RNGFND9\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFND9_PWRRNG: + +RNGFND9\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFND9_GNDCLEAR: + +RNGFND9\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFND9_ADDR: + +RNGFND9\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFND9_POS_X: + +RNGFND9\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Y: + +RNGFND9\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_POS_Z: + +RNGFND9\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFND9_ORIENT: + +RNGFND9\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFND9_WSP_MAVG: + +RNGFND9\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_MEDF: + +RNGFND9\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_FRQ: + +RNGFND9\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFND9_WSP_AVG: + +RNGFND9\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFND9_WSP_THR: + +RNGFND9\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFND9_WSP_BAUD: + +RNGFND9\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFND9_RECV_ID: + +RNGFND9\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFND9_SNR_MIN: + +RNGFND9\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RNGFNDA_: + +RNGFNDA\_ Parameters +-------------------- + + +.. _RNGFNDA_TYPE: + +RNGFNDA\_TYPE: Rangefinder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Type of connected rangefinder + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | Analog | ++-------+------------------------+ +| 2 | MaxbotixI2C | ++-------+------------------------+ +| 3 | LidarLite-I2C | ++-------+------------------------+ +| 5 | PWM | ++-------+------------------------+ +| 6 | BBB-PRU | ++-------+------------------------+ +| 7 | LightWareI2C | ++-------+------------------------+ +| 8 | LightWareSerial | ++-------+------------------------+ +| 9 | Bebop | ++-------+------------------------+ +| 10 | MAVLink | ++-------+------------------------+ +| 11 | USD1_Serial | ++-------+------------------------+ +| 12 | LeddarOne | ++-------+------------------------+ +| 13 | MaxbotixSerial | ++-------+------------------------+ +| 14 | TeraRangerI2C | ++-------+------------------------+ +| 15 | LidarLiteV3-I2C | ++-------+------------------------+ +| 16 | VL53L0X or VL53L1X | ++-------+------------------------+ +| 17 | NMEA | ++-------+------------------------+ +| 18 | WASP-LRF | ++-------+------------------------+ +| 19 | BenewakeTF02 | ++-------+------------------------+ +| 20 | Benewake-Serial | ++-------+------------------------+ +| 21 | LidarLightV3HP | ++-------+------------------------+ +| 22 | PWM | ++-------+------------------------+ +| 23 | BlueRoboticsPing | ++-------+------------------------+ +| 24 | DroneCAN | ++-------+------------------------+ +| 25 | BenewakeTFminiPlus-I2C | ++-------+------------------------+ +| 26 | LanbaoPSK-CM8JL65-CC5 | ++-------+------------------------+ +| 27 | BenewakeTF03 | ++-------+------------------------+ +| 28 | VL53L1X-ShortRange | ++-------+------------------------+ +| 29 | LeddarVu8-Serial | ++-------+------------------------+ +| 30 | HC-SR04 | ++-------+------------------------+ +| 31 | GYUS42v2 | ++-------+------------------------+ +| 32 | MSP | ++-------+------------------------+ +| 33 | USD1_CAN | ++-------+------------------------+ +| 34 | Benewake_CAN | ++-------+------------------------+ +| 35 | TeraRangerSerial | ++-------+------------------------+ +| 36 | Lua_Scripting | ++-------+------------------------+ +| 37 | NoopLoop_TOFSense | ++-------+------------------------+ +| 38 | NoopLoop_TOFSense_CAN | ++-------+------------------------+ +| 39 | NRA24_CAN | ++-------+------------------------+ +| 40 | NoopLoop_TOFSenseF_I2C | ++-------+------------------------+ +| 41 | JRE_Serial | ++-------+------------------------+ +| 42 | Ainstein_LR_D1 | ++-------+------------------------+ +| 43 | RDS02UF | ++-------+------------------------+ +| 100 | SITL | ++-------+------------------------+ + + + + +.. _RNGFNDA_PIN: + +RNGFNDA\_PIN: Rangefinder pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog or PWM input pin that rangefinder is connected to\. Analog RSSI or Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| -1 | Not Used | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RNGFNDA_SCALING: + +RNGFNDA\_SCALING: Rangefinder scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between rangefinder reading and distance\. For the linear and inverted functions this is in meters per volt\. For the hyperbolic function the units are meterVolts\. For Maxbotix serial sonar this is unit conversion to meters\. + + ++-----------+-----------------+ +| Increment | Units | ++===========+=================+ +| 0.001 | meters per volt | ++-----------+-----------------+ + + + + +.. _RNGFNDA_OFFSET: + +RNGFNDA\_OFFSET: rangefinder offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Offset in volts for zero distance for analog rangefinders\. Offset added to distance in centimeters for PWM lidars + + ++-----------+-------+ +| Increment | Units | ++===========+=======+ +| 0.001 | volt | ++-----------+-------+ + + + + +.. _RNGFNDA_FUNCTION: + +RNGFNDA\_FUNCTION: Rangefinder function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Control over what function is used to calculate distance\. For a linear function\, the distance is \(voltage\-offset\)\*scaling\. For a inverted function the distance is \(offset\-voltage\)\*scaling\. For a hyperbolic function the distance is scaling\/\(voltage\-offset\)\. The functions return the distance in meters\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Linear | ++-------+------------+ +| 1 | Inverted | ++-------+------------+ +| 2 | Hyperbolic | ++-------+------------+ + + + + +.. _RNGFNDA_MIN_CM: + +RNGFNDA\_MIN\_CM: Rangefinder minimum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_MAX_CM: + +RNGFNDA\_MAX\_CM: Rangefinder maximum distance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum distance in centimeters that rangefinder can reliably read + + ++-----------+-------------+ +| Increment | Units | ++===========+=============+ +| 1 | centimeters | ++-----------+-------------+ + + + + +.. _RNGFNDA_STOP_PIN: + +RNGFNDA\_STOP\_PIN: Rangefinder stop pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Digital pin that enables\/disables rangefinder measurement for the pwm rangefinder\. A value of \-1 means no pin\. If this is set\, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it\. This is used to enable powersaving when out of range\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| -1 | Not Used | ++-------+----------------+ +| 50 | AUX1 | ++-------+----------------+ +| 51 | AUX2 | ++-------+----------------+ +| 52 | AUX3 | ++-------+----------------+ +| 53 | AUX4 | ++-------+----------------+ +| 54 | AUX5 | ++-------+----------------+ +| 55 | AUX6 | ++-------+----------------+ +| 111 | PX4 FMU Relay1 | ++-------+----------------+ +| 112 | PX4 FMU Relay2 | ++-------+----------------+ +| 113 | PX4IO Relay1 | ++-------+----------------+ +| 114 | PX4IO Relay2 | ++-------+----------------+ +| 115 | PX4IO ACC1 | ++-------+----------------+ +| 116 | PX4IO ACC2 | ++-------+----------------+ + + + + +.. _RNGFNDA_RMETRIC: + +RNGFNDA\_RMETRIC: Ratiometric +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets whether an analog rangefinder is ratiometric\. Most analog rangefinders are ratiometric\, meaning that their output voltage is influenced by the supply voltage\. Some analog rangefinders \(such as the SF\/02\) have their own internal voltage regulators so they are not ratiometric\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | No | ++-------+---------+ +| 1 | Yes | ++-------+---------+ + + + + +.. _RNGFNDA_PWRRNG: + +RNGFNDA\_PWRRNG: Powersave range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode \(if available\)\. A value of zero means power saving is not enabled + + ++------------+--------+ +| Range | Units | ++============+========+ +| 0 to 32767 | meters | ++------------+--------+ + + + + +.. _RNGFNDA_GNDCLEAR: + +RNGFNDA\_GNDCLEAR: Distance \(in cm\) from the range finder to the ground +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This parameter sets the expected range measurement\(in cm\) that the range finder should return when the vehicle is on the ground\. + + ++-----------+----------+-------------+ +| Increment | Range | Units | ++===========+==========+=============+ +| 1 | 5 to 127 | centimeters | ++-----------+----------+-------------+ + + + + +.. _RNGFNDA_ADDR: + +RNGFNDA\_ADDR: Bus address of sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the bus address of the sensor\, where applicable\. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | 0 to 127 | ++-----------+----------+ + + + + +.. _RNGFNDA_POS_X: + +RNGFNDA\_POS\_X: X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the rangefinder in body frame\. Positive X is forward of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Y: + +RNGFNDA\_POS\_Y: Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the rangefinder in body frame\. Positive Y is to the right of the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_POS_Z: + +RNGFNDA\_POS\_Z: Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the rangefinder in body frame\. Positive Z is down from the origin\. Use the zero range datum point if supplied\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _RNGFNDA_ORIENT: + +RNGFNDA\_ORIENT: Rangefinder orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Orientation of rangefinder + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Forward | ++-------+---------------+ +| 1 | Forward-Right | ++-------+---------------+ +| 2 | Right | ++-------+---------------+ +| 3 | Back-Right | ++-------+---------------+ +| 4 | Back | ++-------+---------------+ +| 5 | Back-Left | ++-------+---------------+ +| 6 | Left | ++-------+---------------+ +| 7 | Forward-Left | ++-------+---------------+ +| 24 | Up | ++-------+---------------+ +| 25 | Down | ++-------+---------------+ + + + + +.. _RNGFNDA_WSP_MAVG: + +RNGFNDA\_WSP\_MAVG: Moving Average Range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of historic range results to use for calculating the current range result\. When MAVG is greater than 1\, the current range result will be the current measured value averaged with the N\-1 previous results + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_MEDF: + +RNGFNDA\_WSP\_MEDF: Moving Median Filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the window size for the real\-time median filter\. When MEDF is greater than 0 the median filter is active + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_FRQ: + +RNGFNDA\_WSP\_FRQ: Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the repetition frequency of the ranging operation in Hertz\. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers\. + + ++------------+ +| Range | ++============+ +| 0 to 10000 | ++------------+ + + + + +.. _RNGFNDA_WSP_AVG: + +RNGFNDA\_WSP\_AVG: Multi\-pulse averages +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the number of pulses to be used in multi\-pulse averaging mode\. In this mode\, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + +.. _RNGFNDA_WSP_THR: + +RNGFNDA\_WSP\_THR: Sensitivity threshold +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the system sensitivity\. Larger values of THR represent higher sensitivity\. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory\. Set to \-1 for automatic threshold adjustments + + ++-----------+ +| Range | ++===========+ +| -1 to 255 | ++-----------+ + + + + +.. _RNGFNDA_WSP_BAUD: + +RNGFNDA\_WSP\_BAUD: Baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Desired baud rate + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Low Speed | ++-------+------------+ +| 1 | High Speed | ++-------+------------+ + + + + +.. _RNGFNDA_RECV_ID: + +RNGFNDA\_RECV\_ID: RangeFinder CAN receive ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The receive ID of the CAN frames\. A value of zero means all IDs are accepted\. + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + +.. _RNGFNDA_SNR_MIN: + +RNGFNDA\_SNR\_MIN: RangeFinder Minimum signal strength +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +RangeFinder Minimum signal strength \(SNR\) to accept distance + + ++------------+ +| Range | ++============+ +| 0 to 65535 | ++------------+ + + + + + +.. _parameters_RPM1_: + +RPM1\_ Parameters +----------------- + + +.. _RPM1_TYPE: + +RPM1\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM1_SCALING: + +RPM1\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM1_MAX: + +RPM1\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN: + +RPM1\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM1_MIN_QUAL: + +RPM1\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM1_PIN: + +RPM1\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM1_ESC_MASK: + +RPM1\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM1_ESC_INDEX: + +RPM1\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM1_DC_ID: + +RPM1\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM2_: + +RPM2\_ Parameters +----------------- + + +.. _RPM2_TYPE: + +RPM2\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM2_SCALING: + +RPM2\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM2_MAX: + +RPM2\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN: + +RPM2\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM2_MIN_QUAL: + +RPM2\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM2_PIN: + +RPM2\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM2_ESC_MASK: + +RPM2\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM2_ESC_INDEX: + +RPM2\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM2_DC_ID: + +RPM2\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM3_: + +RPM3\_ Parameters +----------------- + + +.. _RPM3_TYPE: + +RPM3\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM3_SCALING: + +RPM3\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM3_MAX: + +RPM3\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN: + +RPM3\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM3_MIN_QUAL: + +RPM3\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM3_PIN: + +RPM3\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM3_ESC_MASK: + +RPM3\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM3_ESC_INDEX: + +RPM3\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM3_DC_ID: + +RPM3\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RPM4_: + +RPM4\_ Parameters +----------------- + + +.. _RPM4_TYPE: + +RPM4\_TYPE: RPM type +~~~~~~~~~~~~~~~~~~~~ + + +What type of RPM sensor is connected + + ++-------+------------------------------+ +| Value | Meaning | ++=======+==============================+ +| 0 | None | ++-------+------------------------------+ +| 1 | Not Used | ++-------+------------------------------+ +| 2 | GPIO | ++-------+------------------------------+ +| 3 | EFI | ++-------+------------------------------+ +| 4 | Harmonic Notch | ++-------+------------------------------+ +| 5 | ESC Telemetry Motors Bitmask | ++-------+------------------------------+ +| 6 | Generator | ++-------+------------------------------+ +| 7 | DroneCAN | ++-------+------------------------------+ + + + + +.. _RPM4_SCALING: + +RPM4\_SCALING: RPM scaling +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scaling factor between sensor reading and RPM\. + + ++-----------+ +| Increment | ++===========+ +| 0.001 | ++-----------+ + + + + +.. _RPM4_MAX: + +RPM4\_MAX: Maximum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN: + +RPM4\_MIN: Minimum RPM +~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum RPM to report\. Only used on type \= GPIO\. + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _RPM4_MIN_QUAL: + +RPM4\_MIN\_QUAL: Minimum Quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Minimum data quality to be used + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + +.. _RPM4_PIN: + +RPM4\_PIN: Input pin number +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Which digital GPIO pin to use\. Only used on type \= GPIO\. Some common values are given\, but see the Wiki\'s \"GPIOs\" page for how to determine the pin number for a given autopilot\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _RPM4_ESC_MASK: + +RPM4\_ESC\_MASK: Bitmask of ESC telemetry channels to average +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Mask of channels which support ESC rpm telemetry\. RPM telemetry of the selected channels will be averaged + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ + + + + +.. _RPM4_ESC_INDEX: + +RPM4\_ESC\_INDEX: ESC Telemetry Index to write RPM to +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +ESC Telemetry Index to write RPM to\. Use 0 to disable\. + + ++-----------+---------+ +| Increment | Range | ++===========+=========+ +| 1 | 0 to 10 | ++-----------+---------+ + + + + +.. _RPM4_DC_ID: + +RPM4\_DC\_ID: DroneCAN Sensor ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DroneCAN sensor ID to assign to this backend + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 1 | -1 to 10 | ++-----------+----------+ + + + + + +.. _parameters_RSSI_: + +RSSI\_ Parameters +----------------- + + +.. _RSSI_TYPE: + +RSSI\_TYPE: RSSI Type +~~~~~~~~~~~~~~~~~~~~~ + + +Radio Receiver RSSI type\. If your radio receiver supports RSSI of some kind\, set it here\, then set its associated RSSI\_XXXXX parameters\, if any\. + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | AnalogPin | ++-------+--------------------+ +| 2 | RCChannelPwmValue | ++-------+--------------------+ +| 3 | ReceiverProtocol | ++-------+--------------------+ +| 4 | PWMInputPin | ++-------+--------------------+ +| 5 | TelemetryRadioRSSI | ++-------+--------------------+ + + + + +.. _RSSI_ANA_PIN: + +RSSI\_ANA\_PIN: Receiver RSSI sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pin used to read the RSSI voltage or PWM value\. Analog Airspeed ports can be used for Analog inputs \(some autopilots provide others also\)\, Non\-IOMCU Servo\/MotorOutputs can be used for PWM input when configured as \"GPIOs\"\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\"\, if PWM input type\, to determine pin number\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 8 | V5 Nano | ++-------+---------------------------+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _RSSI_PIN_LOW: + +RSSI\_PIN\_LOW: RSSI pin\'s lowest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers put out inverted values so this value may be higher than RSSI\_PIN\_HIGH\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_PIN_HIGH: + +RSSI\_PIN\_HIGH: RSSI pin\'s highest voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +RSSI pin\'s voltage received on the RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers put out inverted values so this value may be lower than RSSI\_PIN\_LOW\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _RSSI_CHANNEL: + +RSSI\_CHANNEL: Receiver RSSI channel number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The channel number where RSSI will be output by the radio receiver \(5 and above\)\. + + ++---------+ +| Range | ++=========+ +| 0 to 16 | ++---------+ + + + + +.. _RSSI_CHAN_LOW: + +RSSI\_CHAN\_LOW: RSSI PWM low value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the weakest\. Some radio receivers output inverted values so this value may be lower than RSSI\_CHAN\_HIGH + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + +.. _RSSI_CHAN_HIGH: + +RSSI\_CHAN\_HIGH: Receiver RSSI PWM high value +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +PWM value that the radio receiver will put on the RSSI\_CHANNEL or RSSI\_ANA\_PIN when the signal strength is the strongest\. Some radio receivers output inverted values so this value may be higher than RSSI\_CHAN\_LOW + + ++-----------+---------------------+ +| Range | Units | ++===========+=====================+ +| 0 to 2000 | PWM in microseconds | ++-----------+---------------------+ + + + + + +.. _parameters_SAIL_: + +SAIL\_ Parameters +----------------- + + +.. _SAIL_ENABLE: + +SAIL\_ENABLE: Enable Sailboat +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +This enables Sailboat functionality + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SAIL_ANGLE_MIN: + +SAIL\_ANGLE\_MIN: Sail min angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mainsheet tight\, angle between centerline and boom + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_ANGLE_MAX: + +SAIL\_ANGLE\_MAX: Sail max angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Mainsheet loose\, angle between centerline and boom\. For direct\-control rotating masts\, the rotation angle at SERVOx\_MAX\/\_MIN\; for rotating masts\, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle\. + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_ANGLE_IDEAL: + +SAIL\_ANGLE\_IDEAL: Sail ideal angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ideal angle between sail and apparent wind + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_HEEL_MAX: + +SAIL\_HEEL\_MAX: Sailing maximum heel angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in auto sail trim modes the heel will be limited to this value using PID control + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_NO_GO_ANGLE: + +SAIL\_NO\_GO\_ANGLE: Sailing no go zone angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The typical closest angle to the wind the vehicle will sail at\. the vehicle will sail at this angle when going upwind + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 1 | 0 to 90 | degrees | ++-----------+---------+---------+ + + + + +.. _SAIL_WNDSPD_MIN: + +SAIL\_WNDSPD\_MIN: Sailboat minimum wind speed to sail in +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sailboat minimum wind speed to continue sail in\, at lower wind speeds the sailboat will motor if one is fitted + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _SAIL_XTRACK_MAX: + +SAIL\_XTRACK\_MAX: Sailing vehicle max cross track error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The sail boat will tack when it reaches this cross track error\, defines a corridor of 2 times this value wide\, 0 disables + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 5 to 25 | meters | ++-----------+---------+--------+ + + + + +.. _SAIL_LOIT_RADIUS: + +SAIL\_LOIT\_RADIUS: Loiter radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When in sailing modes the vehicle will keep moving within this loiter radius + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 1 | 0 to 20 | meters | ++-----------+---------+--------+ + + + + + +.. _parameters_SCHED_: + +SCHED\_ Parameters +------------------ + + +.. _SCHED_DEBUG: + +SCHED\_DEBUG: Scheduler debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Set to non\-zero to enable scheduler debug messages\. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load\. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table\. + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 2 | ShowSlips | ++-------+--------------+ +| 3 | ShowOverruns | ++-------+--------------+ + + + + +.. _SCHED_LOOP_RATE: + +SCHED\_LOOP\_RATE: Scheduling main loop rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This controls the rate of the main control loop in Hz\. This should only be changed by developers\. This only takes effect on restart\. Values over 400 are considered highly experimental\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 50 to 400 | hertz | ++-----------+-------+ + + + + +.. _SCHED_OPTIONS: + +SCHED\_OPTIONS: Scheduling options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This controls optional aspects of the scheduler\. + + ++-----+---------------------------+ +| Bit | Meaning | ++=====+===========================+ +| 0 | Enable per-task perf info | ++-----+---------------------------+ + + + + + +.. _parameters_SCR_: + +SCR\_ Parameters +---------------- + + +.. _SCR_ENABLE: + +SCR\_ENABLE: Enable Scripting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Controls if scripting is enabled + + ++-------+-------------+ +| Value | Meaning | ++=======+=============+ +| 0 | None | ++-------+-------------+ +| 1 | Lua Scripts | ++-------+-------------+ + + + + +.. _SCR_VM_I_COUNT: + +SCR\_VM\_I\_COUNT: Scripting Virtual Machine Instruction Count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 10000 | 1000 to 1000000 | ++-----------+-----------------+ + + + + +.. _SCR_HEAP_SIZE: + +SCR\_HEAP\_SIZE: Scripting Heap Size +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Amount of memory available for scripting + + ++-----------+-----------------+ +| Increment | Range | ++===========+=================+ +| 1024 | 1024 to 1048576 | ++-----------+-----------------+ + + + + +.. _SCR_DEBUG_OPTS: + +SCR\_DEBUG\_OPTS: Scripting Debug Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Debugging options + + ++-----+----------------------------------------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================================================+ +| 0 | No Scripts to run message if all scripts have stopped | ++-----+----------------------------------------------------------------------------------------+ +| 1 | Runtime messages for memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 2 | Suppress logging scripts to dataflash | ++-----+----------------------------------------------------------------------------------------+ +| 3 | log runtime memory usage and execution time | ++-----+----------------------------------------------------------------------------------------+ +| 4 | Disable pre-arm check | ++-----+----------------------------------------------------------------------------------------+ +| 5 | Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm | ++-----+----------------------------------------------------------------------------------------+ + + + + +.. _SCR_USER1: + +SCR\_USER1: Scripting User Parameter1 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER2: + +SCR\_USER2: Scripting User Parameter2 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER3: + +SCR\_USER3: Scripting User Parameter3 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER4: + +SCR\_USER4: Scripting User Parameter4 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER5: + +SCR\_USER5: Scripting User Parameter5 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_USER6: + +SCR\_USER6: Scripting User Parameter6 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +General purpose user variable input for scripts + + +.. _SCR_DIR_DISABLE: + +SCR\_DIR\_DISABLE: Directory disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This will stop scripts being loaded from the given locations + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | ROMFS | ++-----+-------------+ +| 1 | APM/scripts | ++-----+-------------+ + + + + +.. _SCR_LD_CHECKSUM: + +SCR\_LD\_CHECKSUM: Loaded script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of loaded scripts\, vehicle will not arm with incorrect scripts loaded\, \-1 disables + + +.. _SCR_RUN_CHECKSUM: + +SCR\_RUN\_CHECKSUM: Running script checksum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Required XOR of CRC32 checksum of running scripts\, vehicle will not arm with incorrect scripts running\, \-1 disables + + +.. _SCR_THD_PRIORITY: + +SCR\_THD\_PRIORITY: Scripting thread priority +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This sets the priority of the scripting thread\. This is normally set to a low priority to prevent scripts from interfering with other parts of the system\. Advanced users can change this priority if scripting needs to be prioritised for realtime applications\. WARNING\: changing this parameter can impact the stability of your flight controller\. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems\. It is strongly recommended that you use the lowest priority that is sufficient for your application\. Note that all scripts run at the same priority\, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system\. + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Normal | ++-------+------------------+ +| 1 | IO Priority | ++-------+------------------+ +| 2 | Storage Priority | ++-------+------------------+ +| 3 | UART Priority | ++-------+------------------+ +| 4 | I2C Priority | ++-------+------------------+ +| 5 | SPI Priority | ++-------+------------------+ +| 6 | Timer Priority | ++-------+------------------+ +| 7 | Main Priority | ++-------+------------------+ +| 8 | Boost Priority | ++-------+------------------+ + + + + +.. _SCR_SDEV_EN: + +SCR\_SDEV\_EN: Scripting serial device enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable scripting serial devices + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SCR_SDEV1_PROTO: + +SCR\_SDEV1\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV2_PROTO: + +SCR\_SDEV2\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SCR_SDEV3_PROTO: + +SCR\_SDEV3\_PROTO: Serial protocol of scripting serial device +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Serial protocol of scripting serial device + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + + +.. _parameters_SERIAL: + +SERIAL Parameters +----------------- + + +.. _SERIAL0_BAUD: + +SERIAL0\_BAUD: Serial0 baud rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the USB console\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL0_PROTOCOL: + +SERIAL0\_PROTOCOL: Console protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the console\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 1 | MAVLink1 | ++-------+----------+ +| 2 | MAVLink2 | ++-------+----------+ + + + + +.. _SERIAL1_PROTOCOL: + +SERIAL1\_PROTOCOL: Telem1 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem1 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL1_BAUD: + +SERIAL1\_BAUD: Telem1 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used on the Telem1 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL2_PROTOCOL: + +SERIAL2\_PROTOCOL: Telemetry 2 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol to use on the Telem2 port\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL2_BAUD: + +SERIAL2\_BAUD: Telemetry 2 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate of the Telem2 port\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL3_PROTOCOL: + +SERIAL3\_PROTOCOL: Serial 3 \(GPS\) protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial 3 \(GPS\) should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL3_BAUD: + +SERIAL3\_BAUD: Serial 3 \(GPS\) Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for the Serial 3 \(GPS\)\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL4_PROTOCOL: + +SERIAL4\_PROTOCOL: Serial4 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial4 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL4_BAUD: + +SERIAL4\_BAUD: Serial 4 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial4\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL5_PROTOCOL: + +SERIAL5\_PROTOCOL: Serial5 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial5 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL5_BAUD: + +SERIAL5\_BAUD: Serial 5 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial5\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL6_PROTOCOL: + +SERIAL6\_PROTOCOL: Serial6 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial6 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL6_BAUD: + +SERIAL6\_BAUD: Serial 6 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial6\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL1_OPTIONS: + +SERIAL1\_OPTIONS: Telem1 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL2_OPTIONS: + +SERIAL2\_OPTIONS: Telem2 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL3_OPTIONS: + +SERIAL3\_OPTIONS: Serial3 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL4_OPTIONS: + +SERIAL4\_OPTIONS: Serial4 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL5_OPTIONS: + +SERIAL5\_OPTIONS: Serial5 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL6_OPTIONS: + +SERIAL6\_OPTIONS: Serial6 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL_PASS1: + +SERIAL\_PASS1: Serial passthru first port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASS2: + +SERIAL\_PASS2: Serial passthru second port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets one side of pass\-through between two serial ports\. Once both sides are set then all data received on either port will be passed to the other port + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 0 | Serial0 | ++-------+----------+ +| 1 | Serial1 | ++-------+----------+ +| 2 | Serial2 | ++-------+----------+ +| 3 | Serial3 | ++-------+----------+ +| 4 | Serial4 | ++-------+----------+ +| 5 | Serial5 | ++-------+----------+ +| 6 | Serial6 | ++-------+----------+ + + + + +.. _SERIAL_PASSTIMO: + +SERIAL\_PASSTIMO: Serial passthru timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets a timeout for serial pass\-through in seconds\. When the pass\-through is enabled by setting the SERIAL\_PASS1 and SERIAL\_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL\_PASSTIMO seconds\. This allows the port to revent to its normal usage \(such as MAVLink connection to a GCS\) when it is no longer needed\. A value of 0 means no timeout\. + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 120 | seconds | ++----------+---------+ + + + + +.. _SERIAL7_PROTOCOL: + +SERIAL7\_PROTOCOL: Serial7 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial7 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL7_BAUD: + +SERIAL7\_BAUD: Serial 7 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial7\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL7_OPTIONS: + +SERIAL7\_OPTIONS: Serial7 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL8_PROTOCOL: + +SERIAL8\_PROTOCOL: Serial8 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial8 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL8_BAUD: + +SERIAL8\_BAUD: Serial 8 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL8_OPTIONS: + +SERIAL8\_OPTIONS: Serial8 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + +.. _SERIAL9_PROTOCOL: + +SERIAL9\_PROTOCOL: Serial9 protocol selection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Control what protocol Serial9 port should be used for\. Note that the Frsky options require external converter hardware\. See the wiki for details\. + + ++-------+----------------------------------+ +| Value | Meaning | ++=======+==================================+ +| -1 | None | ++-------+----------------------------------+ +| 1 | MAVLink1 | ++-------+----------------------------------+ +| 2 | MAVLink2 | ++-------+----------------------------------+ +| 3 | Frsky D | ++-------+----------------------------------+ +| 4 | Frsky SPort | ++-------+----------------------------------+ +| 5 | GPS | ++-------+----------------------------------+ +| 7 | Alexmos Gimbal Serial | ++-------+----------------------------------+ +| 8 | Gimbal | ++-------+----------------------------------+ +| 9 | Rangefinder | ++-------+----------------------------------+ +| 10 | FrSky SPort Passthrough (OpenTX) | ++-------+----------------------------------+ +| 11 | Lidar360 | ++-------+----------------------------------+ +| 13 | Beacon | ++-------+----------------------------------+ +| 14 | Volz servo out | ++-------+----------------------------------+ +| 15 | SBus servo out | ++-------+----------------------------------+ +| 16 | ESC Telemetry | ++-------+----------------------------------+ +| 17 | Devo Telemetry | ++-------+----------------------------------+ +| 18 | OpticalFlow | ++-------+----------------------------------+ +| 19 | RobotisServo | ++-------+----------------------------------+ +| 20 | NMEA Output | ++-------+----------------------------------+ +| 21 | WindVane | ++-------+----------------------------------+ +| 22 | SLCAN | ++-------+----------------------------------+ +| 23 | RCIN | ++-------+----------------------------------+ +| 24 | EFI Serial | ++-------+----------------------------------+ +| 25 | LTM | ++-------+----------------------------------+ +| 26 | RunCam | ++-------+----------------------------------+ +| 27 | HottTelem | ++-------+----------------------------------+ +| 28 | Scripting | ++-------+----------------------------------+ +| 29 | Crossfire VTX | ++-------+----------------------------------+ +| 30 | Generator | ++-------+----------------------------------+ +| 31 | Winch | ++-------+----------------------------------+ +| 32 | MSP | ++-------+----------------------------------+ +| 33 | DJI FPV | ++-------+----------------------------------+ +| 34 | AirSpeed | ++-------+----------------------------------+ +| 35 | ADSB | ++-------+----------------------------------+ +| 36 | AHRS | ++-------+----------------------------------+ +| 37 | SmartAudio | ++-------+----------------------------------+ +| 38 | FETtecOneWire | ++-------+----------------------------------+ +| 39 | Torqeedo | ++-------+----------------------------------+ +| 40 | AIS | ++-------+----------------------------------+ +| 41 | CoDevESC | ++-------+----------------------------------+ +| 42 | DisplayPort | ++-------+----------------------------------+ +| 43 | MAVLink High Latency | ++-------+----------------------------------+ +| 44 | IRC Tramp | ++-------+----------------------------------+ +| 45 | DDS XRCE | ++-------+----------------------------------+ +| 46 | IMUDATA | ++-------+----------------------------------+ +| 48 | PPP | ++-------+----------------------------------+ + + + + +.. _SERIAL9_BAUD: + +SERIAL9\_BAUD: Serial 9 Baud Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The baud rate used for Serial8\. Most stm32\-based boards can support rates of up to 1500\. If you setup a rate you cannot support and then can\'t connect to your board you should load a firmware from a different vehicle type\. That will reset all your parameters to defaults\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 1 | 1200 | ++-------+---------+ +| 2 | 2400 | ++-------+---------+ +| 4 | 4800 | ++-------+---------+ +| 9 | 9600 | ++-------+---------+ +| 19 | 19200 | ++-------+---------+ +| 38 | 38400 | ++-------+---------+ +| 57 | 57600 | ++-------+---------+ +| 111 | 111100 | ++-------+---------+ +| 115 | 115200 | ++-------+---------+ +| 230 | 230400 | ++-------+---------+ +| 256 | 256000 | ++-------+---------+ +| 460 | 460800 | ++-------+---------+ +| 500 | 500000 | ++-------+---------+ +| 921 | 921600 | ++-------+---------+ +| 1500 | 1500000 | ++-------+---------+ +| 2000 | 2000000 | ++-------+---------+ + + + + +.. _SERIAL9_OPTIONS: + +SERIAL9\_OPTIONS: Serial9 options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Control over UART options\. The InvertRX option controls invert of the receive pin\. The InvertTX option controls invert of the transmit pin\. The HalfDuplex option controls half\-duplex \(onewire\) mode\, where both transmit and receive is done on the transmit wire\. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards\. + + ++-----+-------------------------------+ +| Bit | Meaning | ++=====+===============================+ +| 0 | InvertRX | ++-----+-------------------------------+ +| 1 | InvertTX | ++-----+-------------------------------+ +| 2 | HalfDuplex | ++-----+-------------------------------+ +| 3 | SwapTXRX | ++-----+-------------------------------+ +| 4 | RX_PullDown | ++-----+-------------------------------+ +| 5 | RX_PullUp | ++-----+-------------------------------+ +| 6 | TX_PullDown | ++-----+-------------------------------+ +| 7 | TX_PullUp | ++-----+-------------------------------+ +| 8 | RX_NoDMA | ++-----+-------------------------------+ +| 9 | TX_NoDMA | ++-----+-------------------------------+ +| 10 | Don't forward mavlink to/from | ++-----+-------------------------------+ +| 11 | DisableFIFO | ++-----+-------------------------------+ +| 12 | Ignore Streamrate | ++-----+-------------------------------+ + + + + + +.. _parameters_SERVO: + +SERVO Parameters +---------------- + + +.. _SERVO_RATE: + +SERVO\_RATE: Servo default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Default output rate in Hz for all PWM outputs\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 400 | hertz | ++-----------+-------+ + + + + +.. _SERVO_DSHOT_RATE: + +SERVO\_DSHOT\_RATE: Servo DShot output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot output rate for all outputs as a multiple of the loop rate\. 0 sets the output rate to be fixed at 1Khz for low loop rates\. This value should never be set below 500Hz\. + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | 1Khz | ++-------+---------------------+ +| 1 | loop-rate | ++-------+---------------------+ +| 2 | double loop-rate | ++-------+---------------------+ +| 3 | triple loop-rate | ++-------+---------------------+ +| 4 | quadruple loop rate | ++-------+---------------------+ + + + + +.. _SERVO_DSHOT_ESC: + +SERVO\_DSHOT\_ESC: Servo DShot ESC type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +DShot ESC type for all outputs\. The ESC type affects the range of DShot commands available and the bit widths used\. None means that no dshot commands will be executed\. Some ESC types support Extended DShot Telemetry \(EDT\) which allows telemetry other than RPM data to be returned when using bi\-directional dshot\. If you enable EDT you must install EDT capable firmware for correct operation\. + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | None | ++-------+------------------------+ +| 1 | BLHeli32/Kiss/AM32 | ++-------+------------------------+ +| 2 | BLHeli_S/BlueJay | ++-------+------------------------+ +| 3 | BLHeli32/AM32/Kiss+EDT | ++-------+------------------------+ +| 4 | BLHeli_S/BlueJay+EDT | ++-------+------------------------+ + + + + +.. _SERVO_GPIO_MASK: + +SERVO\_GPIO\_MASK: Servo GPIO mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Bitmask of outputs which will be available as GPIOs\. Any output with either the function set to \-1 or with the corresponding bit set in this mask will be available for use as a GPIO pin + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SERVO_RC_FS_MSK: + +SERVO\_RC\_FS\_MSK: Servo RC Failsafe Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe\. + + ++-----+---------------+ +| Bit | Meaning | ++=====+===============+ +| 0 | RCIN1Scaled | ++-----+---------------+ +| 1 | RCIN2Scaled | ++-----+---------------+ +| 2 | RCIN3Scaled | ++-----+---------------+ +| 3 | RCIN4Scaled | ++-----+---------------+ +| 4 | RCIN5Scaled | ++-----+---------------+ +| 5 | RCIN6Scaled | ++-----+---------------+ +| 6 | RCIN7Scaled | ++-----+---------------+ +| 7 | RCIN8Scaled | ++-----+---------------+ +| 8 | RCIN9Scaled | ++-----+---------------+ +| 9 | RCIN10Scaled | ++-----+---------------+ +| 10 | RCIN11Scaled | ++-----+---------------+ +| 11 | SRCIN12Scaled | ++-----+---------------+ +| 12 | RCIN13Scaled | ++-----+---------------+ +| 13 | RCIN14Scaled | ++-----+---------------+ +| 14 | RCIN15Scaled | ++-----+---------------+ +| 15 | RCIN16Scaled | ++-----+---------------+ + + + + +.. _SERVO_32_ENABLE: + +SERVO\_32\_ENABLE: Enable outputs 17 to 31 +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This allows for up to 32 outputs\, enabling parameters for outputs above 16 + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _parameters_SERVO10_: + +SERVO10\_ Parameters +-------------------- + + +.. _SERVO10_MIN: + +SERVO10\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_MAX: + +SERVO10\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_TRIM: + +SERVO10\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO10_REVERSED: + +SERVO10\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO10_FUNCTION: + +SERVO10\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO11_: + +SERVO11\_ Parameters +-------------------- + + +.. _SERVO11_MIN: + +SERVO11\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_MAX: + +SERVO11\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_TRIM: + +SERVO11\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO11_REVERSED: + +SERVO11\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO11_FUNCTION: + +SERVO11\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO12_: + +SERVO12\_ Parameters +-------------------- + + +.. _SERVO12_MIN: + +SERVO12\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_MAX: + +SERVO12\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_TRIM: + +SERVO12\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO12_REVERSED: + +SERVO12\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO12_FUNCTION: + +SERVO12\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO13_: + +SERVO13\_ Parameters +-------------------- + + +.. _SERVO13_MIN: + +SERVO13\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_MAX: + +SERVO13\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_TRIM: + +SERVO13\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO13_REVERSED: + +SERVO13\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO13_FUNCTION: + +SERVO13\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO14_: + +SERVO14\_ Parameters +-------------------- + + +.. _SERVO14_MIN: + +SERVO14\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_MAX: + +SERVO14\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_TRIM: + +SERVO14\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO14_REVERSED: + +SERVO14\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO14_FUNCTION: + +SERVO14\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO15_: + +SERVO15\_ Parameters +-------------------- + + +.. _SERVO15_MIN: + +SERVO15\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_MAX: + +SERVO15\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_TRIM: + +SERVO15\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO15_REVERSED: + +SERVO15\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO15_FUNCTION: + +SERVO15\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO16_: + +SERVO16\_ Parameters +-------------------- + + +.. _SERVO16_MIN: + +SERVO16\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_MAX: + +SERVO16\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_TRIM: + +SERVO16\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO16_REVERSED: + +SERVO16\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO16_FUNCTION: + +SERVO16\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO17_: + +SERVO17\_ Parameters +-------------------- + + +.. _SERVO17_MIN: + +SERVO17\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_MAX: + +SERVO17\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_TRIM: + +SERVO17\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO17_REVERSED: + +SERVO17\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO17_FUNCTION: + +SERVO17\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO18_: + +SERVO18\_ Parameters +-------------------- + + +.. _SERVO18_MIN: + +SERVO18\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_MAX: + +SERVO18\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_TRIM: + +SERVO18\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO18_REVERSED: + +SERVO18\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO18_FUNCTION: + +SERVO18\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO19_: + +SERVO19\_ Parameters +-------------------- + + +.. _SERVO19_MIN: + +SERVO19\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_MAX: + +SERVO19\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_TRIM: + +SERVO19\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO19_REVERSED: + +SERVO19\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO19_FUNCTION: + +SERVO19\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO1_: + +SERVO1\_ Parameters +------------------- + + +.. _SERVO1_MIN: + +SERVO1\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_MAX: + +SERVO1\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_TRIM: + +SERVO1\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO1_REVERSED: + +SERVO1\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO1_FUNCTION: + +SERVO1\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO20_: + +SERVO20\_ Parameters +-------------------- + + +.. _SERVO20_MIN: + +SERVO20\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_MAX: + +SERVO20\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_TRIM: + +SERVO20\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO20_REVERSED: + +SERVO20\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO20_FUNCTION: + +SERVO20\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO21_: + +SERVO21\_ Parameters +-------------------- + + +.. _SERVO21_MIN: + +SERVO21\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_MAX: + +SERVO21\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_TRIM: + +SERVO21\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO21_REVERSED: + +SERVO21\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO21_FUNCTION: + +SERVO21\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO22_: + +SERVO22\_ Parameters +-------------------- + + +.. _SERVO22_MIN: + +SERVO22\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_MAX: + +SERVO22\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_TRIM: + +SERVO22\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO22_REVERSED: + +SERVO22\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO22_FUNCTION: + +SERVO22\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO23_: + +SERVO23\_ Parameters +-------------------- + + +.. _SERVO23_MIN: + +SERVO23\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_MAX: + +SERVO23\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_TRIM: + +SERVO23\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO23_REVERSED: + +SERVO23\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO23_FUNCTION: + +SERVO23\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO24_: + +SERVO24\_ Parameters +-------------------- + + +.. _SERVO24_MIN: + +SERVO24\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_MAX: + +SERVO24\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_TRIM: + +SERVO24\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO24_REVERSED: + +SERVO24\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO24_FUNCTION: + +SERVO24\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO25_: + +SERVO25\_ Parameters +-------------------- + + +.. _SERVO25_MIN: + +SERVO25\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_MAX: + +SERVO25\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_TRIM: + +SERVO25\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO25_REVERSED: + +SERVO25\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO25_FUNCTION: + +SERVO25\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO26_: + +SERVO26\_ Parameters +-------------------- + + +.. _SERVO26_MIN: + +SERVO26\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_MAX: + +SERVO26\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_TRIM: + +SERVO26\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO26_REVERSED: + +SERVO26\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO26_FUNCTION: + +SERVO26\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO27_: + +SERVO27\_ Parameters +-------------------- + + +.. _SERVO27_MIN: + +SERVO27\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_MAX: + +SERVO27\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_TRIM: + +SERVO27\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO27_REVERSED: + +SERVO27\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO27_FUNCTION: + +SERVO27\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO28_: + +SERVO28\_ Parameters +-------------------- + + +.. _SERVO28_MIN: + +SERVO28\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_MAX: + +SERVO28\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_TRIM: + +SERVO28\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO28_REVERSED: + +SERVO28\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO28_FUNCTION: + +SERVO28\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO29_: + +SERVO29\_ Parameters +-------------------- + + +.. _SERVO29_MIN: + +SERVO29\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_MAX: + +SERVO29\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_TRIM: + +SERVO29\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO29_REVERSED: + +SERVO29\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO29_FUNCTION: + +SERVO29\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO2_: + +SERVO2\_ Parameters +------------------- + + +.. _SERVO2_MIN: + +SERVO2\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_MAX: + +SERVO2\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_TRIM: + +SERVO2\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO2_REVERSED: + +SERVO2\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO2_FUNCTION: + +SERVO2\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO30_: + +SERVO30\_ Parameters +-------------------- + + +.. _SERVO30_MIN: + +SERVO30\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_MAX: + +SERVO30\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_TRIM: + +SERVO30\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO30_REVERSED: + +SERVO30\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO30_FUNCTION: + +SERVO30\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO31_: + +SERVO31\_ Parameters +-------------------- + + +.. _SERVO31_MIN: + +SERVO31\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_MAX: + +SERVO31\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_TRIM: + +SERVO31\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO31_REVERSED: + +SERVO31\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO31_FUNCTION: + +SERVO31\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO32_: + +SERVO32\_ Parameters +-------------------- + + +.. _SERVO32_MIN: + +SERVO32\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_MAX: + +SERVO32\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_TRIM: + +SERVO32\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO32_REVERSED: + +SERVO32\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO32_FUNCTION: + +SERVO32\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO3_: + +SERVO3\_ Parameters +------------------- + + +.. _SERVO3_MIN: + +SERVO3\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_MAX: + +SERVO3\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_TRIM: + +SERVO3\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO3_REVERSED: + +SERVO3\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO3_FUNCTION: + +SERVO3\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO4_: + +SERVO4\_ Parameters +------------------- + + +.. _SERVO4_MIN: + +SERVO4\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_MAX: + +SERVO4\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_TRIM: + +SERVO4\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO4_REVERSED: + +SERVO4\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO4_FUNCTION: + +SERVO4\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO5_: + +SERVO5\_ Parameters +------------------- + + +.. _SERVO5_MIN: + +SERVO5\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_MAX: + +SERVO5\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_TRIM: + +SERVO5\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO5_REVERSED: + +SERVO5\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO5_FUNCTION: + +SERVO5\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO6_: + +SERVO6\_ Parameters +------------------- + + +.. _SERVO6_MIN: + +SERVO6\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_MAX: + +SERVO6\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_TRIM: + +SERVO6\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO6_REVERSED: + +SERVO6\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO6_FUNCTION: + +SERVO6\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO7_: + +SERVO7\_ Parameters +------------------- + + +.. _SERVO7_MIN: + +SERVO7\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_MAX: + +SERVO7\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_TRIM: + +SERVO7\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO7_REVERSED: + +SERVO7\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO7_FUNCTION: + +SERVO7\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO8_: + +SERVO8\_ Parameters +------------------- + + +.. _SERVO8_MIN: + +SERVO8\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_MAX: + +SERVO8\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_TRIM: + +SERVO8\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO8_REVERSED: + +SERVO8\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO8_FUNCTION: + +SERVO8\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO9_: + +SERVO9\_ Parameters +------------------- + + +.. _SERVO9_MIN: + +SERVO9\_MIN: Minimum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +minimum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_MAX: + +SERVO9\_MAX: Maximum PWM +~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_TRIM: + +SERVO9\_TRIM: Trim PWM +~~~~~~~~~~~~~~~~~~~~~~ + + +Trim PWM pulse width in microseconds\. Typically 1000 is lower limit\, 1500 is neutral and 2000 is upper limit\. + + ++-----------+-------------+---------------------+ +| Increment | Range | Units | ++===========+=============+=====================+ +| 1 | 800 to 2200 | PWM in microseconds | ++-----------+-------------+---------------------+ + + + + +.. _SERVO9_REVERSED: + +SERVO9\_REVERSED: Servo reverse +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Reverse servo operation\. Set to 0 for normal operation\. Set to 1 to reverse this output channel\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Normal | ++-------+----------+ +| 1 | Reversed | ++-------+----------+ + + + + +.. _SERVO9_FUNCTION: + +SERVO9\_FUNCTION: Servo output function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Function assigned to this servo\. Setting this to Disabled\(0\) will setup this output for control by auto missions or MAVLink servo set commands\. any other value will enable the corresponding function + + ++-------+--------------------+ +| Value | Meaning | ++=======+====================+ +| -1 | GPIO | ++-------+--------------------+ +| 0 | Disabled | ++-------+--------------------+ +| 1 | RCPassThru | ++-------+--------------------+ +| 6 | Mount1Yaw | ++-------+--------------------+ +| 7 | Mount1Pitch | ++-------+--------------------+ +| 8 | Mount1Roll | ++-------+--------------------+ +| 9 | Mount1Retract | ++-------+--------------------+ +| 10 | CameraTrigger | ++-------+--------------------+ +| 12 | Mount2Yaw | ++-------+--------------------+ +| 13 | Mount2Pitch | ++-------+--------------------+ +| 14 | Mount2Roll | ++-------+--------------------+ +| 15 | Mount2Retract | ++-------+--------------------+ +| 22 | SprayerPump | ++-------+--------------------+ +| 23 | SprayerSpinner | ++-------+--------------------+ +| 26 | GroundSteering | ++-------+--------------------+ +| 28 | Gripper | ++-------+--------------------+ +| 33 | Motor1 | ++-------+--------------------+ +| 34 | Motor2 | ++-------+--------------------+ +| 35 | Motor3 | ++-------+--------------------+ +| 36 | Motor4 | ++-------+--------------------+ +| 51 | RCIN1 | ++-------+--------------------+ +| 52 | RCIN2 | ++-------+--------------------+ +| 53 | RCIN3 | ++-------+--------------------+ +| 54 | RCIN4 | ++-------+--------------------+ +| 55 | RCIN5 | ++-------+--------------------+ +| 56 | RCIN6 | ++-------+--------------------+ +| 57 | RCIN7 | ++-------+--------------------+ +| 58 | RCIN8 | ++-------+--------------------+ +| 59 | RCIN9 | ++-------+--------------------+ +| 60 | RCIN10 | ++-------+--------------------+ +| 61 | RCIN11 | ++-------+--------------------+ +| 62 | RCIN12 | ++-------+--------------------+ +| 63 | RCIN13 | ++-------+--------------------+ +| 64 | RCIN14 | ++-------+--------------------+ +| 65 | RCIN15 | ++-------+--------------------+ +| 66 | RCIN16 | ++-------+--------------------+ +| 70 | Throttle | ++-------+--------------------+ +| 73 | ThrottleLeft | ++-------+--------------------+ +| 74 | ThrottleRight | ++-------+--------------------+ +| 88 | Winch | ++-------+--------------------+ +| 89 | Main Sail | ++-------+--------------------+ +| 90 | CameraISO | ++-------+--------------------+ +| 91 | CameraAperture | ++-------+--------------------+ +| 92 | CameraFocus | ++-------+--------------------+ +| 93 | CameraShutterSpeed | ++-------+--------------------+ +| 94 | Script1 | ++-------+--------------------+ +| 95 | Script2 | ++-------+--------------------+ +| 96 | Script3 | ++-------+--------------------+ +| 97 | Script4 | ++-------+--------------------+ +| 98 | Script5 | ++-------+--------------------+ +| 99 | Script6 | ++-------+--------------------+ +| 100 | Script7 | ++-------+--------------------+ +| 101 | Script8 | ++-------+--------------------+ +| 102 | Script9 | ++-------+--------------------+ +| 103 | Script10 | ++-------+--------------------+ +| 104 | Script11 | ++-------+--------------------+ +| 105 | Script12 | ++-------+--------------------+ +| 106 | Script13 | ++-------+--------------------+ +| 107 | Script14 | ++-------+--------------------+ +| 108 | Script15 | ++-------+--------------------+ +| 109 | Script16 | ++-------+--------------------+ +| 120 | NeoPixel1 | ++-------+--------------------+ +| 121 | NeoPixel2 | ++-------+--------------------+ +| 122 | NeoPixel3 | ++-------+--------------------+ +| 123 | NeoPixel4 | ++-------+--------------------+ +| 128 | WingSailElevator | ++-------+--------------------+ +| 129 | ProfiLED1 | ++-------+--------------------+ +| 130 | ProfiLED2 | ++-------+--------------------+ +| 131 | ProfiLED3 | ++-------+--------------------+ +| 132 | ProfiLEDClock | ++-------+--------------------+ +| 133 | Winch Clutch | ++-------+--------------------+ +| 134 | SERVOn_MIN | ++-------+--------------------+ +| 135 | SERVOn_TRIM | ++-------+--------------------+ +| 136 | SERVOn_MAX | ++-------+--------------------+ +| 137 | SailMastRotation | ++-------+--------------------+ +| 138 | Alarm | ++-------+--------------------+ +| 139 | Alarm Inverted | ++-------+--------------------+ +| 140 | RCIN1Scaled | ++-------+--------------------+ +| 141 | RCIN2Scaled | ++-------+--------------------+ +| 142 | RCIN3Scaled | ++-------+--------------------+ +| 143 | RCIN4Scaled | ++-------+--------------------+ +| 144 | RCIN5Scaled | ++-------+--------------------+ +| 145 | RCIN6Scaled | ++-------+--------------------+ +| 146 | RCIN7Scaled | ++-------+--------------------+ +| 147 | RCIN8Scaled | ++-------+--------------------+ +| 148 | RCIN9Scaled | ++-------+--------------------+ +| 149 | RCIN10Scaled | ++-------+--------------------+ +| 150 | RCIN11Scaled | ++-------+--------------------+ +| 151 | RCIN12Scaled | ++-------+--------------------+ +| 152 | RCIN13Scaled | ++-------+--------------------+ +| 153 | RCIN14Scaled | ++-------+--------------------+ +| 154 | RCIN15Scaled | ++-------+--------------------+ +| 155 | RCIN16Scaled | ++-------+--------------------+ + + + + + +.. _parameters_SERVO_BLH_: + +SERVO\_BLH\_ Parameters +----------------------- + + +.. _SERVO_BLH_MASK: + +SERVO\_BLH\_MASK: BLHeli Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Enable of BLHeli pass\-thru servo protocol support to specific channels\. This mask is in addition to motors enabled using SERVO\_BLH\_AUTO \(if any\) + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_AUTO: + +SERVO\_BLH\_AUTO: BLHeli pass\-thru auto\-enable for multicopter motors +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +If set to 1 this auto\-enables BLHeli pass\-thru support for all multicopter motors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_TEST: + +SERVO\_BLH\_TEST: BLHeli internal interface test +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Setting SERVO\_BLH\_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC\. The debug output is displayed on the USB console\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | Disabled | ++-------+------------+ +| 1 | TestMotor1 | ++-------+------------+ +| 2 | TestMotor2 | ++-------+------------+ +| 3 | TestMotor3 | ++-------+------------+ +| 4 | TestMotor4 | ++-------+------------+ +| 5 | TestMotor5 | ++-------+------------+ +| 6 | TestMotor6 | ++-------+------------+ +| 7 | TestMotor7 | ++-------+------------+ +| 8 | TestMotor8 | ++-------+------------+ + + + + +.. _SERVO_BLH_TMOUT: + +SERVO\_BLH\_TMOUT: BLHeli protocol timeout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the inactivity timeout for the BLHeli protocol in seconds\. If no packets are received in this time normal MAVLink operations are resumed\. A value of 0 means no timeout + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 300 | seconds | ++----------+---------+ + + + + +.. _SERVO_BLH_TRATE: + +SERVO\_BLH\_TRATE: BLHeli telemetry rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +This sets the rate in Hz for requesting telemetry from ESCs\. It is the rate per ESC\. Setting to zero disables telemetry requests + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 500 | hertz | ++----------+-------+ + + + + +.. _SERVO_BLH_DEBUG: + +SERVO\_BLH\_DEBUG: BLHeli debug level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active\. This can be used to diagnose failures\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SERVO_BLH_OTYPE: + +SERVO\_BLH\_OTYPE: BLHeli output type override +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +When set to a non\-zero value this overrides the output type for the output channels given by SERVO\_BLH\_MASK\. This can be used to enable DShot on outputs that are not part of the multicopter motors group\. + + ++-------+------------+ +| Value | Meaning | ++=======+============+ +| 0 | None | ++-------+------------+ +| 1 | OneShot | ++-------+------------+ +| 2 | OneShot125 | ++-------+------------+ +| 3 | Brushed | ++-------+------------+ +| 4 | DShot150 | ++-------+------------+ +| 5 | DShot300 | ++-------+------------+ +| 6 | DShot600 | ++-------+------------+ +| 7 | DShot1200 | ++-------+------------+ + + + + +.. _SERVO_BLH_PORT: + +SERVO\_BLH\_PORT: Control port +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the mavlink channel to use for blheli pass\-thru\. The channel number is determined by the number of serial ports configured to use mavlink\. So 0 is always the console\, 1 is the next serial port using mavlink\, 2 the next after that and so on\. + + ++-------+-------------------------+ +| Value | Meaning | ++=======+=========================+ +| 0 | Console | ++-------+-------------------------+ +| 1 | Mavlink Serial Channel1 | ++-------+-------------------------+ +| 2 | Mavlink Serial Channel2 | ++-------+-------------------------+ +| 3 | Mavlink Serial Channel3 | ++-------+-------------------------+ +| 4 | Mavlink Serial Channel4 | ++-------+-------------------------+ +| 5 | Mavlink Serial Channel5 | ++-------+-------------------------+ + + + + +.. _SERVO_BLH_POLES: + +SERVO\_BLH\_POLES: BLHeli Motor Poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +This allows calculation of true RPM from ESC\'s eRPM\. The default is 14\. + + ++----------+ +| Range | ++==========+ +| 1 to 127 | ++----------+ + + + + +.. _SERVO_BLH_3DMASK: + +SERVO\_BLH\_3DMASK: BLHeli bitmask of 3D channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are dynamically reversible\. This is used to configure ESCs in \'3D\' mode\, allowing for the motor to spin in either direction\. Do not use for channels selected with SERVO\_BLH\_RVMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_BDMASK: + +SERVO\_BLH\_BDMASK: BLHeli bitmask of bi\-directional dshot channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which support bi\-directional dshot telemetry\. This is used for ESCs which have firmware that supports bi\-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + +.. _SERVO_BLH_RVMASK: + +SERVO\_BLH\_RVMASK: BLHeli bitmask of reversed channels +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Mask of channels which are reversed\. This is used to configure ESCs to reverse motor direction for unidirectional rotation\. Do not use for channels selected with SERVO\_BLH\_3DMASK\. + + ++-----+------------+ +| Bit | Meaning | ++=====+============+ +| 0 | Channel1 | ++-----+------------+ +| 1 | Channel2 | ++-----+------------+ +| 2 | Channel3 | ++-----+------------+ +| 3 | Channel4 | ++-----+------------+ +| 4 | Channel5 | ++-----+------------+ +| 5 | Channel6 | ++-----+------------+ +| 6 | Channel7 | ++-----+------------+ +| 7 | Channel8 | ++-----+------------+ +| 8 | Channel9 | ++-----+------------+ +| 9 | Channel10 | ++-----+------------+ +| 10 | Channel11 | ++-----+------------+ +| 11 | Channel12 | ++-----+------------+ +| 12 | Channel13 | ++-----+------------+ +| 13 | Channel14 | ++-----+------------+ +| 14 | Channel15 | ++-----+------------+ +| 15 | Channel16 | ++-----+------------+ +| 16 | Channel 17 | ++-----+------------+ +| 17 | Channel 18 | ++-----+------------+ +| 18 | Channel 19 | ++-----+------------+ +| 19 | Channel 20 | ++-----+------------+ +| 20 | Channel 21 | ++-----+------------+ +| 21 | Channel 22 | ++-----+------------+ +| 22 | Channel 23 | ++-----+------------+ +| 23 | Channel 24 | ++-----+------------+ +| 24 | Channel 25 | ++-----+------------+ +| 25 | Channel 26 | ++-----+------------+ +| 26 | Channel 27 | ++-----+------------+ +| 27 | Channel 28 | ++-----+------------+ +| 28 | Channel 29 | ++-----+------------+ +| 29 | Channel 30 | ++-----+------------+ +| 30 | Channel 31 | ++-----+------------+ +| 31 | Channel 32 | ++-----+------------+ + + + + + +.. _parameters_SERVO_FTW_: + +SERVO\_FTW\_ Parameters +----------------------- + + +.. _SERVO_FTW_MASK: + +SERVO\_FTW\_MASK: Servo channel output bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Servo channel mask specifying FETtec ESC output\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_RVMASK: + +SERVO\_FTW\_RVMASK: Servo channel reverse rotation bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Servo channel mask to reverse rotation of FETtec ESC outputs\. + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | SERVO1 | ++-----+---------+ +| 1 | SERVO2 | ++-----+---------+ +| 2 | SERVO3 | ++-----+---------+ +| 3 | SERVO4 | ++-----+---------+ +| 4 | SERVO5 | ++-----+---------+ +| 5 | SERVO6 | ++-----+---------+ +| 6 | SERVO7 | ++-----+---------+ +| 7 | SERVO8 | ++-----+---------+ +| 8 | SERVO9 | ++-----+---------+ +| 9 | SERVO10 | ++-----+---------+ +| 10 | SERVO11 | ++-----+---------+ +| 11 | SERVO12 | ++-----+---------+ + + + + +.. _SERVO_FTW_POLES: + +SERVO\_FTW\_POLES: Nr\. electrical poles +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of motor electrical poles + + ++---------+ +| Range | ++=========+ +| 2 to 50 | ++---------+ + + + + + +.. _parameters_SERVO_ROB_: + +SERVO\_ROB\_ Parameters +----------------------- + + +.. _SERVO_ROB_POSMIN: + +SERVO\_ROB\_POSMIN: Robotis servo position min +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position minimum at servo min value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + +.. _SERVO_ROB_POSMAX: + +SERVO\_ROB\_POSMAX: Robotis servo position max +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Position maximum at servo max value\. This should be within the position control range of the servos\, normally 0 to 4095 + + ++-----------+ +| Range | ++===========+ +| 0 to 4095 | ++-----------+ + + + + + +.. _parameters_SERVO_SBUS_: + +SERVO\_SBUS\_ Parameters +------------------------ + + +.. _SERVO_SBUS_RATE: + +SERVO\_SBUS\_RATE: SBUS default output rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This sets the SBUS output frame rate in Hz\. + + ++-----------+-------+ +| Range | Units | ++===========+=======+ +| 25 to 250 | hertz | ++-----------+-------+ + + + + + +.. _parameters_SERVO_VOLZ_: + +SERVO\_VOLZ\_ Parameters +------------------------ + + +.. _SERVO_VOLZ_MASK: + +SERVO\_VOLZ\_MASK: Channel Bitmask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable of volz servo protocol to specific channels + + ++-----+-----------+ +| Bit | Meaning | ++=====+===========+ +| 0 | Channel1 | ++-----+-----------+ +| 1 | Channel2 | ++-----+-----------+ +| 2 | Channel3 | ++-----+-----------+ +| 3 | Channel4 | ++-----+-----------+ +| 4 | Channel5 | ++-----+-----------+ +| 5 | Channel6 | ++-----+-----------+ +| 6 | Channel7 | ++-----+-----------+ +| 7 | Channel8 | ++-----+-----------+ +| 8 | Channel9 | ++-----+-----------+ +| 9 | Channel10 | ++-----+-----------+ +| 10 | Channel11 | ++-----+-----------+ +| 11 | Channel12 | ++-----+-----------+ +| 12 | Channel13 | ++-----+-----------+ +| 13 | Channel14 | ++-----+-----------+ +| 14 | Channel15 | ++-----+-----------+ +| 15 | Channel16 | ++-----+-----------+ +| 16 | Channel17 | ++-----+-----------+ +| 17 | Channel18 | ++-----+-----------+ +| 18 | Channel19 | ++-----+-----------+ +| 19 | Channel20 | ++-----+-----------+ +| 20 | Channel21 | ++-----+-----------+ +| 21 | Channel22 | ++-----+-----------+ +| 22 | Channel23 | ++-----+-----------+ +| 23 | Channel24 | ++-----+-----------+ +| 24 | Channel25 | ++-----+-----------+ +| 25 | Channel26 | ++-----+-----------+ +| 26 | Channel27 | ++-----+-----------+ +| 28 | Channel29 | ++-----+-----------+ +| 29 | Channel30 | ++-----+-----------+ +| 30 | Channel31 | ++-----+-----------+ +| 31 | Channel32 | ++-----+-----------+ + + + + +.. _SERVO_VOLZ_RANGE: + +SERVO\_VOLZ\_RANGE: Range of travel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Range to map between 1000 and 2000 PWM\. Default value of 200 gives full \+\-100 deg range of extended position command\. This results in 0\.2 deg movement per US change in PWM\. If the full range is not needed it can be reduced to increase resolution\. 40 deg range gives 0\.04 deg movement per US change in PWM\, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution\. Reduced range does allow PWMs outside the 1000 to 2000 range\, with 40 deg range 750 PWM results in a angle of \-30 deg\, 2250 would be \+30 deg\. This is still limited by the 200 deg maximum range of the actuator\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + + +.. _parameters_sim: + +Simulation Parameters +--------------------- + + +.. _SIM_DRIFT_SPEED: + +SIM\_DRIFT\_SPEED: Gyro drift speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift rate of change in degrees\/second\/minute + + +.. _SIM_DRIFT_TIME: + +SIM\_DRIFT\_TIME: Gyro drift time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Gyro drift duration of one full drift cycle \(period in minutes\) + + +.. _SIM_ENGINE_MUL: + +SIM\_ENGINE\_MUL: Engine failure thrust scaler +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Thrust from Motors in SIM\_ENGINE\_FAIL will be multiplied by this factor + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_WIND_SPD: + +SIM\_WIND\_SPD: Simulated Wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate wind in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_DIR: + +SIM\_WIND\_DIR: Direction simulated wind is coming from +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set wind direction \(true deg\) in sim + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_TURB: + +SIM\_WIND\_TURB: Simulated Wind variation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate random wind variations in sim + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_WIND_TC: + +SIM\_WIND\_TC: Wind variation time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +this controls the time over which wind changes take effect + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SONAR_ROT: + +SIM\_SONAR\_ROT: Sonar rotation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar rotation from rotations enumeration + + +.. _SIM_BATT_VOLTAGE: + +SIM\_BATT\_VOLTAGE: Simulated battery voltage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery \(constant\) voltage + + ++-------+ +| Units | ++=======+ +| volt | ++-------+ + + + + +.. _SIM_BATT_CAP_AH: + +SIM\_BATT\_CAP\_AH: Simulated battery capacity +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated battery capacity + + ++-------------+ +| Units | ++=============+ +| ampere hour | ++-------------+ + + + + +.. _SIM_SONAR_GLITCH: + +SIM\_SONAR\_GLITCH: Sonar glitch probablility +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Probablility a sonar glitch would happen + + ++--------+ +| Range | ++========+ +| 0 to 1 | ++--------+ + + + + +.. _SIM_SONAR_RND: + +SIM\_SONAR\_RND: Sonar noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated sonar noise + + +.. _SIM_RC_FAIL: + +SIM\_RC\_FAIL: Simulated RC signal failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to emulate rc failures in sim + + ++-------+-----------------------------------------------+ +| Value | Meaning | ++=======+===============================================+ +| 0 | Disabled | ++-------+-----------------------------------------------+ +| 1 | No RC pusles | ++-------+-----------------------------------------------+ +| 2 | All Channels neutral except Throttle is 950us | ++-------+-----------------------------------------------+ + + + + +.. _SIM_FLOAT_EXCEPT: + +SIM\_FLOAT\_EXCEPT: Generate floating point exceptions +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +If set\, if a numerical error occurs SITL will die with a floating point exception\. + + +.. _SIM_CAN_SRV_MSK: + +SIM\_CAN\_SRV\_MSK: Mask of CAN servos\/ESCs +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The set of actuators controlled externally by CAN SITL AP\_Periph + + ++-----+----------+ +| Bit | Meaning | ++=====+==========+ +| 0 | Servo 1 | ++-----+----------+ +| 1 | Servo 2 | ++-----+----------+ +| 2 | Servo 3 | ++-----+----------+ +| 3 | Servo 4 | ++-----+----------+ +| 4 | Servo 5 | ++-----+----------+ +| 5 | Servo 6 | ++-----+----------+ +| 6 | Servo 7 | ++-----+----------+ +| 7 | Servo 8 | ++-----+----------+ +| 8 | Servo 9 | ++-----+----------+ +| 9 | Servo 10 | ++-----+----------+ +| 10 | Servo 11 | ++-----+----------+ +| 11 | Servo 12 | ++-----+----------+ +| 12 | Servo 13 | ++-----+----------+ +| 13 | Servo 14 | ++-----+----------+ +| 14 | Servo 15 | ++-----+----------+ +| 15 | Servo 16 | ++-----+----------+ +| 16 | Servo 17 | ++-----+----------+ +| 17 | Servo 18 | ++-----+----------+ +| 18 | Servo 19 | ++-----+----------+ +| 19 | Servo 20 | ++-----+----------+ +| 20 | Servo 21 | ++-----+----------+ +| 21 | Servo 22 | ++-----+----------+ +| 22 | Servo 23 | ++-----+----------+ +| 23 | Servo 24 | ++-----+----------+ +| 24 | Servo 25 | ++-----+----------+ +| 25 | Servo 26 | ++-----+----------+ +| 26 | Servo 27 | ++-----+----------+ +| 27 | Servo 28 | ++-----+----------+ +| 28 | Servo 29 | ++-----+----------+ +| 29 | Servo 30 | ++-----+----------+ +| 30 | Servo 31 | ++-----+----------+ +| 31 | Servo 32 | ++-----+----------+ + + + + +.. _SIM_CAN_TYPE1: + +SIM\_CAN\_TYPE1: transport type for first CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for first CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_CAN_TYPE2: + +SIM\_CAN\_TYPE2: transport type for second CAN interface +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +transport type for second CAN interface + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | None | ++-------+--------------+ +| 1 | MulticastUDP | ++-------+--------------+ +| 2 | SocketCAN | ++-------+--------------+ + + + + +.. _SIM_SONAR_SCALE: + +SIM\_SONAR\_SCALE: Sonar conversion scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sonar conversion scale from distance to voltage + + ++-----------------+ +| Units | ++=================+ +| meters per volt | ++-----------------+ + + + + +.. _SIM_FLOW_ENABLE: + +SIM\_FLOW\_ENABLE: Opflow Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable simulated Optical Flow sensor + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_TERRAIN: + +SIM\_TERRAIN: Terrain Enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable using terrain for height + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enabled | ++-------+---------+ + + + + +.. _SIM_FLOW_RATE: + +SIM\_FLOW\_RATE: Opflow Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow Data Rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_FLOW_DELAY: + +SIM\_FLOW\_DELAY: Opflow Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Opflow data delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_ADSB_COUNT: + +SIM\_ADSB\_COUNT: Number of ADSB aircrafts +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total number of ADSB simulated aircraft + + +.. _SIM_ADSB_RADIUS: + +SIM\_ADSB\_RADIUS: ADSB radius stddev of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated standard deviation of radius in ADSB of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ADSB_ALT: + +SIM\_ADSB\_ALT: ADSB altitude of another aircraft +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated ADSB altitude of another aircraft + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_PIN_MASK: + +SIM\_PIN\_MASK: GPIO emulation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL GPIO emulation + + +.. _SIM_ADSB_TX: + +SIM\_ADSB\_TX: ADSB transmit enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +ADSB transceiever enable and disable + + ++-------+----------------------+ +| Value | Meaning | ++=======+======================+ +| 0 | Transceiever disable | ++-------+----------------------+ +| 1 | Transceiever enable | ++-------+----------------------+ + + + + +.. _SIM_SPEEDUP: + +SIM\_SPEEDUP: Sim Speedup +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Runs the simulation at multiples of normal speed\. Do not use if realtime physics\, like RealFlight\, is being used + + ++---------+ +| Range | ++=========+ +| 1 to 10 | ++---------+ + + + + +.. _SIM_IMU_POS_X: + +SIM\_IMU\_POS\_X: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Y: + +SIM\_IMU\_POS\_Y: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_IMU_POS_Z: + +SIM\_IMU\_POS\_Z: IMU Offsets +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the IMU accelerometer relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_X: + +SIM\_FLOW\_POS\_X: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Y: + +SIM\_FLOW\_POS\_Y: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_FLOW_POS_Z: + +SIM\_FLOW\_POS\_Z: Opflow Pos +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +XYZ position of the optical flow sensor focal point relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_ENGINE_FAIL: + +SIM\_ENGINE\_FAIL: Engine Fail Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mask of motors which SIM\_ENGINE\_MUL will be applied to + + ++-----+---------+ +| Bit | Meaning | ++=====+=========+ +| 0 | Servo 1 | ++-----+---------+ +| 1 | Servo 2 | ++-----+---------+ +| 2 | Servo 3 | ++-----+---------+ +| 3 | Servo 4 | ++-----+---------+ +| 4 | Servo 5 | ++-----+---------+ +| 5 | Servo 6 | ++-----+---------+ +| 6 | Servo 7 | ++-----+---------+ +| 7 | Servo 8 | ++-----+---------+ + + + + +.. _SIM_TEMP_START: + +SIM\_TEMP\_START: Start temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Baro start temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BRD_OFF: + +SIM\_TEMP\_BRD\_OFF: Baro temperature offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer board temperature offset from atmospheric temperature + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_TCONST: + +SIM\_TEMP\_TCONST: Warmup time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer warmup temperature time constant + + ++-----------------+ +| Units | ++=================+ +| degrees Celsius | ++-----------------+ + + + + +.. _SIM_TEMP_BFACTOR: + +SIM\_TEMP\_BFACTOR: Baro temperature factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +A pressure change with temperature that closely matches what has been observed with a ICM\-20789 + + +.. _SIM_WIND_DIR_Z: + +SIM\_WIND\_DIR\_Z: Simulated wind vertical direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to set vertical wind direction \(true deg\) in sim\. 0 means pure horizontal wind\. 90 means pure updraft\. + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WIND_T: + +SIM\_WIND\_T: Wind Profile Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Selects how wind varies from surface to WIND\_T\_ALT + + ++-------+------------------------+ +| Value | Meaning | ++=======+========================+ +| 0 | square law | ++-------+------------------------+ +| 1 | none | ++-------+------------------------+ +| 2 | linear-see WIND_T_COEF | ++-------+------------------------+ + + + + +.. _SIM_WIND_T_ALT: + +SIM\_WIND\_T\_ALT: Full Wind Altitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Altitude at which wind reaches full strength\, decaying from full strength as altitude lowers to ground level + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WIND_T_COEF: + +SIM\_WIND\_T\_COEF: Linear Wind Curve Coeff +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +For linear wind profile\,wind is reduced by \(Altitude\-WIND\_T\_ALT\) x this value + + +.. _SIM_RC_CHANCOUNT: + +SIM\_RC\_CHANCOUNT: RC channel count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL RC channel count + + +.. _SIM_WOW_PIN: + +SIM\_WOW\_PIN: Weight on Wheels Pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL set this simulated pin to true if vehicle is on ground + + +.. _SIM_BAUDLIMIT_EN: + +SIM\_BAUDLIMIT\_EN: Telemetry bandwidth limitting +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL enable bandwidth limitting on telemetry ports with non\-zero values + + +.. _SIM_SHOVE_X: + +SIM\_SHOVE\_X: Acceleration of shove x +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in x axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Y: + +SIM\_SHOVE\_Y: Acceleration of shove y +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in y axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_Z: + +SIM\_SHOVE\_Z: Acceleration of shove z +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Acceleration of shove to vehicle in z axis + + ++--------------------------+ +| Units | ++==========================+ +| meters per square second | ++--------------------------+ + + + + +.. _SIM_SHOVE_TIME: + +SIM\_SHOVE\_TIME: Time length for shove +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Force to the vehicle over a period of time + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_FLOW_RND: + +SIM\_FLOW\_RND: Opflow noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Optical Flow sensor measurement noise + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_TWIST_X: + +SIM\_TWIST\_X: Twist x +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist x axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Y: + +SIM\_TWIST\_Y: Twist y +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist y axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_Z: + +SIM\_TWIST\_Z: Twist z +~~~~~~~~~~~~~~~~~~~~~~ + + +Rotational acceleration of twist z axis + + ++---------------------------+ +| Units | ++===========================+ +| radians per square second | ++---------------------------+ + + + + +.. _SIM_TWIST_TIME: + +SIM\_TWIST\_TIME: Twist time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Time that twist is applied on the vehicle + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GND_BEHAV: + +SIM\_GND\_BEHAV: Ground behavior +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ground behavior of aircraft \(tailsitter\, no movement\, forward only\) + + +.. _SIM_WAVE_ENABLE: + +SIM\_WAVE\_ENABLE: Wave enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave enable and modes + + ++-------+--------------------------+ +| Value | Meaning | ++=======+==========================+ +| 0 | disabled | ++-------+--------------------------+ +| 1 | roll and pitch | ++-------+--------------------------+ +| 2 | roll and pitch and heave | ++-------+--------------------------+ + + + + +.. _SIM_WAVE_LENGTH: + +SIM\_WAVE\_LENGTH: Wave length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave length in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_AMP: + +SIM\_WAVE\_AMP: Wave amplitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave amplitude in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_WAVE_DIR: + +SIM\_WAVE\_DIR: Wave direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_WAVE_SPEED: + +SIM\_WAVE\_SPEED: Wave speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wave speed in SITL + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_TIDE_DIR: + +SIM\_TIDE\_DIR: Tide direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide direction wave is coming from + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_TIDE_SPEED: + +SIM\_TIDE\_SPEED: Tide speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Tide speed in simulation + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_OPOS_LAT: + +SIM\_OPOS\_LAT: Original Position \(Latitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup latitude + + +.. _SIM_OPOS_LNG: + +SIM\_OPOS\_LNG: Original Position \(Longitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup longitude + + +.. _SIM_OPOS_ALT: + +SIM\_OPOS\_ALT: Original Position \(Altitude\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup altitude \(AMSL\) + + +.. _SIM_OPOS_HDG: + +SIM\_OPOS\_HDG: Original Position \(Heading\) +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Specifies vehicle\'s startup heading \(0\-360\) + + +.. _SIM_LOOP_DELAY: + +SIM\_LOOP\_DELAY: Extra delay per main loop +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Extra time delay per main loop + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_EFI_TYPE: + +SIM\_EFI\_TYPE: Type of Electronic Fuel Injection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Different types of Electronic Fuel Injection \(EFI\) systems + + ++-------+-----------------------+ +| Value | Meaning | ++=======+=======================+ +| 0 | None | ++-------+-----------------------+ +| 1 | MegaSquirt EFI system | ++-------+-----------------------+ +| 2 | Löweheiser EFI system | ++-------+-----------------------+ +| 8 | Hirth engines | ++-------+-----------------------+ + + + + +.. _SIM_VIB_MOT_HMNC: + +SIM\_VIB\_MOT\_HMNC: Motor harmonics +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor harmonics generated in SITL + + +.. _SIM_VIB_MOT_MASK: + +SIM\_VIB\_MOT\_MASK: Motor mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Motor mask\, allowing external simulators to mark motors + + +.. _SIM_VIB_MOT_MAX: + +SIM\_VIB\_MOT\_MAX: Max motor vibration frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Max frequency to use as baseline for adding motor noise for the gyros and accels + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_INS_THR_MIN: + +SIM\_INS\_THR\_MIN: Minimum throttle INS noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum throttle for simulated ins noise + + +.. _SIM_VIB_MOT_MULT: + +SIM\_VIB\_MOT\_MULT: Vibration motor scale +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Amplitude scaling of motor noise relative to gyro\/accel noise + + +.. _SIM_ODOM_ENABLE: + +SIM\_ODOM\_ENABLE: Odometry enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL odometry enabl + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_LED_LAYOUT: + +SIM\_LED\_LAYOUT: LED layout +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +LED layout config value + + +.. _SIM_THML_SCENARI: + +SIM\_THML\_SCENARI: Thermal scenarios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Scenario for thermalling simulation\, for soaring + + +.. _SIM_VICON_POS_X: + +SIM\_VICON\_POS\_X: SITL vicon position on vehicle in Forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Forward direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Y: + +SIM\_VICON\_POS\_Y: SITL vicon position on vehicle in Right direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position on vehicle in Right direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_POS_Z: + +SIM\_VICON\_POS\_Z: SITL vicon position on vehicle in Down direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL vicon position on vehicle in Down direction + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_VICON_GLIT_X: + +SIM\_VICON\_GLIT\_X: SITL vicon position glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch North + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Y: + +SIM\_VICON\_GLIT\_Y: SITL vicon position glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch East + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_GLIT_Z: + +SIM\_VICON\_GLIT\_Z: SITL vicon position glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon position glitch Down + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_VICON_FAIL: + +SIM\_VICON\_FAIL: SITL vicon failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon failure + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | Vicon Healthy | ++-------+---------------+ +| 1 | Vicon Failed | ++-------+---------------+ + + + + +.. _SIM_VICON_YAW: + +SIM\_VICON\_YAW: SITL vicon yaw angle in earth frame +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw angle in earth frame + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 360 | degrees | ++----------+---------+ + + + + +.. _SIM_VICON_YAWERR: + +SIM\_VICON\_YAWERR: SITL vicon yaw error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon yaw added to reported yaw sent to vehicle + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| -180 to 180 | degrees | ++-------------+---------+ + + + + +.. _SIM_VICON_TMASK: + +SIM\_VICON\_TMASK: SITL vicon type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon messages sent + + ++-----+--------------------------+ +| Bit | Meaning | ++=====+==========================+ +| 0 | VISION_POSITION_ESTIMATE | ++-----+--------------------------+ +| 1 | VISION_SPEED_ESTIMATE | ++-----+--------------------------+ +| 2 | VICON_POSITION_ESTIMATE | ++-----+--------------------------+ +| 3 | VISION_POSITION_DELTA | ++-----+--------------------------+ +| 4 | ODOMETRY | ++-----+--------------------------+ + + + + +.. _SIM_VICON_VGLI_X: + +SIM\_VICON\_VGLI\_X: SITL vicon velocity glitch North +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch North + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Y: + +SIM\_VICON\_VGLI\_Y: SITL vicon velocity glitch East +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch East + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_VICON_VGLI_Z: + +SIM\_VICON\_VGLI\_Z: SITL vicon velocity glitch Down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SITL vicon velocity glitch Down + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_RATE_HZ: + +SIM\_RATE\_HZ: Loop rate +~~~~~~~~~~~~~~~~~~~~~~~~ + + +SITL Loop rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_IMU_COUNT: + +SIM\_IMU\_COUNT: IMU count +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated IMUs to create + + +.. _SIM_BARO_COUNT: + +SIM\_BARO\_COUNT: Baro count +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of simulated baros to create in SITL + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _SIM_TIME_JITTER: + +SIM\_TIME\_JITTER: Loop time jitter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Upper limit of random jitter in loop time + + ++--------------+ +| Units | ++==============+ +| microseconds | ++--------------+ + + + + +.. _SIM_ESC_TELEM: + +SIM\_ESC\_TELEM: Simulated ESC Telemetry +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +enable perfect simulated ESC telemetry + + +.. _SIM_ESC_ARM_RPM: + +SIM\_ESC\_ARM\_RPM: ESC RPM when armed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated RPM when motors are armed + + +.. _SIM_UART_LOSS: + +SIM\_UART\_LOSS: UART byte loss percentage +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets percentage of outgoing byte loss on UARTs + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_ADSB_TYPES: + +SIM\_ADSB\_TYPES: Simulated ADSB Type mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +specifies which simulated ADSB types are active + + ++-----+-------------+ +| Bit | Meaning | ++=====+=============+ +| 0 | MAVLink | ++-----+-------------+ +| 3 | SageTechMXS | ++-----+-------------+ + + + + +.. _SIM_OSD_COLUMNS: + +SIM\_OSD\_COLUMNS: Simulated OSD number of text columns +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text columns + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_OSD_ROWS: + +SIM\_OSD\_ROWS: Simulated OSD number of text rows +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Simulated OSD number of text rows + + ++-----------+ +| Range | ++===========+ +| 10 to 100 | ++-----------+ + + + + +.. _SIM_GPS_DISABLE: + +SIM\_GPS\_DISABLE: GPS 1 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS_LAG_MS: + +SIM\_GPS\_LAG\_MS: GPS 1 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 lag + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS_TYPE: + +SIM\_GPS\_TYPE: GPS 1 type +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 1 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS_BYTELOSS: + +SIM\_GPS\_BYTELOSS: GPS Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 1 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS_NUMSATS: + +SIM\_GPS\_NUMSATS: GPS 1 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 1 has in view + + +.. _SIM_GPS_GLITCH_X: + +SIM\_GPS\_GLITCH\_X: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(X\-axis\) + + +.. _SIM_GPS_GLITCH_Y: + +SIM\_GPS\_GLITCH\_Y: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Y\-axis\) + + +.. _SIM_GPS_GLITCH_Z: + +SIM\_GPS\_GLITCH\_Z: GPS 1 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 1 sensor \(Z\-axis\) + + +.. _SIM_GPS_HZ: + +SIM\_GPS\_HZ: GPS 1 Hz +~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS_DRIFTALT: + +SIM\_GPS\_DRIFTALT: GPS 1 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_X: + +SIM\_GPS\_POS\_X: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Y: + +SIM\_GPS\_POS\_Y: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_POS_Z: + +SIM\_GPS\_POS\_Z: GPS 1 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_NOISE: + +SIM\_GPS\_NOISE: GPS 1 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS1 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_LOCKTIME: + +SIM\_GPS\_LOCKTIME: GPS 1 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS1 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS_ALT_OFS: + +SIM\_GPS\_ALT\_OFS: GPS 1 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 1 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS_HDG: + +SIM\_GPS\_HDG: GPS 1 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS1 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS_ACC: + +SIM\_GPS\_ACC: GPS 1 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Accuracy + + +.. _SIM_GPS_VERR_X: + +SIM\_GPS\_VERR\_X: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS_VERR_Y: + +SIM\_GPS\_VERR\_Y: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS_VERR_Z: + +SIM\_GPS\_VERR\_Z: GPS 1 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 1 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_GPS_JAM: + +SIM\_GPS\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_DISABLE: + +SIM\_GPS2\_DISABLE: GPS 2 disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disables GPS 2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Enable | ++-------+--------------+ +| 1 | GPS Disabled | ++-------+--------------+ + + + + +.. _SIM_GPS2_LAG_MS: + +SIM\_GPS2\_LAG\_MS: GPS 2 Lag +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 lag in ms + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_GPS2_TYPE: + +SIM\_GPS2\_TYPE: GPS 2 type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets the type of simulation used for GPS 2 + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | None | ++-------+---------+ +| 1 | UBlox | ++-------+---------+ +| 5 | NMEA | ++-------+---------+ +| 6 | SBP | ++-------+---------+ +| 7 | File | ++-------+---------+ +| 8 | Nova | ++-------+---------+ +| 9 | SBP2 | ++-------+---------+ +| 11 | Trimble | ++-------+---------+ +| 19 | MSP | ++-------+---------+ + + + + +.. _SIM_GPS2_BYTELOS: + +SIM\_GPS2\_BYTELOS: GPS 2 Byteloss +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Percent of bytes lost from GPS 2 + + ++---------+ +| Units | ++=========+ +| percent | ++---------+ + + + + +.. _SIM_GPS2_NUMSATS: + +SIM\_GPS2\_NUMSATS: GPS 2 Num Satellites +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of satellites GPS 2 has in view + + +.. _SIM_GPS2_GLTCH_X: + +SIM\_GPS2\_GLTCH\_X: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(X\-axis\) + + +.. _SIM_GPS2_GLTCH_Y: + +SIM\_GPS2\_GLTCH\_Y: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Y\-axis\) + + +.. _SIM_GPS2_GLTCH_Z: + +SIM\_GPS2\_GLTCH\_Z: GPS 2 Glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Glitch offsets of simulated GPS 2 sensor \(Z\-axis\) + + +.. _SIM_GPS2_HZ: + +SIM\_GPS2\_HZ: GPS 2 Hz +~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Update rate + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _SIM_GPS2_DRFTALT: + +SIM\_GPS2\_DRFTALT: GPS 2 Altitude Drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 altitude drift error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_X: + +SIM\_GPS2\_POS\_X: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(X\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Y: + +SIM\_GPS2\_POS\_Y: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Y\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_POS_Z: + +SIM\_GPS2\_POS\_Z: GPS 2 Position +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 antenna phase center position relative to the body frame origin \(Z\-axis\) + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_NOISE: + +SIM\_GPS2\_NOISE: GPS 2 Noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Amplitude of the GPS2 altitude error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_LCKTIME: + +SIM\_GPS2\_LCKTIME: GPS 2 Lock Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Delay in seconds before GPS2 acquires lock + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_GPS2_ALT_OFS: + +SIM\_GPS2\_ALT\_OFS: GPS 2 Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS 2 Altitude Error + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GPS2_HDG: + +SIM\_GPS2\_HDG: GPS 2 Heading +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable GPS2 output of NMEA heading HDT sentence or UBLOX\_RELPOSNED + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GPS2_ACC: + +SIM\_GPS2\_ACC: GPS 2 Accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Accuracy + + +.. _SIM_GPS2_VERR_X: + +SIM\_GPS2\_VERR\_X: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(X\-axis\) + + +.. _SIM_GPS2_VERR_Y: + +SIM\_GPS2\_VERR\_Y: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Y\-axis\) + + +.. _SIM_GPS2_VERR_Z: + +SIM\_GPS2\_VERR\_Z: GPS 2 Velocity Error +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +GPS 2 Velocity Error Offsets in NED \(Z\-axis\) + + +.. _SIM_INIT_LAT_OFS: + +SIM\_INIT\_LAT\_OFS: Initial Latitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lat offset from origin + + +.. _SIM_INIT_LON_OFS: + +SIM\_INIT\_LON\_OFS: Initial Longitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial lon offset from origin + + +.. _SIM_INIT_ALT_OFS: + +SIM\_INIT\_ALT\_OFS: Initial Altitude Offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +GPS initial alt offset from origin + + +.. _SIM_GPS_LOG_NUM: + +SIM\_GPS\_LOG\_NUM: GPS Log Number +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Log number for GPS\:update\_file\(\) + + +.. _SIM_GPS2_JAM: + +SIM\_GPS2\_JAM: GPS jamming enable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Enable simulated GPS jamming + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_MAG_RND: + +SIM\_MAG\_RND: Mag motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scaling factor for simulated vibration from motors + + +.. _SIM_MAG_DELAY: + +SIM\_MAG\_DELAY: Mag measurement delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Magnetometer measurement delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_MAG_ALY_HGT: + +SIM\_MAG\_ALY\_HGT: Magnetic anomaly height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Height above ground where anomally strength has decayed to 1\/8 of the ground level value + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_MAG1_ORIENT: + +SIM\_MAG1\_ORIENT: MAG1 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG1 external compass orientation + + +.. _SIM_MAG1_SCALING: + +SIM\_MAG1\_SCALING: MAG1 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 1 to simulate sensor scale factor errors + + +.. _SIM_MAG1_DEVID: + +SIM\_MAG1\_DEVID: MAG1 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 1 + + +.. _SIM_MAG2_DEVID: + +SIM\_MAG2\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 2 + + +.. _SIM_MAG3_DEVID: + +SIM\_MAG3\_DEVID: MAG3 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 3 + + +.. _SIM_MAG4_DEVID: + +SIM\_MAG4\_DEVID: MAG2 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 4 + + +.. _SIM_MAG5_DEVID: + +SIM\_MAG5\_DEVID: MAG5 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 5 + + +.. _SIM_MAG6_DEVID: + +SIM\_MAG6\_DEVID: MAG6 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 6 + + +.. _SIM_MAG7_DEVID: + +SIM\_MAG7\_DEVID: MAG7 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 7 + + +.. _SIM_MAG8_DEVID: + +SIM\_MAG8\_DEVID: MAG8 Device ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Device ID of simulated compass 8 + + +.. _SIM_MAG1_FAIL: + +SIM\_MAG1\_FAIL: MAG1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG1 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG1 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_ORIENT: + +SIM\_MAG2\_ORIENT: MAG2 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG2 external compass orientation + + +.. _SIM_MAG2_FAIL: + +SIM\_MAG2\_FAIL: MAG2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG2 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG2 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG2_SCALING: + +SIM\_MAG2\_SCALING: MAG2 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 2 to simulate sensor scale factor errors + + +.. _SIM_MAG3_FAIL: + +SIM\_MAG3\_FAIL: MAG3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of MAG3 + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Disabled | ++-------+--------------+ +| 1 | MAG3 Failure | ++-------+--------------+ + + + + +.. _SIM_MAG3_SCALING: + +SIM\_MAG3\_SCALING: MAG3 Scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Scale the compass 3 to simulate sensor scale factor errors + + +.. _SIM_MAG3_ORIENT: + +SIM\_MAG3\_ORIENT: MAG3 Orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +MAG3 external compass orientation + + +.. _SIM_MAG_SAVE_IDS: + +SIM\_MAG\_SAVE\_IDS: Save MAG devids on startup +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This forces saving of compass devids on startup so that simulated compasses start as calibrated + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_IMUT_START: + +SIM\_IMUT\_START: IMU temperature start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Starting IMU temperature of a curve + + +.. _SIM_IMUT_END: + +SIM\_IMUT\_END: IMU temperature end +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Ending IMU temperature of a curve + + +.. _SIM_IMUT_TCONST: + +SIM\_IMUT\_TCONST: IMU temperature time constant +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU temperature time constant of the curve + + +.. _SIM_IMUT_FIXED: + +SIM\_IMUT\_FIXED: IMU fixed temperature +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +IMU fixed temperature by user + + +.. _SIM_ACC1_BIAS_X: + +SIM\_ACC1\_BIAS\_X: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC1_BIAS_Y: + +SIM\_ACC1\_BIAS\_Y: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC1_BIAS_Z: + +SIM\_ACC1\_BIAS\_Z: Accel 1 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC2_BIAS_X: + +SIM\_ACC2\_BIAS\_X: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC2_BIAS_Y: + +SIM\_ACC2\_BIAS\_Y: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC2_BIAS_Z: + +SIM\_ACC2\_BIAS\_Z: Accel 2 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_ACC3_BIAS_X: + +SIM\_ACC3\_BIAS\_X: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC3_BIAS_Y: + +SIM\_ACC3\_BIAS\_Y: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC3_BIAS_Z: + +SIM\_ACC3\_BIAS\_Z: Accel 3 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR1_RND: + +SIM\_GYR1\_RND: Gyro 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR2_RND: + +SIM\_GYR2\_RND: Gyro 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR3_RND: + +SIM\_GYR3\_RND: Gyro 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC1_RND: + +SIM\_ACC1\_RND: Accel 1 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC2_RND: + +SIM\_ACC2\_RND: Accel 2 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC3_RND: + +SIM\_ACC3\_RND: Accel 3 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR1_SCALE_X: + +SIM\_GYR1\_SCALE\_X: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR1_SCALE_Y: + +SIM\_GYR1\_SCALE\_Y: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR1_SCALE_Z: + +SIM\_GYR1\_SCALE\_Z: Gyro 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR2_SCALE_X: + +SIM\_GYR2\_SCALE\_X: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR2_SCALE_Y: + +SIM\_GYR2\_SCALE\_Y: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR2_SCALE_Z: + +SIM\_GYR2\_SCALE\_Z: Gyro 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_GYR3_SCALE_X: + +SIM\_GYR3\_SCALE\_X: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR3_SCALE_Y: + +SIM\_GYR3\_SCALE\_Y: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR3_SCALE_Z: + +SIM\_GYR3\_SCALE\_Z: Gyro 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACCEL1_FAIL: + +SIM\_ACCEL1\_FAIL: ACCEL1 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL1 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL1 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL2_FAIL: + +SIM\_ACCEL2\_FAIL: ACCEL2 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL2 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL2 Failure | ++-------+----------------+ + + + + +.. _SIM_ACCEL3_FAIL: + +SIM\_ACCEL3\_FAIL: ACCEL3 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL3 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL3 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR_FAIL_MSK: + +SIM\_GYR\_FAIL\_MSK: Gyro Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC_FAIL_MSK: + +SIM\_ACC\_FAIL\_MSK: Accelerometer Failure Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx\_FAIL params + + ++-------+------------------+ +| Value | Meaning | ++=======+==================+ +| 0 | Disabled | ++-------+------------------+ +| 1 | Readings stopped | ++-------+------------------+ + + + + +.. _SIM_ACC1_SCAL_X: + +SIM\_ACC1\_SCAL\_X: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC1_SCAL_Y: + +SIM\_ACC1\_SCAL\_Y: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC1_SCAL_Z: + +SIM\_ACC1\_SCAL\_Z: Accel 1 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC2_SCAL_X: + +SIM\_ACC2\_SCAL\_X: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC2_SCAL_Y: + +SIM\_ACC2\_SCAL\_Y: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC2_SCAL_Z: + +SIM\_ACC2\_SCAL\_Z: Accel 2 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACC3_SCAL_X: + +SIM\_ACC3\_SCAL\_X: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC3_SCAL_Y: + +SIM\_ACC3\_SCAL\_Y: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC3_SCAL_Z: + +SIM\_ACC3\_SCAL\_Z: Accel 3 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_SAIL_TYPE: + +SIM\_SAIL\_TYPE: Sailboat simulation sail type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +0\: mainsail with sheet\, 1\: directly actuated wing + + +.. _SIM_JSON_MASTER: + +SIM\_JSON\_MASTER: JSON master instance +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +the instance number to take servos from + + +.. _SIM_OH_MASK: + +SIM\_OH\_MASK: SIM\-on\_hardware Output Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +channels which are passed through to actual hardware when running sim on actual hardware + + +.. _SIM_GYR_FILE_RW: + +SIM\_GYR\_FILE\_RW: Gyro data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write gyro data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_ACC_FILE_RW: + +SIM\_ACC\_FILE\_RW: Accelerometer data to\/from files +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Read and write accelerometer data to\/from files + + ++-------+-------------------------------------+ +| Value | Meaning | ++=======+=====================================+ +| 0 | Stop writing data | ++-------+-------------------------------------+ +| 1 | Read data from file | ++-------+-------------------------------------+ +| 2 | Write data to a file | ++-------+-------------------------------------+ +| 3 | Read data from file and stop on EOF | ++-------+-------------------------------------+ + + + + +.. _SIM_GYR1_BIAS_X: + +SIM\_GYR1\_BIAS\_X: First Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Y: + +SIM\_GYR1\_BIAS\_Y: First Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR1_BIAS_Z: + +SIM\_GYR1\_BIAS\_Z: First Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +First Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_X: + +SIM\_GYR2\_BIAS\_X: Second Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Y: + +SIM\_GYR2\_BIAS\_Y: Second Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR2_BIAS_Z: + +SIM\_GYR2\_BIAS\_Z: Second Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Second Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_X: + +SIM\_GYR3\_BIAS\_X: Third Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Y: + +SIM\_GYR3\_BIAS\_Y: Third Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR3_BIAS_Z: + +SIM\_GYR3\_BIAS\_Z: Third Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Third Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC4_SCAL_X: + +SIM\_ACC4\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC4_SCAL_Y: + +SIM\_ACC4\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC4_SCAL_Z: + +SIM\_ACC4\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL4_FAIL: + +SIM\_ACCEL4\_FAIL: ACCEL4 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL4 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL4 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR4_SCALE_X: + +SIM\_GYR4\_SCALE\_X: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR4_SCALE_Y: + +SIM\_GYR4\_SCALE\_Y: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR4_SCALE_Z: + +SIM\_GYR4\_SCALE\_Z: Gyro 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC4_RND: + +SIM\_ACC4\_RND: Accel 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR4_RND: + +SIM\_GYR4\_RND: Gyro 4 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC4_BIAS_X: + +SIM\_ACC4\_BIAS\_X: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC4_BIAS_Y: + +SIM\_ACC4\_BIAS\_Y: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC4_BIAS_Z: + +SIM\_ACC4\_BIAS\_Z: Accel 4 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR4_BIAS_X: + +SIM\_GYR4\_BIAS\_X: Fourth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Y: + +SIM\_GYR4\_BIAS\_Y: Fourth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR4_BIAS_Z: + +SIM\_GYR4\_BIAS\_Z: Fourth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fourth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_ACC5_SCAL_X: + +SIM\_ACC5\_SCAL\_X: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(X\-axis\) + + +.. _SIM_ACC5_SCAL_Y: + +SIM\_ACC5\_SCAL\_Y: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Y\-axis\) + + +.. _SIM_ACC5_SCAL_Z: + +SIM\_ACC5\_SCAL\_Z: Accel 4 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated accelerometer \(Z\-axis\) + + +.. _SIM_ACCEL5_FAIL: + +SIM\_ACCEL5\_FAIL: ACCEL5 Failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated failure of ACCEL5 + + ++-------+----------------+ +| Value | Meaning | ++=======+================+ +| 0 | Disabled | ++-------+----------------+ +| 1 | ACCEL5 Failure | ++-------+----------------+ + + + + +.. _SIM_GYR5_SCALE_X: + +SIM\_GYR5\_SCALE\_X: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(X\-axis\) + + +.. _SIM_GYR5_SCALE_Y: + +SIM\_GYR5\_SCALE\_Y: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Y\-axis\) + + +.. _SIM_GYR5_SCALE_Z: + +SIM\_GYR5\_SCALE\_Z: Gyro 5 scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factors applied to simulated gyroscope \(Z\-axis\) + + +.. _SIM_ACC5_RND: + +SIM\_ACC5\_RND: Accel 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_GYR5_RND: + +SIM\_GYR5\_RND: Gyro 5 motor noise factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +scaling factor for simulated vibration from motors + + +.. _SIM_ACC5_BIAS_X: + +SIM\_ACC5\_BIAS\_X: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(X\-axis\) + + +.. _SIM_ACC5_BIAS_Y: + +SIM\_ACC5\_BIAS\_Y: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Y\-axis\) + + +.. _SIM_ACC5_BIAS_Z: + +SIM\_ACC5\_BIAS\_Z: Accel 5 bias +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +bias of simulated accelerometer sensor \(Z\-axis\) + + +.. _SIM_GYR5_BIAS_X: + +SIM\_GYR5\_BIAS\_X: Fifth Gyro bias on X axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on X axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Y: + +SIM\_GYR5\_BIAS\_Y: Fifth Gyro bias on Y axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Y axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_GYR5_BIAS_Z: + +SIM\_GYR5\_BIAS\_Z: Fifth Gyro bias on Z axis +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Fifth Gyro bias on Z axis + + ++--------------------+ +| Units | ++====================+ +| radians per second | ++--------------------+ + + + + +.. _SIM_OH_RELAY_MSK: + +SIM\_OH\_RELAY\_MSK: SIM\-on\_hardware Relay Enable Mask +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allow relay output operation when running SIM\-on\-hardware + + +.. _SIM_CLAMP_CH: + +SIM\_CLAMP\_CH: Simulated Clamp Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +If non\-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM + + + +.. _SIM_ARSPD2_FAIL: + +SIM\_ARSPD2\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_FAILP: + +SIM\_ARSPD2\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_PITOT: + +SIM\_ARSPD2\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD2_SIGN: + +SIM\_ARSPD2\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD2_RATIO: + +SIM\_ARSPD2\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_ARSPD_FAIL: + +SIM\_ARSPD\_FAIL: Airspeed sensor failure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulates Airspeed sensor 1 failure + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_FAILP: + +SIM\_ARSPD\_FAILP: Airspeed sensor failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_PITOT: + +SIM\_ARSPD\_PITOT: Airspeed pitot tube failure pressure +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor pitot tube failure pressure + + ++--------+ +| Units | ++========+ +| pascal | ++--------+ + + + + +.. _SIM_ARSPD_SIGN: + +SIM\_ARSPD\_SIGN: Airspeed signflip +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor with reversed pitot\/static connections + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_ARSPD_RATIO: + +SIM\_ARSPD\_RATIO: Airspeed ratios +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Simulated airspeed sensor ratio + + + +.. _SIM_BAR2_RND: + +SIM\_BAR2\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_DRIFT: + +SIM\_BAR2\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR2_DISABLE: + +SIM\_BAR2\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR2_GLITCH: + +SIM\_BAR2\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR2_FREEZE: + +SIM\_BAR2\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR2_DELAY: + +SIM\_BAR2\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR2_WCF_FWD: + +SIM\_BAR2\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR2_WCF_BAK: + +SIM\_BAR2\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR2_WCF_RGT: + +SIM\_BAR2\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR2_WCF_LFT: + +SIM\_BAR2\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR2_WCF_UP: + +SIM\_BAR2\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR2_WCF_DN: + +SIM\_BAR2\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BAR3_RND: + +SIM\_BAR3\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_DRIFT: + +SIM\_BAR3\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BAR3_DISABLE: + +SIM\_BAR3\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BAR3_GLITCH: + +SIM\_BAR3\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BAR3_FREEZE: + +SIM\_BAR3\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BAR3_DELAY: + +SIM\_BAR3\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BAR3_WCF_FWD: + +SIM\_BAR3\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BAR3_WCF_BAK: + +SIM\_BAR3\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BAR3_WCF_RGT: + +SIM\_BAR3\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BAR3_WCF_LFT: + +SIM\_BAR3\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BAR3_WCF_UP: + +SIM\_BAR3\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BAR3_WCF_DN: + +SIM\_BAR3\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_BARO_RND: + +SIM\_BARO\_RND: Barometer noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer noise in height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_DRIFT: + +SIM\_BARO\_DRIFT: Barometer altitude drift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer altitude drifts at this rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_BARO_DISABLE: + +SIM\_BARO\_DISABLE: Barometer disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Disable barometer in SITL + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _SIM_BARO_GLITCH: + +SIM\_BARO\_GLITCH: Barometer glitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer glitch height in SITL + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_BARO_FREEZE: + +SIM\_BARO\_FREEZE: Barometer freeze +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Freeze barometer to last recorded altitude + + +.. _SIM_BARO_DELAY: + +SIM\_BARO\_DELAY: Barometer delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer data time delay + + ++--------------+ +| Units | ++==============+ +| milliseconds | ++--------------+ + + + + +.. _SIM_BARO_WCF_FWD: + +SIM\_BARO\_WCF\_FWD: Wind coefficient forward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction forward in SITL + + +.. _SIM_BARO_WCF_BAK: + +SIM\_BARO\_WCF\_BAK: Wind coefficient backward +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction backward in SITL + + +.. _SIM_BARO_WCF_RGT: + +SIM\_BARO\_WCF\_RGT: Wind coefficient right +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction right in SITL + + +.. _SIM_BARO_WCF_LFT: + +SIM\_BARO\_WCF\_LFT: Wind coefficient left +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction left in SITL + + +.. _SIM_BARO_WCF_UP: + +SIM\_BARO\_WCF\_UP: Wind coefficient up +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction up in SITL + + +.. _SIM_BARO_WCF_DN: + +SIM\_BARO\_WCF\_DN: Wind coefficient down +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Barometer wind coefficient direction down in SITL + + + +.. _SIM_GLD_BLN_BRST: + +SIM\_GLD\_BLN\_BRST: balloon burst height +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon burst height + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_GLD_BLN_RATE: + +SIM\_GLD\_BLN\_RATE: balloon climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +balloon climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + + +.. _SIM_GRPE_ENABLE: + +SIM\_GRPE\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPE_PIN: + +SIM\_GRPE\_PIN: Gripper emp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper emp is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _SIM_GRPS_ENABLE: + +SIM\_GRPS\_ENABLE: Gripper servo Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the gripper servo simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_GRPS_PIN: + +SIM\_GRPS\_PIN: Gripper servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the gripper servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_GRPS_GRAB: + +SIM\_GRPS\_GRAB: Gripper Grab PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to initiate grabbing the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_RELEASE: + +SIM\_GRPS\_RELEASE: Gripper Release PWM +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +PWM value in microseconds sent to Gripper to release the cargo + + ++--------------+---------------------+ +| Range | Units | ++==============+=====================+ +| 1000 to 2000 | PWM in microseconds | ++--------------+---------------------+ + + + + +.. _SIM_GRPS_REVERSE: + +SIM\_GRPS\_REVERSE: Gripper close direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Reverse the closing direction\. + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Normal | ++-------+---------+ +| 1 | Reverse | ++-------+---------+ + + + + + +.. _SIM_PLD_ENABLE: + +SIM\_PLD\_ENABLE: Preland device Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Preland simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_PLD_LAT: + +SIM\_PLD\_LAT: Precland device center\'s latitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s latitude + + ++-----------+-----------+---------+ +| Increment | Range | Units | ++===========+===========+=========+ +| 0.000001 | -90 to 90 | degrees | ++-----------+-----------+---------+ + + + + +.. _SIM_PLD_LON: + +SIM\_PLD\_LON: Precland device center\'s longitude +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s longitude + + ++-----------+-------------+---------+ +| Increment | Range | Units | ++===========+=============+=========+ +| 0.000001 | -180 to 180 | degrees | ++-----------+-------------+---------+ + + + + +.. _SIM_PLD_HEIGHT: + +SIM\_PLD\_HEIGHT: Precland device center\'s height SITL origin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device center\'s height above SITL origin\. Assumes a 2x2m square as station base + + ++-----------+------------+--------+ +| Increment | Range | Units | ++===========+============+========+ +| 1 | 0 to 10000 | meters | ++-----------+------------+--------+ + + + + +.. _SIM_PLD_YAW: + +SIM\_PLD\_YAW: Precland device systems rotation from north +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device systems rotation from north + + ++-----------+--------------+---------+ +| Increment | Range | Units | ++===========+==============+=========+ +| 1 | -180 to +180 | degrees | ++-----------+--------------+---------+ + + + + +.. _SIM_PLD_RATE: + +SIM\_PLD\_RATE: Precland device update rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device rate\. e\.g led patter refresh rate\, RF message rate\, etc\. + + ++----------+-------+ +| Range | Units | ++==========+=======+ +| 0 to 200 | hertz | ++----------+-------+ + + + + +.. _SIM_PLD_TYPE: + +SIM\_PLD\_TYPE: Precland device radiance type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device radiance type\: it can be a cylinder\, a cone\, or a sphere\. + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | cylinder | ++-------+----------+ +| 1 | cone | ++-------+----------+ +| 2 | sphere | ++-------+----------+ + + + + +.. _SIM_PLD_ALT_LIMIT: + +SIM\_PLD\_ALT\_LIMIT: Precland device alt range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum range altitude + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_DIST_LIMIT: + +SIM\_PLD\_DIST\_LIMIT: Precland device lateral range +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device maximum lateral range + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 5 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_PLD_ORIENT: + +SIM\_PLD\_ORIENT: Precland device orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Precland device orientation vector + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Front | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 24 | Up | ++-------+---------+ + + + + +.. _SIM_PLD_OPTIONS: + +SIM\_PLD\_OPTIONS: SIM\_Precland extra options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SIM\_Precland extra options + + ++-----+------------------------+ +| Bit | Meaning | ++=====+========================+ +| 0 | Enable target distance | ++-----+------------------------+ + + + + +.. _SIM_PLD_SHIP: + +SIM\_PLD\_SHIP: SIM\_Precland follow ship +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +This makes the position of the landing beacon follow the simulated ship from SIM\_SHIP\. The ship movement is controlled with the SIM\_SHIP parameters + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + + +.. _SIM_RFL_OPTS: + +SIM\_RFL\_OPTS: FlightAxis options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Bitmask of FlightAxis options + + ++-----+--------------------------------------------------------+ +| Bit | Meaning | ++=====+========================================================+ +| 0 | Reset position on startup | ++-----+--------------------------------------------------------+ +| 1 | Swap first 4 and last 4 servos (for quadplane testing) | ++-----+--------------------------------------------------------+ +| 2 | Demix heli servos and send roll/pitch/collective/yaw | ++-----+--------------------------------------------------------+ +| 3 | Don't print frame rate stats | ++-----+--------------------------------------------------------+ + + + + + +.. _SIM_SB_MASS: + +SIM\_SB\_MASS: mass +~~~~~~~~~~~~~~~~~~~ + + +mass of blimp not including lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_HMASS: + +SIM\_SB\_HMASS: helium mass +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +mass of lifting gas + + ++-----------+ +| Units | ++===========+ +| kilograms | ++-----------+ + + + + +.. _SIM_SB_ARM_LEN: + +SIM\_SB\_ARM\_LEN: arm length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +distance from center of mass to one motor + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_MOT_THST: + +SIM\_SB\_MOT\_THST: motor thrust +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +thrust at max throttle for one motor + + ++---------+ +| Units | ++=========+ +| Newtons | ++---------+ + + + + +.. _SIM_SB_DRAG_FWD: + +SIM\_SB\_DRAG\_FWD: drag in forward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on X axis + + +.. _SIM_SB_DRAG_SIDE: + +SIM\_SB\_DRAG\_SIDE: drag in sidewards direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Y axis + + +.. _SIM_SB_DRAG_UP: + +SIM\_SB\_DRAG\_UP: drag in upward direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +drag on Z axis + + +.. _SIM_SB_MOI_YAW: + +SIM\_SB\_MOI\_YAW: moment of inertia in yaw +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in yaw + + +.. _SIM_SB_MOI_ROLL: + +SIM\_SB\_MOI\_ROLL: moment of inertia in roll +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in roll + + +.. _SIM_SB_MOI_PITCH: + +SIM\_SB\_MOI\_PITCH: moment of inertia in pitch +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +moment of inertia in pitch + + +.. _SIM_SB_ALT_TARG: + +SIM\_SB\_ALT\_TARG: altitude target +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +altitude target + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_CLMB_RT: + +SIM\_SB\_CLMB\_RT: target climb rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +target climb rate + + ++-------------------+ +| Units | ++===================+ +| meters per second | ++-------------------+ + + + + +.. _SIM_SB_YAW_RT: + +SIM\_SB\_YAW\_RT: yaw rate +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum yaw rate with full left throttle at target altitude + + ++--------------------+ +| Units | ++====================+ +| degrees per second | ++--------------------+ + + + + +.. _SIM_SB_MOT_ANG: + +SIM\_SB\_MOT\_ANG: motor angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +maximum motor tilt angle + + ++---------+ +| Units | ++=========+ +| degrees | ++---------+ + + + + +.. _SIM_SB_COL: + +SIM\_SB\_COL: center of lift +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of lift position above CoG + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_WVANE: + +SIM\_SB\_WVANE: weathervaning offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +center of drag for weathervaning + + ++--------+ +| Units | ++========+ +| meters | ++--------+ + + + + +.. _SIM_SB_FLR: + +SIM\_SB\_FLR: free lift rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +amount of additional lift generated by the helper balloon \(for the purpose of ascent\)\, as a proportion of the \'neutral buoyancy\' lift + + + +.. _SIM_SERVO_SPEED: + +SIM\_SERVO\_SPEED: servo speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo speed \(time for 60 degree deflection\)\. If DELAY and FILTER are not set then this is converted to a 1p lowpass filter\. If DELAY or FILTER are set then this is treated as a rate of change limit + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_DELAY: + +SIM\_SERVO\_DELAY: servo delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo delay + + ++---------+ +| Units | ++=========+ +| seconds | ++---------+ + + + + +.. _SIM_SERVO_FILTER: + +SIM\_SERVO\_FILTER: servo filter +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +servo filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _SIM_SLUP_ENABLE: + +SIM\_SLUP\_ENABLE: Slung Payload Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload Sim enable\/disable + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SLUP_WEIGHT: + +SIM\_SLUP\_WEIGHT: Slung Payload weight +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload weight in kg + + ++---------+-----------+ +| Range | Units | ++=========+===========+ +| 0 to 15 | kilograms | ++---------+-----------+ + + + + +.. _SIM_SLUP_LINELEN: + +SIM\_SLUP\_LINELEN: Slung Payload line length +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload line length in meters + + ++----------+--------+ +| Range | Units | ++==========+========+ +| 0 to 100 | meters | ++----------+--------+ + + + + +.. _SIM_SLUP_DRAG: + +SIM\_SLUP\_DRAG: Slung Payload drag coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload drag coefficient\. Higher values increase drag and slow the payload more quickly + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SIM_SLUP_SYSID: + +SIM\_SLUP\_SYSID: Slung Payload MAVLink system ID +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Slung Payload MAVLink system id to distinguish it from others on the same network + + ++----------+ +| Range | ++==========+ +| 0 to 255 | ++----------+ + + + + + +.. _SIM_SPR_ENABLE: + +SIM\_SPR\_ENABLE: Sprayer Sim enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Allows you to enable \(1\) or disable \(0\) the Sprayer simulation + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SIM_SPR_PUMP: + +SIM\_SPR\_PUMP: Sprayer pump pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer pump is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + +.. _SIM_SPR_SPIN: + +SIM\_SPR\_SPIN: Sprayer spinner servo pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +The pin number that the Sprayer spinner servo is connected to\. \(start at 1\) + + ++---------+ +| Range | ++=========+ +| 0 to 15 | ++---------+ + + + + + +.. _parameters_SPRAY_: + +SPRAY\_ Parameters +------------------ + + +.. _SPRAY_ENABLE: + +SPRAY\_ENABLE: Sprayer enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Allows you to enable \(1\) or disable \(0\) the sprayer + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _SPRAY_PUMP_RATE: + +SPRAY\_PUMP\_RATE: Pump speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Desired pump speed when travelling 1m\/s expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + +.. _SPRAY_SPINNER: + +SPRAY\_SPINNER: Spinner rotation speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Spinner\'s rotation speed in PWM \(a higher rate will disperse the spray over a wider area horizontally\) + + ++--------------+--------------+ +| Range | Units | ++==============+==============+ +| 1000 to 2000 | milliseconds | ++--------------+--------------+ + + + + +.. _SPRAY_SPEED_MIN: + +SPRAY\_SPEED\_MIN: Speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Speed minimum at which we will begin spraying + + ++-----------+------------------------+ +| Range | Units | ++===========+========================+ +| 0 to 1000 | centimeters per second | ++-----------+------------------------+ + + + + +.. _SPRAY_PUMP_MIN: + +SPRAY\_PUMP\_MIN: Pump speed minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum pump speed expressed as a percentage + + ++----------+---------+ +| Range | Units | ++==========+=========+ +| 0 to 100 | percent | ++----------+---------+ + + + + + +.. _parameters_SR0_: + +SR0\_ Parameters +---------------- + + +.. _SR0_RAW_SENS: + +SR0\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXT_STAT: + +SR0\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RC_CHAN: + +SR0\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_RAW_CTRL: + +SR0\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_POSITION: + +SR0\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA1: + +SR0\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA2: + +SR0\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_EXTRA3: + +SR0\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_PARAMS: + +SR0\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR0_ADSB: + +SR0\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR1_: + +SR1\_ Parameters +---------------- + + +.. _SR1_RAW_SENS: + +SR1\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXT_STAT: + +SR1\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RC_CHAN: + +SR1\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_RAW_CTRL: + +SR1\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_POSITION: + +SR1\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA1: + +SR1\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA2: + +SR1\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_EXTRA3: + +SR1\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_PARAMS: + +SR1\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR1_ADSB: + +SR1\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR2_: + +SR2\_ Parameters +---------------- + + +.. _SR2_RAW_SENS: + +SR2\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXT_STAT: + +SR2\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RC_CHAN: + +SR2\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_RAW_CTRL: + +SR2\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_POSITION: + +SR2\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA1: + +SR2\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA2: + +SR2\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_EXTRA3: + +SR2\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_PARAMS: + +SR2\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR2_ADSB: + +SR2\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR3_: + +SR3\_ Parameters +---------------- + + +.. _SR3_RAW_SENS: + +SR3\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXT_STAT: + +SR3\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RC_CHAN: + +SR3\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_RAW_CTRL: + +SR3\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_POSITION: + +SR3\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA1: + +SR3\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA2: + +SR3\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_EXTRA3: + +SR3\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_PARAMS: + +SR3\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR3_ADSB: + +SR3\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR4_: + +SR4\_ Parameters +---------------- + + +.. _SR4_RAW_SENS: + +SR4\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXT_STAT: + +SR4\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RC_CHAN: + +SR4\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_RAW_CTRL: + +SR4\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_POSITION: + +SR4\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA1: + +SR4\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA2: + +SR4\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_EXTRA3: + +SR4\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_PARAMS: + +SR4\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR4_ADSB: + +SR4\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR5_: + +SR5\_ Parameters +---------------- + + +.. _SR5_RAW_SENS: + +SR5\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXT_STAT: + +SR5\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RC_CHAN: + +SR5\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_RAW_CTRL: + +SR5\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_POSITION: + +SR5\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA1: + +SR5\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA2: + +SR5\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_EXTRA3: + +SR5\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_PARAMS: + +SR5\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR5_ADSB: + +SR5\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SR6_: + +SR6\_ Parameters +---------------- + + +.. _SR6_RAW_SENS: + +SR6\_RAW\_SENS: Raw sensor stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of RAW\_IMU\, SCALED\_IMU2\, SCALED\_IMU3\, SCALED\_PRESSURE\, SCALED\_PRESSURE2\, SCALED\_PRESSURE3 and AIRSPEED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXT_STAT: + +SR6\_EXT\_STAT: Extended status stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SYS\_STATUS\, POWER\_STATUS\, MCU\_STATUS\, MEMINFO\, CURRENT\_WAYPOINT\, GPS\_RAW\_INT\, GPS\_RTK \(if available\)\, GPS2\_RAW\_INT \(if available\)\, GPS2\_RTK \(if available\)\, NAV\_CONTROLLER\_OUTPUT\, FENCE\_STATUS\, and GLOBAL\_TARGET\_POS\_INT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RC_CHAN: + +SR6\_RC\_CHAN: RC Channel stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of SERVO\_OUTPUT\_RAW and RC\_CHANNELS + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_RAW_CTRL: + +SR6\_RAW\_CTRL: Raw Control stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Raw Control stream rate of SERVO\_OUT + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_POSITION: + +SR6\_POSITION: Position stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of GLOBAL\_POSITION\_INT and LOCAL\_POSITION\_NED + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA1: + +SR6\_EXTRA1: Extra data type 1 stream rate to ground station +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of ATTITUDE\, SIMSTATE \(SIM only\)\, AHRS2 and PID\_TUNING + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA2: + +SR6\_EXTRA2: Extra data type 2 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of VFR\_HUD + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_EXTRA3: + +SR6\_EXTRA3: Extra data type 3 stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of AHRS\, SYSTEM\_TIME\, WIND\, RANGEFINDER\, DISTANCE\_SENSOR\, BATTERY2\, BATTERY\_STATUS\, GIMBAL\_DEVICE\_ATTITUDE\_STATUS\, OPTICAL\_FLOW\, MAG\_CAL\_REPORT\, MAG\_CAL\_PROGRESS\, EKF\_STATUS\_REPORT\, VIBRATION\, RPM\, ESC TELEMETRY\, and WHEEL\_DISTANCE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_PARAMS: + +SR6\_PARAMS: Parameter stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink Stream rate of PARAM\_VALUE + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _SR6_ADSB: + +SR6\_ADSB: ADSB stream rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +MAVLink ADSB \(AIS\) stream rate + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 0 to 50 | hertz | ++-----------+---------+-------+ + + + + + +.. _parameters_SRTL_: + +SRTL\_ Parameters +----------------- + + +.. _SRTL_ACCURACY: + +SRTL\_ACCURACY: SmartRTL accuracy +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +SmartRTL accuracy\. The minimum distance between points\. + + ++---------+--------+ +| Range | Units | ++=========+========+ +| 0 to 10 | meters | ++---------+--------+ + + + + +.. _SRTL_POINTS: + +SRTL\_POINTS: SmartRTL maximum number of points on path +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +SmartRTL maximum number of points on path\. Set to 0 to disable SmartRTL\. 100 points consumes about 3k of memory\. + + ++----------+ +| Range | ++==========+ +| 0 to 500 | ++----------+ + + + + +.. _SRTL_OPTIONS: + +SRTL\_OPTIONS: SmartRTL options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Bitmask of SmartRTL options\. + + ++-----+------------------+ +| Bit | Meaning | ++=====+==================+ +| 2 | Ignore pilot yaw | ++-----+------------------+ + + + + + +.. _parameters_STAT: + +STAT Parameters +--------------- + + +.. _STAT_BOOTCNT: + +STAT\_BOOTCNT: Boot Count +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Number of times board has been booted + + ++----------+ +| ReadOnly | ++==========+ +| True | ++----------+ + + + + +.. _STAT_FLTTIME: + +STAT\_FLTTIME: Total FlightTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total FlightTime \(seconds\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RUNTIME: + +STAT\_RUNTIME: Total RunTime +~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Total time autopilot has run + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + +.. _STAT_RESET: + +STAT\_RESET: Statistics Reset Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Seconds since January 1st 2016 \(Unix epoch\+1451606400\) since statistics reset \(set to 0 to reset statistics\, other set values will be ignored\) + + ++----------+---------+ +| ReadOnly | Units | ++==========+=========+ +| True | seconds | ++----------+---------+ + + + + + +.. _parameters_TEMP: + +TEMP Parameters +--------------- + + +.. _TEMP_LOG: + +TEMP\_LOG: Logging +~~~~~~~~~~~~~~~~~~ + + +Enables temperature sensor logging + + ++-------+---------------------------------------------------+ +| Value | Meaning | ++=======+===================================================+ +| 0 | Disabled | ++-------+---------------------------------------------------+ +| 1 | Log all instances | ++-------+---------------------------------------------------+ +| 2 | Log only instances with sensor source set to None | ++-------+---------------------------------------------------+ + + + + + +.. _parameters_TEMP1_: + +TEMP1\_ Parameters +------------------ + + +.. _TEMP1_TYPE: + +TEMP1\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP1_BUS: + +TEMP1\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP1_ADDR: + +TEMP1\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP1_SRC: + +TEMP1\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP1_SRC_ID: + +TEMP1\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP1_PIN: + +TEMP1\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP1_A0: + +TEMP1\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A1: + +TEMP1\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A2: + +TEMP1\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A3: + +TEMP1\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A4: + +TEMP1\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP1_A5: + +TEMP1\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP2_: + +TEMP2\_ Parameters +------------------ + + +.. _TEMP2_TYPE: + +TEMP2\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP2_BUS: + +TEMP2\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP2_ADDR: + +TEMP2\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP2_SRC: + +TEMP2\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP2_SRC_ID: + +TEMP2\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP2_PIN: + +TEMP2\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP2_A0: + +TEMP2\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A1: + +TEMP2\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A2: + +TEMP2\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A3: + +TEMP2\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A4: + +TEMP2\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP2_A5: + +TEMP2\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP3_: + +TEMP3\_ Parameters +------------------ + + +.. _TEMP3_TYPE: + +TEMP3\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP3_BUS: + +TEMP3\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP3_ADDR: + +TEMP3\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP3_SRC: + +TEMP3\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP3_SRC_ID: + +TEMP3\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP3_PIN: + +TEMP3\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP3_A0: + +TEMP3\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A1: + +TEMP3\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A2: + +TEMP3\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A3: + +TEMP3\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A4: + +TEMP3\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP3_A5: + +TEMP3\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP4_: + +TEMP4\_ Parameters +------------------ + + +.. _TEMP4_TYPE: + +TEMP4\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP4_BUS: + +TEMP4\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP4_ADDR: + +TEMP4\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP4_SRC: + +TEMP4\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP4_SRC_ID: + +TEMP4\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP4_PIN: + +TEMP4\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP4_A0: + +TEMP4\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A1: + +TEMP4\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A2: + +TEMP4\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A3: + +TEMP4\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A4: + +TEMP4\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP4_A5: + +TEMP4\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP5_: + +TEMP5\_ Parameters +------------------ + + +.. _TEMP5_TYPE: + +TEMP5\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP5_BUS: + +TEMP5\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP5_ADDR: + +TEMP5\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP5_SRC: + +TEMP5\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP5_SRC_ID: + +TEMP5\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP5_PIN: + +TEMP5\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP5_A0: + +TEMP5\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A1: + +TEMP5\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A2: + +TEMP5\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A3: + +TEMP5\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A4: + +TEMP5\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP5_A5: + +TEMP5\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP6_: + +TEMP6\_ Parameters +------------------ + + +.. _TEMP6_TYPE: + +TEMP6\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP6_BUS: + +TEMP6\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP6_ADDR: + +TEMP6\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP6_SRC: + +TEMP6\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP6_SRC_ID: + +TEMP6\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP6_PIN: + +TEMP6\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP6_A0: + +TEMP6\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A1: + +TEMP6\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A2: + +TEMP6\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A3: + +TEMP6\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A4: + +TEMP6\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP6_A5: + +TEMP6\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP7_: + +TEMP7\_ Parameters +------------------ + + +.. _TEMP7_TYPE: + +TEMP7\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP7_BUS: + +TEMP7\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP7_ADDR: + +TEMP7\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP7_SRC: + +TEMP7\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP7_SRC_ID: + +TEMP7\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP7_PIN: + +TEMP7\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP7_A0: + +TEMP7\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A1: + +TEMP7\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A2: + +TEMP7\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A3: + +TEMP7\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A4: + +TEMP7\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP7_A5: + +TEMP7\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP8_: + +TEMP8\_ Parameters +------------------ + + +.. _TEMP8_TYPE: + +TEMP8\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP8_BUS: + +TEMP8\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP8_ADDR: + +TEMP8\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP8_SRC: + +TEMP8\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP8_SRC_ID: + +TEMP8\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP8_PIN: + +TEMP8\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP8_A0: + +TEMP8\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A1: + +TEMP8\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A2: + +TEMP8\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A3: + +TEMP8\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A4: + +TEMP8\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP8_A5: + +TEMP8\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TEMP9_: + +TEMP9\_ Parameters +------------------ + + +.. _TEMP9_TYPE: + +TEMP9\_TYPE: Temperature Sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Enables temperature sensors + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | TSYS01 | ++-------+----------+ +| 2 | MCP9600 | ++-------+----------+ +| 3 | MAX31865 | ++-------+----------+ +| 4 | TSYS03 | ++-------+----------+ +| 5 | Analog | ++-------+----------+ +| 6 | DroneCAN | ++-------+----------+ +| 7 | MLX90614 | ++-------+----------+ + + + + +.. _TEMP9_BUS: + +TEMP9\_BUS: Temperature sensor bus +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor bus number\, typically used to select from multiple I2C buses + + ++--------+ +| Range | ++========+ +| 0 to 3 | ++--------+ + + + + +.. _TEMP9_ADDR: + +TEMP9\_ADDR: Temperature sensor address +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Temperature sensor address\, typically used for I2C address + + ++----------+ +| Range | ++==========+ +| 0 to 127 | ++----------+ + + + + +.. _TEMP9_SRC: + +TEMP9\_SRC: Sensor Source +~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source is used to designate which device\'s temperature report will be replaced by this temperature sensor\'s data\. If 0 \(None\) then the data is only available via log\. In the future a new Motor temperature report will be created for returning data directly\. + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 0 | None | ++-------+---------------------------+ +| 1 | ESC | ++-------+---------------------------+ +| 2 | Motor | ++-------+---------------------------+ +| 3 | Battery Index | ++-------+---------------------------+ +| 4 | Battery ID/SerialNumber | ++-------+---------------------------+ +| 5 | CAN based Pitot tube | ++-------+---------------------------+ +| 6 | DroneCAN-out on AP_Periph | ++-------+---------------------------+ + + + + +.. _TEMP9_SRC_ID: + +TEMP9\_SRC\_ID: Sensor Source Identification +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sensor Source Identification is used to replace a specific instance of a system component\'s temperature report with the temp sensor\'s\. Examples\: TEMP\_SRC \= 1 \(ESC\)\, TEMP\_SRC\_ID \= 1 will set the temp of ESC1\. TEMP\_SRC \= 3 \(BatteryIndex\)\,TEMP\_SRC\_ID \= 2 will set the temp of BATT2\. TEMP\_SRC \= 4 \(BatteryId\/SerialNum\)\,TEMP\_SRC\_ID\=42 will set the temp of all batteries that have param BATTn\_SERIAL \= 42\. + + +.. _TEMP9_PIN: + +TEMP9\_PIN: Temperature sensor analog voltage sensing pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Sets the analog input pin that should be used for temprature monitoring\. Values for some autopilots are given as examples\. Search wiki for \"Analog pins\"\. + + ++-------+--------------------------------------+ +| Value | Meaning | ++=======+======================================+ +| -1 | Disabled | ++-------+--------------------------------------+ +| 2 | Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 | ++-------+--------------------------------------+ +| 5 | Navigator | ++-------+--------------------------------------+ +| 13 | Pixhawk2_PM2/CubeOrange_PM2 | ++-------+--------------------------------------+ +| 14 | CubeOrange | ++-------+--------------------------------------+ +| 16 | Durandal | ++-------+--------------------------------------+ +| 100 | PX4-v1 | ++-------+--------------------------------------+ + + + + +.. _TEMP9_A0: + +TEMP9\_A0: Temperature sensor analog 0th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a0 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A1: + +TEMP9\_A1: Temperature sensor analog 1st polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a1 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A2: + +TEMP9\_A2: Temperature sensor analog 2nd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a2 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A3: + +TEMP9\_A3: Temperature sensor analog 3rd polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a3 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A4: + +TEMP9\_A4: Temperature sensor analog 4th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a4 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + +.. _TEMP9_A5: + +TEMP9\_A5: Temperature sensor analog 5th polynomial coefficient +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +a5 in polynomial of form temperature in deg \= a0 \+ a1\*voltage \+ a2\*voltage\^2 \+ a3\*voltage\^3 \+ a4\*voltage\^4 \+ a5\*voltage\^5 + + + +.. _parameters_TRQ1_: + +TRQ1\_ Parameters +----------------- + + +.. _TRQ1_TYPE: + +TRQ1\_TYPE: Torqeedo connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Torqeedo connection type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Tiller | ++-------+----------+ +| 2 | Motor | ++-------+----------+ + + + + +.. _TRQ1_ONOFF_PIN: + +TRQ1\_ONOFF\_PIN: Torqeedo ON\/Off pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _TRQ1_DE_PIN: + +TRQ1\_DE\_PIN: Torqeedo DE pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _TRQ1_OPTIONS: + +TRQ1\_OPTIONS: Torqeedo Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + + ++-----+-------------------+ +| Bit | Meaning | ++=====+===================+ +| 0 | Log | ++-----+-------------------+ +| 1 | Send debug to GCS | ++-----+-------------------+ + + + + +.. _TRQ1_POWER: + +TRQ1\_POWER: Torqeedo Motor Power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TRQ1_SLEW_TIME: + +TRQ1\_SLEW\_TIME: Torqeedo Throttle Slew Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ1_DIR_DELAY: + +TRQ1\_DIR\_DELAY: Torqeedo Direction Change Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ1_SERVO_FN: + +TRQ1\_SERVO\_FN: Torqeedo Servo Output Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 70 | Throttle | ++-------+---------------+ +| 73 | ThrottleLeft | ++-------+---------------+ +| 74 | ThrottleRight | ++-------+---------------+ + + + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + + +.. _parameters_TRQ2_: + +TRQ2\_ Parameters +----------------- + + +.. _TRQ2_TYPE: + +TRQ2\_TYPE: Torqeedo connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Torqeedo connection type + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Tiller | ++-------+----------+ +| 2 | Motor | ++-------+----------+ + + + + +.. _TRQ2_ONOFF_PIN: + +TRQ2\_ONOFF\_PIN: Torqeedo ON\/Off pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to Torqeedo\'s on\/off pin\. \-1 to use serial port\'s RTS pin if available + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _TRQ2_DE_PIN: + +TRQ2\_DE\_PIN: Torqeedo DE pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Pin number connected to RS485 to Serial converter\'s DE pin\. \-1 to use serial port\'s CTS pin if available + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _TRQ2_OPTIONS: + +TRQ2\_OPTIONS: Torqeedo Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Options Bitmask + + ++-----+-------------------+ +| Bit | Meaning | ++=====+===================+ +| 0 | Log | ++-----+-------------------+ +| 1 | Send debug to GCS | ++-----+-------------------+ + + + + +.. _TRQ2_POWER: + +TRQ2\_POWER: Torqeedo Motor Power +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo motor power\. Only applied when using motor connection type \(e\.g\. TRQD\_TYPE\=2\) + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 100 | percent | ++-----------+----------+---------+ + + + + +.. _TRQ2_SLEW_TIME: + +TRQ2\_SLEW\_TIME: Torqeedo Throttle Slew Time +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100\%\. Higher values cause a slower response\, lower values cause a faster response\. A value of zero disables the limit + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ2_DIR_DELAY: + +TRQ2\_DIR\_DELAY: Torqeedo Direction Change Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo direction change delay\. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation + + ++-----------+--------+---------+ +| Increment | Range | Units | ++===========+========+=========+ +| 0.1 | 0 to 5 | seconds | ++-----------+--------+---------+ + + + + +.. _TRQ2_SERVO_FN: + +TRQ2\_SERVO\_FN: Torqeedo Servo Output Function +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Torqeedo Servo Output Function + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 70 | Throttle | ++-------+---------------+ +| 73 | ThrottleLeft | ++-------+---------------+ +| 74 | ThrottleRight | ++-------+---------------+ + + + + ++-----------+ +| Increment | ++===========+ +| 0.1 | ++-----------+ + + + + + +.. _parameters_VISO: + +VISO Parameters +--------------- + + +.. _VISO_TYPE: + +VISO\_TYPE: Visual odometry camera connection type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* +| *Note: Reboot required after change* + +Visual odometry camera connection type + + ++-------+---------------+ +| Value | Meaning | ++=======+===============+ +| 0 | None | ++-------+---------------+ +| 1 | MAVLink | ++-------+---------------+ +| 2 | IntelT265 | ++-------+---------------+ +| 3 | VOXL(ModalAI) | ++-------+---------------+ + + + + +.. _VISO_POS_X: + +VISO\_POS\_X: Visual odometry camera X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +X position of the camera in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Y: + +VISO\_POS\_Y: Visual odometry camera Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Y position of the camera in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_POS_Z: + +VISO\_POS\_Z: Visual odometry camera Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Z position of the camera in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _VISO_ORIENT: + +VISO\_ORIENT: Visual odometery camera orientation +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometery camera orientation + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Forward | ++-------+---------+ +| 2 | Right | ++-------+---------+ +| 4 | Back | ++-------+---------+ +| 6 | Left | ++-------+---------+ +| 24 | Up | ++-------+---------+ +| 25 | Down | ++-------+---------+ + + + + +.. _VISO_SCALE: + +VISO\_SCALE: Visual odometry scaling factor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry scaling factor applied to position estimates from sensor + + +.. _VISO_DELAY_MS: + +VISO\_DELAY\_MS: Visual odometry sensor delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry sensor delay relative to inertial measurements + + ++----------+--------------+ +| Range | Units | ++==========+==============+ +| 0 to 250 | milliseconds | ++----------+--------------+ + + + + +.. _VISO_VEL_M_NSE: + +VISO\_VEL\_M\_NSE: Visual odometry velocity measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry velocity measurement noise in m\/s + + ++-------------+-------------------+ +| Range | Units | ++=============+===================+ +| 0.05 to 5.0 | meters per second | ++-------------+-------------------+ + + + + +.. _VISO_POS_M_NSE: + +VISO\_POS\_M\_NSE: Visual odometry position measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry position measurement noise minimum \(meters\)\. This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+--------+ +| Range | Units | ++=============+========+ +| 0.1 to 10.0 | meters | ++-------------+--------+ + + + + +.. _VISO_YAW_M_NSE: + +VISO\_YAW\_M\_NSE: Visual odometry yaw measurement noise +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry yaw measurement noise minimum \(radians\)\, This value will be used if the sensor provides a lower noise value \(or no noise value\) + + ++-------------+---------+ +| Range | Units | ++=============+=========+ +| 0.05 to 1.0 | radians | ++-------------+---------+ + + + + +.. _VISO_QUAL_MIN: + +VISO\_QUAL\_MIN: Visual odometry minimum quality +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Visual odometry will only be sent to EKF if over this value\. \-1 to always send \(even bad values\)\, 0 to send if good or unknown + + ++-----------+---------+ +| Range | Units | ++===========+=========+ +| -1 to 100 | percent | ++-----------+---------+ + + + + + +.. _parameters_VTX_: + +VTX\_ Parameters +---------------- + + +.. _VTX_ENABLE: + +VTX\_ENABLE: Is the Video Transmitter enabled or not +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Toggles the Video Transmitter on and off + + ++-------+---------+ +| Value | Meaning | ++=======+=========+ +| 0 | Disable | ++-------+---------+ +| 1 | Enable | ++-------+---------+ + + + + +.. _VTX_POWER: + +VTX\_POWER: Video Transmitter Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Power Level\. Different VTXs support different power levels\, the power level chosen will be rounded down to the nearest supported power level + + ++-----------+ +| Range | ++===========+ +| 1 to 1000 | ++-----------+ + + + + +.. _VTX_CHANNEL: + +VTX\_CHANNEL: Video Transmitter Channel +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Channel + + ++--------+ +| Range | ++========+ +| 0 to 7 | ++--------+ + + + + +.. _VTX_BAND: + +VTX\_BAND: Video Transmitter Band +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Band + + ++-------+--------------+ +| Value | Meaning | ++=======+==============+ +| 0 | Band A | ++-------+--------------+ +| 1 | Band B | ++-------+--------------+ +| 2 | Band E | ++-------+--------------+ +| 3 | Airwave | ++-------+--------------+ +| 4 | RaceBand | ++-------+--------------+ +| 5 | Low RaceBand | ++-------+--------------+ +| 6 | 1G3 Band A | ++-------+--------------+ +| 7 | 1G3 Band B | ++-------+--------------+ +| 8 | Band X | ++-------+--------------+ +| 9 | 3G3 Band A | ++-------+--------------+ +| 10 | 3G3 Band B | ++-------+--------------+ + + + + +.. _VTX_FREQ: + +VTX\_FREQ: Video Transmitter Frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Frequency\. The frequency is derived from the setting of BAND and CHANNEL + + ++--------------+----------+ +| Range | ReadOnly | ++==============+==========+ +| 1000 to 6000 | True | ++--------------+----------+ + + + + +.. _VTX_OPTIONS: + +VTX\_OPTIONS: Video Transmitter Options +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Video Transmitter Options\. Pitmode puts the VTX in a low power state\. Unlocked enables certain restricted frequencies and power levels\. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels\. One stop\-bit may be required for VTXs that erroneously mimic iNav behaviour\. + + ++-----+-----------------------------------------------------------+ +| Bit | Meaning | ++=====+===========================================================+ +| 0 | Pitmode | ++-----+-----------------------------------------------------------+ +| 1 | Pitmode until armed | ++-----+-----------------------------------------------------------+ +| 2 | Pitmode when disarmed | ++-----+-----------------------------------------------------------+ +| 3 | Unlocked | ++-----+-----------------------------------------------------------+ +| 4 | Add leading zero byte to requests | ++-----+-----------------------------------------------------------+ +| 5 | Use 1 stop-bit in SmartAudio | ++-----+-----------------------------------------------------------+ +| 6 | Ignore CRC in SmartAudio | ++-----+-----------------------------------------------------------+ +| 7 | Ignore status updates in CRSF and blindly set VTX options | ++-----+-----------------------------------------------------------+ + + + + +.. _VTX_MAX_POWER: + +VTX\_MAX\_POWER: Video Transmitter Max Power Level +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Video Transmitter Maximum Power Level\. Different VTXs support different power levels\, this prevents the power aux switch from requesting too high a power level\. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting\. + + ++------------+ +| Range | ++============+ +| 25 to 1000 | ++------------+ + + + + + +.. _parameters_WENC: + +WENC Parameters +--------------- + + +.. _WENC_TYPE: + +WENC\_TYPE: WheelEncoder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What type of WheelEncoder is connected + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Quadrature | ++-------+-----------------+ +| 10 | SITL Quadrature | ++-------+-----------------+ + + + + +.. _WENC_CPR: + +WENC\_CPR: WheelEncoder counts per revolution +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WheelEncoder counts per full revolution of the wheel + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _WENC_RADIUS: + +WENC\_RADIUS: Wheel radius +~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel radius + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.001 | meters | ++-----------+--------+ + + + + +.. _WENC_POS_X: + +WENC\_POS\_X: Wheel\'s X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X position of the center of the wheel in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_POS_Y: + +WENC\_POS\_Y: Wheel\'s Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Y position of the center of the wheel in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_POS_Z: + +WENC\_POS\_Z: Wheel\'s Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Z position of the center of the wheel in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC_PINA: + +WENC\_PINA: Input Pin A +~~~~~~~~~~~~~~~~~~~~~~~ + + +Input Pin A + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _WENC_PINB: + +WENC\_PINB: Input Pin B +~~~~~~~~~~~~~~~~~~~~~~~ + + +Input Pin B + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _WENC2_TYPE: + +WENC2\_TYPE: Second WheelEncoder type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +What type of WheelEncoder sensor is connected + + ++-------+-----------------+ +| Value | Meaning | ++=======+=================+ +| 0 | None | ++-------+-----------------+ +| 1 | Quadrature | ++-------+-----------------+ +| 10 | SITL Quadrature | ++-------+-----------------+ + + + + +.. _WENC2_CPR: + +WENC2\_CPR: WheelEncoder 2 counts per revolution +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +WheelEncoder 2 counts per full revolution of the wheel + + ++-----------+ +| Increment | ++===========+ +| 1 | ++-----------+ + + + + +.. _WENC2_RADIUS: + +WENC2\_RADIUS: Wheel2\'s radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel2\'s radius + + ++-----------+--------+ +| Increment | Units | ++===========+========+ +| 0.001 | meters | ++-----------+--------+ + + + + +.. _WENC2_POS_X: + +WENC2\_POS\_X: Wheel2\'s X position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +X position of the center of the second wheel in body frame\. Positive X is forward of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_POS_Y: + +WENC2\_POS\_Y: Wheel2\'s Y position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Y position of the center of the second wheel in body frame\. Positive Y is to the right of the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_POS_Z: + +WENC2\_POS\_Z: Wheel2\'s Z position offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Z position of the center of the second wheel in body frame\. Positive Z is down from the origin\. + + ++-----------+---------+--------+ +| Increment | Range | Units | ++===========+=========+========+ +| 0.01 | -5 to 5 | meters | ++-----------+---------+--------+ + + + + +.. _WENC2_PINA: + +WENC2\_PINA: Second Encoder Input Pin A +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second Encoder Input Pin A + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + +.. _WENC2_PINB: + +WENC2\_PINB: Second Encoder Input Pin B +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Second Encoder Input Pin B + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| -1 | Disabled | ++-------+----------+ +| 50 | AUX1 | ++-------+----------+ +| 51 | AUX2 | ++-------+----------+ +| 52 | AUX3 | ++-------+----------+ +| 53 | AUX4 | ++-------+----------+ +| 54 | AUX5 | ++-------+----------+ +| 55 | AUX6 | ++-------+----------+ + + + + + +.. _parameters_WNDVN_: + +WNDVN\_ Parameters +------------------ + + +.. _WNDVN_TYPE: + +WNDVN\_TYPE: Wind Vane Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Wind Vane type + + ++-------+------------------------------------+ +| Value | Meaning | ++=======+====================================+ +| 0 | None | ++-------+------------------------------------+ +| 1 | Heading when armed | ++-------+------------------------------------+ +| 2 | RC input offset heading when armed | ++-------+------------------------------------+ +| 3 | Analog | ++-------+------------------------------------+ +| 4 | NMEA | ++-------+------------------------------------+ +| 10 | SITL true | ++-------+------------------------------------+ +| 11 | SITL apparent | ++-------+------------------------------------+ + + + + +.. _WNDVN_DIR_PIN: + +WNDVN\_DIR\_PIN: Wind vane analog voltage pin for direction +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Analog input pin to read as wind vane direction + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _WNDVN_DIR_V_MIN: + +WNDVN\_DIR\_V\_MIN: Wind vane voltage minimum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Minimum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_DIR_V_MAX: + +WNDVN\_DIR\_V\_MAX: Wind vane voltage maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Maximum voltage supplied by analog wind vane\. When using pin 103\, the maximum value of the parameter is 3\.3V\. + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 5.0 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_DIR_OFS: + +WNDVN\_DIR\_OFS: Wind vane headwind offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Angle offset when analog windvane is indicating a headwind\, ie 0 degress relative to vehicle + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WNDVN_DIR_FILT: + +WNDVN\_DIR\_FILT: apparent Wind vane direction low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +apparent Wind vane direction low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _WNDVN_CAL: + +WNDVN\_CAL: Wind vane calibration start +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Start wind vane calibration by setting this to 1 or 2 + + ++-------+---------------------+ +| Value | Meaning | ++=======+=====================+ +| 0 | None | ++-------+---------------------+ +| 1 | Calibrate direction | ++-------+---------------------+ +| 2 | Calibrate speed | ++-------+---------------------+ + + + + +.. _WNDVN_DIR_DZ: + +WNDVN\_DIR\_DZ: Wind vane deadzone when using analog sensor +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind vane deadzone when using analog sensor + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WNDVN_SPEED_MIN: + +WNDVN\_SPEED\_MIN: Wind vane cut off wind speed +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind vane direction will be ignored when apparent wind speeds are below this value \(if wind speed sensor is present\)\. If the apparent wind is consistently below this value the vane will not work + + ++-----------+--------+-------------------+ +| Increment | Range | Units | ++===========+========+===================+ +| 0.1 | 0 to 5 | meters per second | ++-----------+--------+-------------------+ + + + + +.. _WNDVN_SPEED_TYPE: + +WNDVN\_SPEED\_TYPE: Wind speed sensor Type +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: Reboot required after change* + +Wind speed sensor type + + ++-------+----------------------------+ +| Value | Meaning | ++=======+============================+ +| 0 | None | ++-------+----------------------------+ +| 1 | Airspeed library | ++-------+----------------------------+ +| 2 | Modern Devices Wind Sensor | ++-------+----------------------------+ +| 3 | RPM library | ++-------+----------------------------+ +| 4 | NMEA | ++-------+----------------------------+ +| 10 | SITL true | ++-------+----------------------------+ +| 11 | SITL apparent | ++-------+----------------------------+ + + + + +.. _WNDVN_SPEED_PIN: + +WNDVN\_SPEED\_PIN: Wind vane speed sensor analog pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind speed analog speed input pin for Modern Devices Wind Sensor rev\. p + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _WNDVN_TEMP_PIN: + +WNDVN\_TEMP\_PIN: Wind vane speed sensor analog temp pin +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev\. p\, set to \-1 to diasble temp readings + + ++-------+---------------------------+ +| Value | Meaning | ++=======+===========================+ +| 11 | Pixracer | ++-------+---------------------------+ +| 13 | Pixhawk ADC4 | ++-------+---------------------------+ +| 14 | Pixhawk ADC3 | ++-------+---------------------------+ +| 15 | Pixhawk ADC6/Pixhawk2 ADC | ++-------+---------------------------+ +| 50 | AUX1 | ++-------+---------------------------+ +| 51 | AUX2 | ++-------+---------------------------+ +| 52 | AUX3 | ++-------+---------------------------+ +| 53 | AUX4 | ++-------+---------------------------+ +| 54 | AUX5 | ++-------+---------------------------+ +| 55 | AUX6 | ++-------+---------------------------+ +| 103 | Pixhawk SBUS | ++-------+---------------------------+ + + + + +.. _WNDVN_SPEED_OFS: + +WNDVN\_SPEED\_OFS: Wind speed sensor analog voltage offset +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wind sensor analog voltage offset at zero wind speed + + ++-----------+----------+-------+ +| Increment | Range | Units | ++===========+==========+=======+ +| 0.01 | 0 to 3.3 | volt | ++-----------+----------+-------+ + + + + +.. _WNDVN_SPEED_FILT: + +WNDVN\_SPEED\_FILT: apparent wind speed low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +apparent Wind speed low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + +.. _WNDVN_TRUE_FILT: + +WNDVN\_TRUE\_FILT: True speed and direction low pass filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +True speed and direction low pass filter frequency\, a value of \-1 disables filter + + ++-------+ +| Units | ++=======+ +| hertz | ++-------+ + + + + + +.. _parameters_WP_: + +WP\_ Parameters +--------------- + + +.. _WP_SPEED: + +WP\_SPEED: Waypoint speed default +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint speed default + + ++-----------+----------+-------------------+ +| Increment | Range | Units | ++===========+==========+===================+ +| 0.1 | 0 to 100 | meters per second | ++-----------+----------+-------------------+ + + + + +.. _WP_RADIUS: + +WP\_RADIUS: Waypoint radius +~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +The distance in meters from a waypoint when we consider the waypoint has been reached\. This determines when the vehicle will turn toward the next waypoint\. + + ++-----------+----------+--------+ +| Increment | Range | Units | ++===========+==========+========+ +| 0.1 | 0 to 100 | meters | ++-----------+----------+--------+ + + + + +.. _WP_ACCEL: + +WP\_ACCEL: Waypoint acceleration +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint acceleration\. If zero then ATC\_ACCEL\_MAX is used + + ++-----------+----------+--------------------------+ +| Increment | Range | Units | ++===========+==========+==========================+ +| 0.1 | 0 to 100 | meters per square second | ++-----------+----------+--------------------------+ + + + + +.. _WP_JERK: + +WP\_JERK: Waypoint jerk +~~~~~~~~~~~~~~~~~~~~~~~ + + +Waypoint jerk \(change in acceleration\)\. If zero then jerk is same as acceleration + + ++-----------+----------+-------------------------+ +| Increment | Range | Units | ++===========+==========+=========================+ +| 0.1 | 0 to 100 | meters per cubic second | ++-----------+----------+-------------------------+ + + + + + +.. _parameters_WP_PIVOT_: + +WP\_PIVOT\_ Parameters +---------------------- + + +.. _WP_PIVOT_ANGLE: + +WP\_PIVOT\_ANGLE: Pivot Angle +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Pivot when the difference between the vehicle\'s heading and its target heading is more than this many degrees\. Set to zero to disable pivot turns\. This parameter should be greater than 5 degrees for pivot turns to work\. + + ++-----------+----------+---------+ +| Increment | Range | Units | ++===========+==========+=========+ +| 1 | 0 to 360 | degrees | ++-----------+----------+---------+ + + + + +.. _WP_PIVOT_RATE: + +WP\_PIVOT\_RATE: Pivot Turn Rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Turn rate during pivot turns + + ++-----------+----------+--------------------+ +| Increment | Range | Units | ++===========+==========+====================+ +| 1 | 0 to 360 | degrees per second | ++-----------+----------+--------------------+ + + + + +.. _WP_PIVOT_DELAY: + +WP\_PIVOT\_DELAY: Pivot Delay +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Vehicle waits this many seconds after completing a pivot turn before proceeding + + ++-----------+---------+---------+ +| Increment | Range | Units | ++===========+=========+=========+ +| 0.1 | 0 to 60 | seconds | ++-----------+---------+---------+ + + + + + +.. _parameters_WRC: + +WRC Parameters +-------------- + + +.. _WRC_ENABLE: + +WRC\_ENABLE: Wheel rate control enable\/disable +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Enable or disable wheel rate control + + ++-------+----------+ +| Value | Meaning | ++=======+==========+ +| 0 | Disabled | ++-------+----------+ +| 1 | Enabled | ++-------+----------+ + + + + +.. _WRC_RATE_MAX: + +WRC\_RATE\_MAX: Wheel max rotation rate +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel max rotation rate + + ++----------+--------------------+ +| Range | Units | ++==========+====================+ +| 0 to 200 | radians per second | ++----------+--------------------+ + + + + +.. _WRC_RATE_FF: + +WRC\_RATE\_FF: Wheel rate control feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_P: + +WRC\_RATE\_P: Wheel rate control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_I: + +WRC\_RATE\_I: Wheel rate control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 2.000 | ++----------------+ + + + + +.. _WRC_RATE_IMAX: + +WRC\_RATE\_IMAX: Wheel rate control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC_RATE_D: + +WRC\_RATE\_D: Wheel rate control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _WRC_RATE_FILT: + +WRC\_RATE\_FILT: Wheel rate control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control input filter\. Lower values reduce noise but add delay\. + + ++------------------+-------+ +| Range | Units | ++==================+=======+ +| 1.000 to 100.000 | hertz | ++------------------+-------+ + + + + +.. _WRC_RATE_FLTT: + +WRC\_RATE\_FLTT: Wheel rate control target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_FLTE: + +WRC\_RATE\_FLTE: Wheel rate control error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_FLTD: + +WRC\_RATE\_FLTD: Wheel rate control derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC_RATE_SMAX: + +WRC\_RATE\_SMAX: Wheel rate slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _WRC_RATE_PDMX: + +WRC\_RATE\_PDMX: Wheel rate control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC_RATE_D_FF: + +WRC\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the error + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _WRC_RATE_NTF: + +WRC\_RATE\_NTF: Wheel rate Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC_RATE_NEF: + +WRC\_RATE\_NEF: Wheel rate Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC2_RATE_FF: + +WRC2\_RATE\_FF: Wheel rate control feed forward gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control feed forward gain\. Desired rate \(in radians\/sec\) is multiplied by this constant and output to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_P: + +WRC2\_RATE\_P: Wheel rate control P gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control P gain\. Converts rate error \(in radians\/sec\) to output \(in the range \-1 to \+1\) + + ++----------------+ +| Range | ++================+ +| 0.100 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_I: + +WRC2\_RATE\_I: Wheel rate control I gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain\. Corrects long term error between the desired rate \(in rad\/s\) and actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 2.000 | ++----------------+ + + + + +.. _WRC2_RATE_IMAX: + +WRC2\_RATE\_IMAX: Wheel rate control I gain maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control I gain maximum\. Constrains the output \(range \-1 to \+1\) that the I term will generate + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC2_RATE_D: + +WRC2\_RATE\_D: Wheel rate control D gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control D gain\. Compensates for short\-term change in desired rate vs actual + + ++----------------+ +| Range | ++================+ +| 0.000 to 0.400 | ++----------------+ + + + + +.. _WRC2_RATE_FILT: + +WRC2\_RATE\_FILT: Wheel rate control filter frequency +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control input filter\. Lower values reduce noise but add delay\. + + ++------------------+-------+ +| Range | Units | ++==================+=======+ +| 1.000 to 100.000 | hertz | ++------------------+-------+ + + + + +.. _WRC2_RATE_FLTT: + +WRC2\_RATE\_FLTT: Wheel rate control target frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control target frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_FLTE: + +WRC2\_RATE\_FLTE: Wheel rate control error frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control error frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_FLTD: + +WRC2\_RATE\_FLTD: Wheel rate control derivative frequency in Hz +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control derivative frequency in Hz + + ++-----------+---------+-------+ +| Increment | Range | Units | ++===========+=========+=======+ +| 1 | 1 to 50 | hertz | ++-----------+---------+-------+ + + + + +.. _WRC2_RATE_SMAX: + +WRC2\_RATE\_SMAX: Wheel rate slew rate limit +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Sets an upper limit on the slew rate produced by the combined P and D gains\. If the amplitude of the control action produced by the rate feedback exceeds this value\, then the D\+P gain is reduced to respect the limit\. This limits the amplitude of high frequency oscillations caused by an excessive gain\. The limit should be set to no more than 25\% of the actuators maximum slew rate to allow for load effects\. Note\: The gain will not be reduced to less than 10\% of the nominal value\. A value of zero will disable this feature\. + + ++-----------+----------+ +| Increment | Range | ++===========+==========+ +| 0.5 | 0 to 200 | ++-----------+----------+ + + + + +.. _WRC2_RATE_PDMX: + +WRC2\_RATE\_PDMX: Wheel rate control PD sum maximum +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + + +Wheel rate control PD sum maximum\. The maximum\/minimum value that the sum of the P and D term can output + + ++----------------+ +| Range | ++================+ +| 0.000 to 1.000 | ++----------------+ + + + + +.. _WRC2_RATE_D_FF: + +WRC2\_RATE\_D\_FF: Wheel rate Derivative FeedForward Gain +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +FF D Gain which produces an output that is proportional to the rate of change of the target + + ++-----------+----------------+ +| Increment | Range | ++===========+================+ +| 0.001 | 0.000 to 0.400 | ++-----------+----------------+ + + + + +.. _WRC2_RATE_NTF: + +WRC2\_RATE\_NTF: Wheel rate Target notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Target notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + + +.. _WRC2_RATE_NEF: + +WRC2\_RATE\_NEF: Wheel rate Error notch filter index +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +| *Note: This parameter is for advanced users* + +Wheel rate Error notch filter index + + ++--------+ +| Range | ++========+ +| 1 to 8 | ++--------+ + + + diff --git a/Rover-4.6/apm.pdef.json b/Rover-4.6/apm.pdef.json new file mode 100644 index 0000000..bafe1f9 --- /dev/null +++ b/Rover-4.6/apm.pdef.json @@ -0,0 +1,50325 @@ +{ + "AFS_": { + "AFS_AMSL_ERR_GPS": { + "Description": "This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.", + "DisplayName": "Error margin for GPS based AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_AMSL_LIMIT": { + "Description": "This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.", + "DisplayName": "AMSL limit", + "Units": "m", + "User": "Advanced" + }, + "AFS_DUAL_LOSS": { + "Description": "This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a \"dual loss\" and cause termination.", + "DisplayName": "Enable dual loss terminate due to failure of both GCS and GPS simultaneously", + "User": "Advanced" + }, + "AFS_ENABLE": { + "Description": "This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect", + "DisplayName": "Enable Advanced Failsafe", + "User": "Advanced" + }, + "AFS_GCS_TIMEOUT": { + "Description": "The time (in seconds) of persistent data link loss before GCS failsafe occurs. ", + "DisplayName": "GCS timeout", + "Units": "s", + "User": "Advanced" + }, + "AFS_GEOFENCE": { + "Description": "This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable geofence Advanced Failsafe", + "User": "Advanced" + }, + "AFS_HB_PIN": { + "Description": "This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Heartbeat Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_MAN_PIN": { + "Description": "This sets a digital output pin to set high when in manual mode. See the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Manual Pin", + "User": "Advanced" + }, + "AFS_MAX_COM_LOSS": { + "Description": "Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.", + "DisplayName": "Maximum number of comms loss events", + "User": "Advanced" + }, + "AFS_MAX_GPS_LOSS": { + "Description": "Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.", + "DisplayName": "Maximum number of GPS loss events", + "User": "Advanced" + }, + "AFS_MAX_RANGE": { + "Description": "This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.", + "DisplayName": "Max allowed range", + "Units": "km", + "User": "Advanced" + }, + "AFS_OPTIONS": { + "Bitmask": { + "0": "Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)", + "1": "Enable AFS for all autonomous modes (not just AUTO)" + }, + "Description": "See description for each bitmask bit description", + "DisplayName": "AFS options" + }, + "AFS_QNH_PRESSURE": { + "Description": "This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.", + "DisplayName": "QNH pressure", + "Units": "hPa", + "User": "Advanced" + }, + "AFS_RC": { + "Description": "This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1", + "DisplayName": "Enable RC Advanced Failsafe", + "User": "Advanced" + }, + "AFS_RC_FAIL_TIME": { + "Description": "This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.", + "DisplayName": "RC failure time", + "Units": "s", + "User": "Advanced" + }, + "AFS_RC_MAN_ONLY": { + "Description": "If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.", + "DisplayName": "Enable RC Termination only in manual control modes", + "User": "Advanced" + }, + "AFS_TERMINATE": { + "Description": "Can be set in flight to force termination of the heartbeat signal", + "DisplayName": "Force Terminate", + "User": "Advanced" + }, + "AFS_TERM_ACTION": { + "Description": "This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter", + "DisplayName": "Terminate action", + "User": "Advanced" + }, + "AFS_TERM_PIN": { + "Description": "This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Terminate Pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3" + } + }, + "AFS_WP_COMMS": { + "Description": "Waypoint number to navigate to on comms loss", + "DisplayName": "Comms Waypoint", + "User": "Advanced" + }, + "AFS_WP_GPS_LOSS": { + "Description": "Waypoint number to navigate to on GPS lock loss", + "DisplayName": "GPS Loss Waypoint", + "User": "Advanced" + } + }, + "AHRS_": { + "AHRS_COMP_BETA": { + "Description": "This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.", + "DisplayName": "AHRS Velocity Complementary Filter Beta Coefficient", + "Increment": ".01", + "Range": { + "high": "0.5", + "low": "0.001" + }, + "User": "Advanced" + }, + "AHRS_CUSTOM_PIT": { + "Description": "Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_ROLL": { + "Description": "Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_CUSTOM_YAW": { + "Description": "Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.", + "DisplayName": "Board orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "AHRS_EKF_TYPE": { + "Description": "This controls which NavEKF Kalman filter version is used for attitude and position estimation", + "DisplayName": "Use NavEKF Kalman filter for attitude and position estimation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "11": "ExternalAHRS", + "2": "Enable EKF2", + "3": "Enable EKF3" + } + }, + "AHRS_GPS_GAIN": { + "Description": "This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.", + "DisplayName": "AHRS GPS gain", + "Increment": ".01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "AHRS_GPS_MINSATS": { + "Description": "Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.", + "DisplayName": "AHRS GPS Minimum satellites", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "AHRS_GPS_USE": { + "Description": "This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.", + "DisplayName": "AHRS use GPS for DCM navigation and position-down", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use GPS for DCM position", + "2": "Use GPS for DCM position and height" + } + }, + "AHRS_OPTIONS": { + "Bitmask": { + "0": "DisableDCMFallbackFW", + "1": "DisableDCMFallbackVTOL", + "2": "DontDisableAirspeedUsingEKF" + }, + "Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency", + "DisplayName": "Optional AHRS behaviour", + "User": "Advanced" + }, + "AHRS_ORIENTATION": { + "Description": "Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.", + "DisplayName": "Board Orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "AHRS_RP_P": { + "Description": "This controls how fast the accelerometers correct the attitude", + "DisplayName": "AHRS RP_P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + }, + "AHRS_TRIM_X": { + "Description": "Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.", + "DisplayName": "AHRS Trim Roll", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Y": { + "Description": "Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.", + "DisplayName": "AHRS Trim Pitch", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Standard" + }, + "AHRS_TRIM_Z": { + "Description": "Not Used", + "DisplayName": "AHRS Trim Yaw", + "Increment": "0.01", + "Range": { + "high": "+0.1745", + "low": "-0.1745" + }, + "Units": "rad", + "User": "Advanced" + }, + "AHRS_WIND_MAX": { + "Description": "This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.", + "DisplayName": "Maximum wind", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "AHRS_YAW_P": { + "Description": "This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.", + "DisplayName": "Yaw P", + "Increment": ".01", + "Range": { + "high": "0.4", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "AIS_": { + "AIS_LIST_MAX": { + "Description": "AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.", + "DisplayName": "AIS vessel list size", + "Range": { + "high": "100", + "low": "1" + }, + "User": "Advanced" + }, + "AIS_LOGGING": { + "Bitmask": { + "0": "Log all AIVDM messages", + "1": "Log only unsupported AIVDM messages", + "2": "Log decoded messages" + }, + "Description": "Bitmask of AIS logging options", + "DisplayName": "AIS logging options", + "User": "Advanced" + }, + "AIS_TIME_OUT": { + "Description": "if no updates are received in this time a vessel will be removed from the list", + "DisplayName": "AIS vessel time out", + "Range": { + "high": "2000", + "low": "1" + }, + "Units": "s", + "User": "Advanced" + }, + "AIS_TYPE": { + "Description": "AIS receiver type", + "DisplayName": "AIS receiver type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "NMEA AIVDM message" + } + } + }, + "ARMING_": { + "ARMING_ACCTHRESH": { + "Description": "Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.", + "DisplayName": "Accelerometer error threshold", + "Range": { + "high": "3.0", + "low": "0.25" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "ARMING_CHECK": { + "Bitmask": { + "0": "All", + "1": "Barometer", + "10": "Logging Available", + "11": "Hardware safety switch", + "12": "GPS Configuration", + "13": "System", + "14": "Mission", + "15": "Rangefinder", + "16": "Camera", + "17": "AuxAuth", + "18": "VisualOdometry", + "19": "FFT", + "2": "Compass", + "3": "GPS lock", + "4": "INS", + "5": "Parameters", + "6": "RC Channels", + "7": "Board voltage", + "8": "Battery Level" + }, + "Description": "Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.", + "DisplayName": "Arm Checks to Perform (bitmask)", + "User": "Standard" + }, + "ARMING_CRSDP_IGN": { + "Description": "Must have value \"1\" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.", + "DisplayName": "Disable CrashDump Arming check", + "User": "Advanced", + "Values": { + "0": "Crash Dump arming check active", + "1": "Crash Dump arming check deactivated" + } + }, + "ARMING_MAGTHRESH": { + "Description": "Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check", + "DisplayName": "Compass magnetic field strength error threshold vs earth magnetic model", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "ARMING_MIS_ITEMS": { + "Bitmask": { + "0": "Land", + "1": "VTOL Land", + "2": "DO_LAND_START", + "3": "Takeoff", + "4": "VTOL Takeoff", + "5": "Rallypoint", + "6": "RTL" + }, + "Description": "Bitmask of mission items that are required to be planned in order to arm the aircraft", + "DisplayName": "Required mission items", + "User": "Advanced" + }, + "ARMING_OPTIONS": { + "Bitmask": { + "0": "Disable prearm display", + "1": "Do not send status text on state change" + }, + "Description": "Options that can be applied to change arming behaviour", + "DisplayName": "Arming options", + "User": "Advanced" + }, + "ARMING_REQUIRE": { + "Description": "Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane.", + "DisplayName": "Require Arming Motors ", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "minimum PWM when disarmed", + "2": "0 PWM when disarmed" + } + }, + "ARMING_RUDDER": { + "Description": "Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!", + "DisplayName": "Arming with Rudder enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ArmingOnly", + "2": "ArmOrDisarm" + } + } + }, + "ARSPD": { + "ARSPD_ENABLE": { + "Description": "Enable airspeed sensor support", + "DisplayName": "Airspeed Enable", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_OFF_PCNT": { + "Description": "The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.", + "DisplayName": "Maximum offset cal speed error ", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "%", + "User": "Advanced" + }, + "ARSPD_OPTIONS": { + "Bitmask": { + "0": "SpeedMismatchDisable", + "1": "AllowSpeedMismatchRecovery", + "2": "DisableVoltageCorrection", + "3": "UseEkf3Consistency", + "4": "ReportOffset" + }, + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed options bitmask", + "User": "Advanced" + }, + "ARSPD_PRIMARY": { + "Description": "This selects which airspeed sensor will be the primary if multiple sensors are found", + "DisplayName": "Primary airspeed sensor", + "User": "Advanced", + "Values": { + "0": "FirstSensor", + "1": "2ndSensor" + } + }, + "ARSPD_TUBE_ORDER": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_WIND_GATE": { + "Description": "This parameter and function is not used by this vehicle.", + "DisplayName": "Re-enable Consistency Check Gate Size", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "ARSPD_WIND_MAX": { + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Maximum airspeed and ground speed difference", + "Units": "m/s", + "User": "Advanced" + }, + "ARSPD_WIND_WARN": { + "Description": "This parameter and function is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed and GPS speed difference that gives a warning", + "Units": "m/s", + "User": "Advanced" + } + }, + "ARSPD2_": { + "ARSPD2_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.", + "User": "Advanced" + }, + "ARSPD2_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD2_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD2_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD2_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD2_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD2_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD2_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD2_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD2_USE": { + "Description": "This parameter is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "ARSPD_": { + "ARSPD_AUTOCAL": { + "Description": "Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.", + "DisplayName": "This parameter and function is not used by this vehicle. Always set to 0.", + "User": "Advanced" + }, + "ARSPD_BUS": { + "Description": "Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.", + "DisplayName": "Airspeed I2C bus", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Bus0", + "1": "Bus1", + "2": "Bus2" + } + }, + "ARSPD_DEVID": { + "Description": "Airspeed sensor ID, taking into account its type, bus and instance", + "DisplayName": "Airspeed ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "ARSPD_OFFSET": { + "Description": "Airspeed calibration offset", + "DisplayName": "Airspeed offset", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_PIN": { + "Description": "The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Airspeed pin", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "ARSPD_PSI_RANGE": { + "Description": "This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device", + "DisplayName": "The PSI range of the device", + "User": "Advanced" + }, + "ARSPD_RATIO": { + "Description": "Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.", + "DisplayName": "Airspeed ratio", + "Increment": "0.1", + "User": "Advanced" + }, + "ARSPD_SKIP_CAL": { + "Description": "This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.", + "DisplayName": "Skip airspeed offset calibration on startup", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ARSPD_TUBE_ORDR": { + "Description": "This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.", + "DisplayName": "Control pitot tube order", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Swapped", + "2": "Auto Detect" + } + }, + "ARSPD_TYPE": { + "Description": "Type of airspeed sensor", + "DisplayName": "Airspeed type", + "User": "Standard", + "Values": { + "0": "None", + "1": "I2C-MS4525D0", + "10": "I2C-DLVR-20in", + "100": "SITL", + "11": "I2C-DLVR-30in", + "12": "I2C-DLVR-60in", + "13": "NMEA water speed", + "14": "MSP", + "15": "ASP5033", + "16": "ExternalAHRS", + "2": "Analog", + "3": "I2C-MS5525", + "4": "I2C-MS5525 (0x76)", + "5": "I2C-MS5525 (0x77)", + "6": "I2C-SDP3X", + "7": "I2C-DLVR-5in", + "8": "DroneCAN", + "9": "I2C-DLVR-10in" + } + }, + "ARSPD_USE": { + "Description": "This parameter is not used by this vehicle. Always set to 0.", + "DisplayName": "Airspeed use", + "User": "Standard", + "Values": { + "0": "DoNotUse", + "1": "Use", + "2": "UseWhenZeroThrottle" + } + } + }, + "ATC": { + "ATC_ACCEL_MAX": { + "Description": "Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting", + "DisplayName": "Speed control acceleration (and deceleration) maximum in m/s/s", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "ATC_BAL_D": { + "Description": "Pitch control D gain. Compensates for short-term change in desired pitch vs actual", + "DisplayName": "Pitch control D gain", + "Increment": "0.001", + "Range": { + "high": "0.100", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_BAL_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Pitch control Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_BAL_FF": { + "Description": "Pitch control feed forward", + "DisplayName": "Pitch control feed forward", + "Increment": "0.001", + "Range": { + "high": "0.500", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_BAL_FILT": { + "Description": "Pitch control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Pitch control filter frequency", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_BAL_FLTD": { + "Description": "Pitch control Derivative filter frequency in Hz", + "DisplayName": "Pitch control Derivative term filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_BAL_FLTE": { + "Description": "Pitch control Error filter frequency in Hz", + "DisplayName": "Pitch control Error filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_BAL_FLTT": { + "Description": "Pitch control Target filter frequency in Hz", + "DisplayName": "Pitch control Target filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_BAL_I": { + "Description": "Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch", + "DisplayName": "Pitch control I gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_BAL_IMAX": { + "Description": "Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate", + "DisplayName": "Pitch control I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_BAL_LIM_TC": { + "Description": "Pitch control limit time constant to protect against falling. Lower values limit pitch more quickly, higher values limit more slowly. Set to 0 to disable", + "DisplayName": "Pitch control limit time constant", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_BAL_LIM_THR": { + "Description": "Pitch control limit throttle threshold. Pitch angle will be limited if throttle crosses this threshold (from 0 to 1)", + "DisplayName": "Pitch control limit throttle threshold", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_BAL_NEF": { + "Description": "Pitch control Error notch filter index", + "DisplayName": "Pitch control Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_BAL_NTF": { + "Description": "Pitch control Target notch filter index", + "DisplayName": "Pitch control Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_BAL_P": { + "Description": "Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)", + "DisplayName": "Pitch control P gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_BAL_PDMX": { + "Description": "Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Pitch control PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "ATC_BAL_PIT_FF": { + "Description": "Pitch control feed forward from current pitch angle", + "DisplayName": "Pitch control feed forward from current pitch angle", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Standard" + }, + "ATC_BAL_SMAX": { + "Description": "Pitch control upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Pitch control slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_BRAKE": { + "Description": "Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle.", + "DisplayName": "Speed control brake enable/disable", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "ATC_DECEL_MAX": { + "Description": "Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration", + "DisplayName": "Speed control deceleration maximum in m/s/s", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "ATC_SAIL_D": { + "Description": "Sail Heel control D gain. Compensates for short-term change in desired heel angle vs actual", + "DisplayName": "Sail Heel control D gain", + "Increment": "0.001", + "Range": { + "high": "0.100", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SAIL_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Sail Heel Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_SAIL_FF": { + "Description": "Sail Heel control feed forward", + "DisplayName": "Sail Heel control feed forward", + "Increment": "0.001", + "Range": { + "high": "0.500", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SAIL_FILT": { + "Description": "Sail Heel control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Sail Heel control filter frequency", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SAIL_FLTD": { + "Description": "Derivative filter frequency in Hz", + "DisplayName": "Sail Heel Derivative term filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SAIL_FLTE": { + "Description": "Error filter frequency in Hz", + "DisplayName": "Sail Heel Error filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SAIL_FLTT": { + "Description": "Target filter frequency in Hz", + "DisplayName": "Sail Heel Target filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SAIL_I": { + "Description": "Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual", + "DisplayName": "Sail Heel control I gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SAIL_IMAX": { + "Description": "Sail Heel control I gain maximum. Constrains the maximum I term contribution to the main sail output (range -1 to +1)", + "DisplayName": "Sail Heel control I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SAIL_NEF": { + "Description": "Sail Heel Error notch filter index", + "DisplayName": "Sail Heel Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_SAIL_NTF": { + "Description": "Sail Heel Target notch filter index", + "DisplayName": "Sail Heel Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_SAIL_P": { + "Description": "Sail Heel control P gain for sailboats. Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)", + "DisplayName": "Sail Heel control P gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SAIL_PDMX": { + "Description": "Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Sail Heel control PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "ATC_SAIL_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Sail heel slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_SPEED_D": { + "Description": "Speed control D gain. Compensates for short-term change in desired speed vs actual", + "DisplayName": "Speed control D gain", + "Increment": "0.001", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SPEED_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Speed control Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_SPEED_FF": { + "Description": "Speed control feed forward", + "DisplayName": "Speed control feed forward", + "Increment": "0.001", + "Range": { + "high": "0.500", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SPEED_FILT": { + "Description": "Speed control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Speed control filter frequency", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SPEED_FLTD": { + "Description": "Derivative filter frequency in Hz", + "DisplayName": "Speed control Derivative term filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SPEED_FLTE": { + "Description": "Error filter frequency in Hz", + "DisplayName": "Speed control Error filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SPEED_FLTT": { + "Description": "Target filter frequency in Hz", + "DisplayName": "Speed control Target filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_SPEED_I": { + "Description": "Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed", + "DisplayName": "Speed control I gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SPEED_IMAX": { + "Description": "Speed control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate", + "DisplayName": "Speed control I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_SPEED_NEF": { + "Description": "Speed control Error notch filter index", + "DisplayName": "Speed control Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_SPEED_NTF": { + "Description": "Speed control Target notch filter index", + "DisplayName": "Speed control Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_SPEED_P": { + "Description": "Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)", + "DisplayName": "Speed control P gain", + "Increment": "0.01", + "Range": { + "high": "2.000", + "low": "0.010" + }, + "User": "Standard" + }, + "ATC_SPEED_PDMX": { + "Description": "Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Speed control PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "ATC_SPEED_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Speed control slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_STOP_SPEED": { + "Description": "Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value", + "DisplayName": "Speed control stop speed", + "Increment": "0.01", + "Range": { + "high": "0.50", + "low": "0.00" + }, + "Units": "m/s", + "User": "Standard" + }, + "ATC_STR_ACC_MAX": { + "Description": "Steering control angular acceleration maximum (in deg/s/s). 0 to disable acceleration limiting", + "DisplayName": "Steering control angular acceleration maximum", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "deg/s/s", + "User": "Standard" + }, + "ATC_STR_ANG_P": { + "Description": "Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)", + "DisplayName": "Steering control angle P gain", + "Increment": "0.1", + "Range": { + "high": "10.000", + "low": "1.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_D": { + "Description": "Steering control D gain. Compensates for short-term change in desired turn rate vs actual", + "DisplayName": "Steering control D gain", + "Increment": "0.001", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Steering control Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.03", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_STR_RAT_FF": { + "Description": "Steering control feed forward", + "DisplayName": "Steering control feed forward", + "Increment": "0.001", + "Range": { + "high": "3.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_FILT": { + "Description": "Steering control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Steering control filter frequency", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_STR_RAT_FLTD": { + "Description": "Derivative filter frequency in Hz", + "DisplayName": "Steering control Derivative term filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_STR_RAT_FLTE": { + "Description": "Error filter frequency in Hz", + "DisplayName": "Steering control Error filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_STR_RAT_FLTT": { + "Description": "Target filter frequency in Hz", + "DisplayName": "Steering control Target filter frequency in Hz", + "Increment": "0.1", + "Range": { + "high": "100.000", + "low": "0.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "ATC_STR_RAT_I": { + "Description": "Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual", + "DisplayName": "Steering control I gain", + "Increment": "0.001", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_IMAX": { + "Description": "Steering control I gain maximum. Constrains the steering output (range -1 to +1) that the I term will generate", + "DisplayName": "Steering control I gain maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_MAX": { + "Description": "Steering control rotation rate maximum in deg/s. 0 to remove rate limiting", + "DisplayName": "Steering control rotation rate maximum", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "ATC_STR_RAT_NEF": { + "Description": "Steering control Error notch filter index", + "DisplayName": "Steering control Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_STR_RAT_NTF": { + "Description": "Steering control Target notch filter index", + "DisplayName": "Steering control Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "ATC_STR_RAT_P": { + "Description": "Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)", + "DisplayName": "Steering control rate P gain", + "Increment": "0.001", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "ATC_STR_RAT_PDMX": { + "Description": "Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Steering control PD sum maximum", + "Increment": "0.01", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "ATC_STR_RAT_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Steering slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "ATC_TURN_MAX_G": { + "Description": "The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns", + "DisplayName": "Turning maximum G force", + "Increment": "0.01", + "Range": { + "high": "10", + "low": "0.1" + }, + "Units": "gravities", + "User": "Standard" + } + }, + "AVOID_": { + "AVOID_ACCEL_MAX": { + "Description": "Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits", + "DisplayName": "Avoidance maximum acceleration", + "Range": { + "high": "9", + "low": "0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "AVOID_BACKUP_DZ": { + "Description": "Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.", + "DisplayName": "Avoidance deadzone between stopping and backing away from obstacle", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "AVOID_BACKUP_SPD": { + "Description": "Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.", + "DisplayName": "Avoidance maximum horizontal backup speed", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "AVOID_BACKZ_SPD": { + "Description": "Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.", + "DisplayName": "Avoidance maximum vertical backup speed", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "AVOID_BEHAVE": { + "Description": "Avoidance behaviour (slide or stop)", + "DisplayName": "Avoidance behaviour", + "User": "Standard", + "Values": { + "0": "Slide", + "1": "Stop" + } + }, + "AVOID_ENABLE": { + "Bitmask": { + "0": "UseFence", + "1": "UseProximitySensor", + "2": "UseBeaconFence" + }, + "Description": "Enabled/disable avoidance input sources", + "DisplayName": "Avoidance control enable/disable", + "User": "Standard" + }, + "AVOID_MARGIN": { + "Description": "Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes", + "DisplayName": "Avoidance distance margin in GPS modes", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m", + "User": "Standard" + } + }, + "BARO": { + "BARO1_DEVID": { + "Description": "Barometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO1_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO2_DEVID": { + "Description": "Barometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID2", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO2_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Ground Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO3_DEVID": { + "Description": "Barometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Baro ID3", + "ReadOnly": "True", + "User": "Advanced" + }, + "BARO3_GND_PRESS": { + "Description": "calibrated ground pressure in Pascals", + "DisplayName": "Absolute Pressure", + "Increment": "1", + "ReadOnly": "True", + "Units": "Pa", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_ALTERR_MAX": { + "Description": "This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a \"Pixhawk\" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.", + "DisplayName": "Altitude error maximum", + "Increment": "1", + "Range": { + "high": "5000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "BARO_ALT_OFFSET": { + "Description": "altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.", + "DisplayName": "altitude offset", + "Increment": "0.1", + "Units": "m", + "User": "Advanced" + }, + "BARO_EXT_BUS": { + "Description": "This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.", + "DisplayName": "External baro bus", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Bus0", + "1": "Bus1", + "6": "Bus6" + } + }, + "BARO_FIELD_ELV": { + "Description": "User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.", + "DisplayName": "field elevation", + "Increment": "0.1", + "Units": "m", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "BARO_GND_TEMP": { + "Description": "User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.", + "DisplayName": "ground temperature", + "Increment": "1", + "Units": "degC", + "User": "Advanced", + "Volatile": "True" + }, + "BARO_OPTIONS": { + "Bitmask": { + "0": "Treat MS5611 as MS5607" + }, + "Description": "Barometer options", + "DisplayName": "Barometer options", + "User": "Advanced" + }, + "BARO_PRIMARY": { + "Description": "This selects which barometer will be the primary if multiple barometers are found", + "DisplayName": "Primary barometer", + "User": "Advanced", + "Values": { + "0": "FirstBaro", + "1": "2ndBaro", + "2": "3rdBaro" + } + }, + "BARO_PROBE_EXT": { + "Bitmask": { + "0": "BMP085", + "1": "BMP280", + "10": "BMP388", + "11": "SPL06", + "12": "MSP", + "13": "BMP581", + "2": "MS5611", + "3": "MS5607", + "4": "MS5637", + "5": "FBM320", + "6": "DPS280", + "7": "LPS25H", + "8": "Keller", + "9": "MS5837" + }, + "Description": "This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.", + "DisplayName": "External barometers to probe", + "User": "Advanced" + } + }, + "BARO1_WCF_": { + "BARO1_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO1_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO1_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO2_WCF_": { + "BARO2_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO2_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO2_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BARO3_WCF_": { + "BARO3_WCF_BCK": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative X direction (backwards)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_DN": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Z direction (down)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_ENABLE": { + "Description": "This enables the use of wind coefficients for barometer compensation", + "DisplayName": "Wind coefficient enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BARO3_WCF_FWD": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive X direction (forward)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_LFT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in negative Y direction (left)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_RGT": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Y direction (right)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "BARO3_WCF_UP": { + "Description": "This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.", + "DisplayName": "Pressure error coefficient in positive Z direction (up)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + } + }, + "BATT2_": { + "BATT2_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT2_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT2_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT2_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT2_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT2_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT2_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT2_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT2_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT2_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT2_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT2_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT2_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT2_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT2_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT2_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT2_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT2_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT2_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT2_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT2_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT2_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT2_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT2_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT2_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT2_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT2_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT2_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT3_": { + "BATT3_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT3_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT3_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT3_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT3_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT3_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT3_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT3_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT3_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT3_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT3_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT3_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT3_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT3_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT3_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT3_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT3_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT3_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT3_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT3_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT3_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT3_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT3_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT3_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT3_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT3_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT3_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT3_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT4_": { + "BATT4_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT4_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT4_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT4_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT4_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT4_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT4_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT4_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT4_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT4_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT4_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT4_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT4_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT4_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT4_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT4_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT4_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT4_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT4_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT4_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT4_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT4_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT4_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT4_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT4_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT4_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT4_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT4_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT5_": { + "BATT5_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT5_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT5_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT5_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT5_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT5_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT5_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT5_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT5_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT5_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT5_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT5_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT5_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT5_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT5_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT5_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT5_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT5_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT5_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT5_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT5_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT5_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT5_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT5_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT5_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT5_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT5_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT5_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT5_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT6_": { + "BATT6_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT6_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT6_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT6_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT6_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT6_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT6_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT6_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT6_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT6_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT6_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT6_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT6_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT6_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT6_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT6_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT6_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT6_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT6_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT6_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT6_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT6_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT6_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT6_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT6_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT6_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT6_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT6_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT6_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT7_": { + "BATT7_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT7_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT7_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT7_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT7_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT7_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT7_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT7_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT7_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT7_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT7_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT7_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT7_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT7_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT7_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT7_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT7_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT7_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT7_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT7_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT7_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT7_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT7_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT7_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT7_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT7_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT7_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT7_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT7_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT8_": { + "BATT8_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT8_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT8_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT8_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT8_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT8_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT8_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT8_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT8_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT8_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT8_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT8_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT8_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT8_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT8_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT8_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT8_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT8_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT8_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT8_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT8_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT8_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT8_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT8_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT8_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT8_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT8_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT8_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT8_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT9_": { + "BATT9_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT9_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT9_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT9_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT9_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT9_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT9_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT9_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT9_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT9_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT9_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT9_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT9_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT9_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT9_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT9_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT9_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT9_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT9_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT9_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT9_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT9_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT9_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT9_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT9_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT9_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT9_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT9_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT9_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTA_": { + "BATTA_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTA_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTA_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTA_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTA_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTA_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTA_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTA_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTA_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTA_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTA_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTA_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTA_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTA_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTA_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTA_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTA_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTA_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTA_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTA_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTA_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTA_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTA_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTA_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTA_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTA_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTA_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTA_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTA_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTB_": { + "BATTB_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTB_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTB_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTB_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTB_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTB_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTB_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTB_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTB_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTB_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTB_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTB_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTB_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTB_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTB_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTB_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTB_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTB_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTB_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTB_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTB_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTB_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTB_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTB_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTB_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTB_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTB_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTB_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTB_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTC_": { + "BATTC_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTC_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTC_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTC_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTC_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTC_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTC_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTC_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTC_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTC_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTC_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTC_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTC_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTC_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTC_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTC_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTC_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTC_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTC_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTC_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTC_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTC_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTC_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTC_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTC_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTC_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTC_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTC_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTC_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTD_": { + "BATTD_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTD_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTD_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTD_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTD_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTD_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTD_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTD_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTD_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTD_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTD_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTD_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTD_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTD_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTD_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTD_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTD_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTD_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTD_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTD_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTD_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTD_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTD_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTD_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTD_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTD_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTD_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTD_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTD_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTE_": { + "BATTE_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTE_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTE_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTE_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTE_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTE_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTE_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTE_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTE_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTE_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTE_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTE_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTE_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTE_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTE_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTE_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTE_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTE_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTE_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTE_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTE_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTE_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTE_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTE_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTE_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTE_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTE_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTE_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTE_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTF_": { + "BATTF_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTF_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTF_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTF_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTF_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTF_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTF_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTF_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTF_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTF_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTF_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTF_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTF_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTF_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTF_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTF_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTF_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTF_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTF_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTF_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTF_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTF_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTF_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTF_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTF_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTF_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTF_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTF_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTF_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATTG_": { + "BATTG_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATTG_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATTG_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATTG_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATTG_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATTG_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATTG_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATTG_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATTG_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATTG_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATTG_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATTG_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATTG_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTG_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATTG_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATTG_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATTG_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATTG_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATTG_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATTG_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATTG_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATTG_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATTG_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATTG_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATTG_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATTG_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATTG_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATTG_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATTG_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BATT_": { + "BATT_AMP_OFFSET": { + "Description": "Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.", + "DisplayName": "AMP offset", + "Units": "V", + "User": "Standard" + }, + "BATT_AMP_PERVLT": { + "Description": "Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.", + "DisplayName": "Amps per volt", + "Units": "A/V", + "User": "Standard" + }, + "BATT_ARM_MAH": { + "Description": "Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.", + "DisplayName": "Required arming remaining capacity", + "Increment": "50", + "Units": "mAh", + "User": "Advanced" + }, + "BATT_ARM_VOLT": { + "Description": "Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.", + "DisplayName": "Required arming voltage", + "Increment": "0.1", + "Units": "V", + "User": "Advanced" + }, + "BATT_CAPACITY": { + "Description": "Capacity of the battery in mAh when full", + "DisplayName": "Battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_MAH": { + "Description": "Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Battery critical capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_CRT_VOLT": { + "Description": "Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.", + "DisplayName": "Critical battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_CURR_MULT": { + "Description": "Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications", + "DisplayName": "Scales reported power monitor current", + "Range": { + "high": "10", + "low": ".1" + }, + "User": "Advanced" + }, + "BATT_CURR_PIN": { + "Description": "Sets the analog input pin that should be used for current monitoring.", + "DisplayName": "Battery Current sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "101": "PX4-v1", + "14": "Pixhawk2_PM2", + "15": "CubeOrange", + "17": "Durandal", + "3": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "4": "CubeOrange_PM2/Navigator" + } + }, + "BATT_ESC_INDEX": { + "Description": "ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_ESC_MASK": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.", + "DisplayName": "ESC mask", + "User": "Standard" + }, + "BATT_FL_FF": { + "Description": "First order polynomial fit term", + "DisplayName": "First order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FLTR": { + "Description": "Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.", + "DisplayName": "Fuel level filter frequency", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "BATT_FL_FS": { + "Description": "Second order polynomial fit term", + "DisplayName": "Second order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_FT": { + "Description": "Third order polynomial fit term", + "DisplayName": "Third order term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_OFF": { + "Description": "Offset polynomial fit term", + "DisplayName": "Offset term", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "BATT_FL_PIN": { + "Description": "Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Fuel level analog pin number", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "BATT_FL_VLT_MIN": { + "Description": "The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Empty fuel level voltage", + "Range": { + "high": "10", + "low": "0.01" + }, + "Units": "V", + "User": "Advanced" + }, + "BATT_FL_V_MULT": { + "Description": "Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.", + "DisplayName": "Fuel level voltage multiplier", + "Range": { + "high": "10", + "low": "0.01" + }, + "User": "Advanced" + }, + "BATT_FS_CRT_ACT": { + "Description": "What action the vehicle should perform if it hits a critical battery failsafe", + "DisplayName": "Critical battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT_FS_LOW_ACT": { + "Description": "What action the vehicle should perform if it hits a low battery failsafe", + "DisplayName": "Low battery failsafe action", + "User": "Standard", + "Values": { + "0": "None", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "BATT_FS_VOLTSRC": { + "Description": "Voltage type used for detection of low voltage event", + "DisplayName": "Failsafe voltage source", + "User": "Advanced", + "Values": { + "0": "Raw Voltage", + "1": "Sag Compensated Voltage" + } + }, + "BATT_I2C_ADDR": { + "Description": "Battery monitor I2C address. If this is zero then probe list of supported addresses", + "DisplayName": "Battery monitor I2C address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_I2C_BUS": { + "Description": "Battery monitor I2C bus number", + "DisplayName": "Battery monitor I2C bus number", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BATT_LOW_MAH": { + "Description": "Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery capacity", + "Increment": "50", + "Units": "mAh", + "User": "Standard" + }, + "BATT_LOW_TIMER": { + "Description": "This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.", + "DisplayName": "Low voltage timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "BATT_LOW_VOLT": { + "Description": "Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.", + "DisplayName": "Low battery voltage", + "Increment": "0.1", + "Units": "V", + "User": "Standard" + }, + "BATT_MAX_AMPS": { + "Description": "This controls the maximum current the INS2XX sensor will work with.", + "DisplayName": "Battery monitor max current", + "Range": { + "high": "400", + "low": "1" + }, + "Units": "A", + "User": "Advanced" + }, + "BATT_MAX_VOLT": { + "Description": "Maximum voltage of battery. Provides scaling of current versus voltage", + "DisplayName": "Maximum Battery Voltage", + "Range": { + "high": "100", + "low": "7" + }, + "User": "Advanced" + }, + "BATT_MONITOR": { + "Description": "Controls enabling monitoring of the battery's voltage and current", + "DisplayName": "Battery monitoring", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "10": "Sum Of Selected Monitors", + "11": "FuelFlow", + "12": "FuelLevelPWM", + "13": "SMBUS-SUI3", + "14": "SMBUS-SUI6", + "15": "NeoDesign", + "16": "SMBus-Maxell", + "17": "Generator-Elec", + "18": "Generator-Fuel", + "19": "Rotoye", + "20": "MPPT", + "21": "INA2XX", + "22": "LTC2946", + "23": "Torqeedo", + "24": "FuelLevelAnalog", + "25": "Synthetic Current and Analog Voltage", + "26": "INA239_SPI", + "27": "EFI", + "28": "AD7091R5", + "29": "Scripting", + "3": "Analog Voltage Only", + "4": "Analog Voltage and Current", + "5": "Solo", + "6": "Bebop", + "7": "SMBus-Generic", + "8": "DroneCAN-BatteryInfo", + "9": "ESC" + } + }, + "BATT_OPTIONS": { + "Bitmask": { + "0": "Ignore DroneCAN SoC", + "1": "MPPT reports input voltage and current", + "2": "MPPT Powered off when disarmed", + "3": "MPPT Powered on when armed", + "4": "MPPT Powered off at boot", + "5": "MPPT Powered on at boot", + "6": "Send resistance compensated voltage to GCS", + "7": "Allow DroneCAN InfoAux to be from a different CAN node", + "9": "Sum monitor measures minimum voltage instead of average" + }, + "Description": "This sets options to change the behaviour of the battery monitor", + "DisplayName": "Battery monitor options", + "User": "Advanced" + }, + "BATT_SERIAL_NUM": { + "Description": "Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.", + "DisplayName": "Battery serial number", + "User": "Advanced" + }, + "BATT_SHUNT": { + "Description": "This sets the shunt resistor used in the device", + "DisplayName": "Battery monitor shunt resistor", + "Range": { + "high": "0.01", + "low": "0.0001" + }, + "Units": "Ohm", + "User": "Advanced" + }, + "BATT_SUM_MASK": { + "Bitmask": { + "0": "monitor 1", + "1": "monitor 2", + "2": "monitor 3", + "3": "monitor 4", + "4": "monitor 5", + "5": "monitor 6", + "6": "monitor 7", + "7": "monitor 8", + "8": "monitor 9" + }, + "Description": "0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.", + "DisplayName": "Battery Sum mask", + "User": "Standard" + }, + "BATT_VLT_OFFSET": { + "Description": "Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.", + "DisplayName": "Voltage offset", + "Units": "V", + "User": "Advanced" + }, + "BATT_VOLT_MULT": { + "Description": "Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.", + "DisplayName": "Voltage Multiplier", + "User": "Advanced" + }, + "BATT_VOLT_PIN": { + "Description": "Sets the analog input pin that should be used for voltage monitoring.", + "DisplayName": "Battery Voltage sensing pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + } + }, + "BCN": { + "BCN_ALT": { + "Description": "Beacon origin's altitude above sealevel in meters", + "DisplayName": "Beacon origin's altitude above sealevel in meters", + "Increment": "1", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "BCN_LATITUDE": { + "Description": "Beacon origin's latitude", + "DisplayName": "Beacon origin's latitude", + "Increment": "0.000001", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_LONGITUDE": { + "Description": "Beacon origin's longitude", + "DisplayName": "Beacon origin's longitude", + "Increment": "0.000001", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_ORIENT_YAW": { + "Description": "Beacon systems rotation from north in degrees", + "DisplayName": "Beacon systems rotation from north in degrees", + "Increment": "1", + "Range": { + "high": "+180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "BCN_TYPE": { + "Description": "What type of beacon based position estimation device is connected", + "DisplayName": "Beacon based position estimation device type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Pozyx", + "10": "SITL", + "2": "Marvelmind", + "3": "Nooploop" + } + } + }, + "BRD_": { + "BRD_ALT_CONFIG": { + "Description": "Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.", + "DisplayName": "Alternative HW config", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_BOOT_DELAY": { + "Description": "This adds a delay in milliseconds to boot to ensure peripherals initialise fully", + "DisplayName": "Boot delay", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "BRD_HEAT_I": { + "Description": "Board Heater integrator gain", + "DisplayName": "Board Heater I gain", + "Increment": "0.1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_IMAX": { + "Description": "Board Heater integrator maximum", + "DisplayName": "Board Heater IMAX", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_HEAT_LOWMGN": { + "Description": "Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check", + "DisplayName": "Board heater temp lower margin", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_HEAT_P": { + "Description": "Board Heater P gain", + "DisplayName": "Board Heater P gain", + "Increment": "1", + "Range": { + "high": "500", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_HEAT_TARG": { + "Description": "Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.", + "DisplayName": "Board heater temperature target", + "Range": { + "high": "80", + "low": "-1" + }, + "Units": "degC", + "User": "Advanced" + }, + "BRD_IO_DSHOT": { + "Description": "This loads the DShot firmware on the IO co-processor", + "DisplayName": "Load DShot FW on IO", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "StandardFW", + "1": "DshotFW" + } + }, + "BRD_IO_ENABLE": { + "Description": "This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup", + "DisplayName": "Enable IO co-processor", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "EnableNoFWUpdate" + } + }, + "BRD_OPTIONS": { + "Bitmask": { + "0": "Enable hardware watchdog", + "1": "Disable MAVftp", + "2": "Enable set of internal parameters", + "3": "Enable Debug Pins", + "4": "Unlock flash on reboot", + "5": "Write protect firmware flash on reboot", + "6": "Write protect bootloader flash on reboot", + "7": "Skip board validation", + "8": "Disable board arming gpio output change on arm/disarm" + }, + "Description": "Board specific option flags", + "DisplayName": "Board options", + "User": "Advanced" + }, + "BRD_PWM_VOLT_SEL": { + "Description": "This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.", + "DisplayName": "Set PWM Out Voltage", + "User": "Advanced", + "Values": { + "0": "3.3V", + "1": "5V" + } + }, + "BRD_SAFETYOPTION": { + "Bitmask": { + "0": "ActiveForSafetyDisable", + "1": "ActiveForSafetyEnable", + "2": "ActiveWhenArmed", + "3": "Force safety on when the aircraft disarms" + }, + "Description": "This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed", + "DisplayName": "Options for safety button behavior", + "User": "Standard" + }, + "BRD_SAFETY_DEFLT": { + "Description": "This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.", + "DisplayName": "Sets default state of the safety switch", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_SAFETY_MASK": { + "Bitmask": { + "0": "Output1", + "1": "Output2", + "10": "Output11", + "11": "Output12", + "12": "Output13", + "13": "Output14", + "2": "Output3", + "3": "Output4", + "4": "Output5", + "5": "Output6", + "6": "Output7", + "7": "Output8", + "8": "Output9", + "9": "Output10" + }, + "Description": "A bitmask which controls what outputs can move while the safety switch has not been pressed", + "DisplayName": "Outputs which ignore the safety switch state", + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SBUS_OUT": { + "Description": "This sets the SBUS output frame rate in Hz", + "DisplayName": " SBUS output rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "50Hz", + "2": "75Hz", + "3": "100Hz", + "4": "150Hz", + "5": "200Hz", + "6": "250Hz", + "7": "300Hz" + } + }, + "BRD_SD_FENCE": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.", + "DisplayName": " SDCard Fence size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_MISSION": { + "Description": "This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.", + "DisplayName": " SDCard Mission size", + "Range": { + "high": "64", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "BRD_SD_SLOWDOWN": { + "Description": "This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.", + "DisplayName": "microSD slowdown", + "Increment": "1", + "Range": { + "high": "32", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_SER1_RTSCTS": { + "Description": "Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.", + "DisplayName": "Serial 1 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER2_RTSCTS": { + "Description": "Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 2 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER3_RTSCTS": { + "Description": "Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 3 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER4_RTSCTS": { + "Description": "Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 4 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SER5_RTSCTS": { + "Description": "Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.", + "DisplayName": "Serial 5 flow control", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Auto", + "3": "RS-485 Driver enable RTS pin" + } + }, + "BRD_SERIAL_NUM": { + "Description": "User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot", + "DisplayName": "User-defined serial number", + "Range": { + "high": "8388607", + "low": "-8388608" + }, + "User": "Standard" + }, + "BRD_TYPE": { + "Description": "This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)", + "DisplayName": "Board type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "AUTO", + "1": "PX4V1", + "100": "PX4 OLDDRIVERS", + "13": "Intel Aero FC", + "14": "Pixhawk Pro", + "2": "Pixhawk", + "20": "AUAV2.1", + "21": "PCNC1", + "22": "MINDPXV2", + "23": "SP01", + "24": "CUAVv5/FMUV5", + "3": "Cube/Pixhawk2", + "30": "VRX BRAIN51", + "32": "VRX BRAIN52", + "33": "VRX BRAIN52E", + "34": "VRX UBRAIN51", + "35": "VRX UBRAIN52", + "36": "VRX CORE10", + "38": "VRX BRAIN54", + "39": "PX4 FMUV6", + "4": "Pixracer", + "5": "PixhawkMini", + "6": "Pixhawk2Slim" + } + }, + "BRD_VBUS_MIN": { + "Description": "Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Autopilot board voltage requirement", + "Increment": "0.1", + "Range": { + "high": "5.5", + "low": "4.0" + }, + "Units": "V", + "User": "Advanced" + }, + "BRD_VSERVO_MIN": { + "Description": "Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.", + "DisplayName": "Servo voltage requirement", + "Increment": "0.1", + "Range": { + "high": "12.0", + "low": "3.3" + }, + "Units": "V", + "User": "Advanced" + } + }, + "BRD_RADIO": { + "BRD_RADIO_ABLVL": { + "Description": "This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially", + "DisplayName": "Auto-bind level", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_ABTIME": { + "Description": "When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.", + "DisplayName": "Auto-bind time", + "Range": { + "high": "120", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_BZOFS": { + "Description": "Set transmitter buzzer note adjustment (adjust frequency up)", + "DisplayName": "Transmitter buzzer adjustment", + "Range": { + "high": "40", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DEBUG": { + "Description": "radio debug level", + "DisplayName": "debug level", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_DISCRC": { + "Description": "disable receive CRC (for debug)", + "DisplayName": "disable receive CRC", + "User": "Advanced", + "Values": { + "0": "NotDisabled", + "1": "Disabled" + } + }, + "BRD_RADIO_FCCTST": { + "Description": "If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled", + "DisplayName": "Put radio into FCC test mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MinChannel", + "2": "MidChannel", + "3": "MaxChannel", + "4": "MinChannelCW", + "5": "MidChannelCW", + "6": "MaxChannelCW" + } + }, + "BRD_RADIO_PPSCH": { + "Description": "Channel to show received packet-per-second rate, or zero for disabled", + "DisplayName": "Packet rate channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_PROT": { + "Description": "Select air protocol", + "DisplayName": "protocol", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "DSM2", + "2": "DSMX" + } + }, + "BRD_RADIO_SIGCH": { + "Description": "Channel to show receive RSSI signal strength, or zero for disabled", + "DisplayName": "RSSI signal strength", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_STKMD": { + "Description": "This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.", + "DisplayName": "Stick input mode", + "User": "Advanced", + "Values": { + "1": "Mode1", + "2": "Mode2" + } + }, + "BRD_RADIO_TELEM": { + "Description": "If this is non-zero then telemetry packets will be sent over DSM", + "DisplayName": "Enable telemetry", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BRD_RADIO_TESTCH": { + "Description": "This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.", + "DisplayName": "Set radio to factory test channel", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestChan1", + "2": "TestChan2", + "3": "TestChan3", + "4": "TestChan4", + "5": "TestChan5", + "6": "TestChan6", + "7": "TestChan7", + "8": "TestChan8" + } + }, + "BRD_RADIO_TPPSCH": { + "Description": "Channel to show telemetry packets-per-second value, as received at TX", + "DisplayName": "Telemetry PPS channel", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TSIGCH": { + "Description": "Channel to show telemetry RSSI value as received by TX", + "DisplayName": "RSSI value channel for telemetry data on transmitter", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXMAX": { + "Description": "Set transmitter maximum transmit power (from 1 to 8)", + "DisplayName": "Transmitter transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TXPOW": { + "Description": "Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX", + "DisplayName": "Telemetry Transmit power", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "BRD_RADIO_TYPE": { + "Description": "This enables support for direct attached radio receivers", + "DisplayName": "Set type of direct attached radio", + "Values": { + "0": "None", + "1": "CYRF6936", + "2": "CC2500", + "3": "BK2425" + } + } + }, + "BRD_RTC": { + "BRD_RTC_TYPES": { + "Bitmask": { + "0": "GPS", + "1": "MAVLINK_SYSTEM_TIME", + "2": "HW" + }, + "Description": "Specifies which sources of UTC time will be accepted", + "DisplayName": "Allowed sources of RTC time", + "User": "Advanced" + }, + "BRD_RTC_TZ_MIN": { + "Description": "Adds offset in +- minutes from UTC to calculate local time", + "DisplayName": "Timezone offset from UTC", + "Range": { + "high": "+840", + "low": "-720" + }, + "User": "Advanced" + } + }, + "BTN_": { + "BTN_ENABLE": { + "Description": "This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible", + "DisplayName": "Enable button reporting", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BTN_FUNC1": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 1 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "BTN_FUNC2": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 2 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "BTN_FUNC3": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 3 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "BTN_FUNC4": { + "Description": "Auxiliary RC Options function executed on pin change", + "DisplayName": "Button Pin 4 RC Channel function", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "BTN_OPTIONS1": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 1 Options", + "User": "Standard" + }, + "BTN_OPTIONS2": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 2 Options", + "User": "Standard" + }, + "BTN_OPTIONS3": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 3 Options" + }, + "BTN_OPTIONS4": { + "Bitmask": { + "0": "PWM Input", + "1": "InvertInput" + }, + "Description": "Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.", + "DisplayName": "Button Pin 4 Options", + "User": "Standard" + }, + "BTN_PIN1": { + "Description": "Digital pin number for first button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "First button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN2": { + "Description": "Digital pin number for second button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Second button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN3": { + "Description": "Digital pin number for third button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Third button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_PIN4": { + "Description": "Digital pin number for fourth button input. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Fourth button Pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6" + } + }, + "BTN_REPORT_SEND": { + "Description": "The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.", + "DisplayName": "Report send time", + "Range": { + "high": "3600", + "low": "0" + }, + "User": "Standard" + } + }, + "CAM": { + "CAM_AUTO_ONLY": { + "Description": "When enabled, trigging by distance is done in AUTO mode only.", + "DisplayName": "Distance-trigging in AUTO mode only", + "User": "Standard", + "Values": { + "0": "Always", + "1": "Only when in AUTO" + } + }, + "CAM_MAX_ROLL": { + "Description": "Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).", + "DisplayName": "Maximum photo roll angle.", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM1": { + "CAM1_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM1_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM1_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM1_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM1_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM1_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM1_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM1_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM1_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM1_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM1_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM2": { + "CAM2_DURATION": { + "Description": "Duration in seconds that the camera shutter is held open", + "DisplayName": "Camera shutter duration held open", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_FEEDBAK_PIN": { + "Description": "pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.", + "DisplayName": "Camera feedback pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "CAM2_FEEDBAK_POL": { + "Description": "Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low", + "DisplayName": "Camera feedback pin polarity", + "User": "Standard", + "Values": { + "0": "TriggerLow", + "1": "TriggerHigh" + } + }, + "CAM2_HFOV": { + "Description": "Camera horizontal field of view. 0 if unknown", + "DisplayName": "Camera horizontal field of view", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CAM2_INTRVAL_MIN": { + "Description": "Postpone shooting if previous picture was taken less than this many seconds ago", + "DisplayName": "Camera minimum time interval between photos", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "CAM2_MNT_INST": { + "Description": "Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1", + "DisplayName": "Camera Mount instance", + "User": "Standard" + }, + "CAM2_OPTIONS": { + "Bitmask": { + "0": "Recording Starts at arming and stops at disarming" + }, + "Description": "Camera options bitmask", + "DisplayName": "Camera options", + "User": "Standard" + }, + "CAM2_RELAY_ON": { + "Description": "This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera", + "DisplayName": "Camera relay ON value", + "User": "Standard", + "Values": { + "0": "Low", + "1": "High" + } + }, + "CAM2_SERVO_OFF": { + "Description": "PWM value in microseconds to move servo to when shutter is deactivated", + "DisplayName": "Camera servo OFF PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_SERVO_ON": { + "Description": "PWM value in microseconds to move servo to when shutter is activated", + "DisplayName": "Camera servo ON PWM value", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Standard" + }, + "CAM2_TRIGG_DIST": { + "Description": "Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.", + "DisplayName": "Camera trigger distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CAM2_TYPE": { + "Description": "how to trigger the camera to take a picture", + "DisplayName": "Camera shutter (trigger) type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "Relay", + "3": "GoPro in Solo Gimbal", + "4": "Mount (Siyi/Topotek/Viewpro/Xacti)", + "5": "MAVLink", + "6": "MAVLinkCamV2", + "7": "Scripting" + } + }, + "CAM2_VFOV": { + "Description": "Camera vertical field of view. 0 if unknown", + "DisplayName": "Camera vertical field of view", + "Range": { + "high": "180", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "CAM_RC_": { + "CAM_RC_BTN_DELAY": { + "Description": "Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam button delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_BT_DELAY": { + "Description": "Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam boot delay before allowing updates", + "User": "Advanced" + }, + "CAM_RC_CONTROL": { + "Bitmask": { + "0": "Stick yaw right", + "1": "Stick roll right", + "2": "3-position switch", + "3": "2-position switch", + "4": "Autorecording enabled" + }, + "Description": "Specifies the allowed actions required to enter the OSD menu and other option like autorecording", + "DisplayName": "RunCam control option", + "User": "Advanced" + }, + "CAM_RC_FEATURES": { + "Bitmask": { + "0": "Power Button", + "1": "WiFi Button", + "2": "Change Mode", + "3": "5-Key OSD", + "4": "Settings Access", + "5": "DisplayPort", + "6": "Start Recording", + "7": "Stop Recording" + }, + "Description": "The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.", + "DisplayName": "RunCam features available", + "User": "Advanced" + }, + "CAM_RC_MDE_DELAY": { + "Description": "Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.", + "DisplayName": "RunCam mode delay before allowing further button presses", + "User": "Advanced" + }, + "CAM_RC_TYPE": { + "Description": "RunCam device type used to determine OSD menu structure and shutter options.", + "DisplayName": "RunCam device type", + "Values": { + "0": "Disabled", + "1": "RunCam Split Micro/RunCam with UART", + "2": "RunCam Split", + "3": "RunCam Split4 4k", + "4": "RunCam Hybrid/RunCam Thumb Pro", + "5": "Runcam 2 4k" + } + } + }, + "CAN_": { + "CAN_LOGLEVEL": { + "Description": "Loglevel for recording initialisation and debug information from CAN Interface", + "DisplayName": "Loglevel", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Log None", + "1": "Log Error", + "2": "Log Warning and below", + "3": "Log Info and below", + "4": "Log Everything" + } + } + }, + "CAN_D1_": { + "CAN_D1_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D1_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D1_PC_": { + "CAN_D1_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D1_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D1_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D1_UC_": { + "CAN_D1_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D1_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D1_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D1_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D1_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D1_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D1_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D1_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D1_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D1_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D1_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D1_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D1_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D1_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_": { + "CAN_D2_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D2_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D2_PC_": { + "CAN_D2_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D2_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D2_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D2_UC_": { + "CAN_D2_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D2_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D2_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D2_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D2_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D2_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D2_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D2_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D2_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D2_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D2_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D2_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D2_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D2_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_": { + "CAN_D3_PROTOCOL": { + "Description": "Enabling this option starts selected protocol that will use this virtual driver", + "DisplayName": "Enable use of specific protocol over virtual driver", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "DroneCAN", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "4": "PiccoloCAN", + "6": "EFI_NWPMU", + "7": "USD1", + "8": "KDECAN" + } + }, + "CAN_D3_PROTOCOL2": { + "Description": "Secondary protocol with 11 bit CAN addressing", + "DisplayName": "Secondary protocol with 11 bit CAN addressing", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "10": "Scripting", + "11": "Benewake", + "12": "Scripting2", + "13": "TOFSenseP", + "14": "NanoRadar", + "7": "USD1" + } + } + }, + "CAN_D3_PC_": { + "CAN_D3_PC_ECU_ID": { + "Description": "Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.", + "DisplayName": "ECU Node ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_PC_ECU_RT": { + "Description": "Output rate of ECU command messages", + "DisplayName": "ECU command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN", + "DisplayName": "ESC channels", + "User": "Advanced" + }, + "CAN_D3_PC_ESC_RT": { + "Description": "Output rate of ESC command messages", + "DisplayName": "ESC output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask defining which servo channels are to be transmitted over Piccolo CAN", + "DisplayName": "Servo channels", + "User": "Advanced" + }, + "CAN_D3_PC_SRV_RT": { + "Description": "Output rate of servo command messages", + "DisplayName": "Servo command output rate", + "Range": { + "high": "500", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_D3_UC_": { + "CAN_D3_UC_ESC_BM": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN", + "DisplayName": "Output channels to be transmitted as ESC over DroneCAN", + "User": "Advanced" + }, + "CAN_D3_UC_ESC_OF": { + "Description": "Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth", + "DisplayName": "ESC Output channels offset", + "Range": { + "high": "18", + "low": "0" + }, + "User": "Advanced" + }, + "CAN_D3_UC_ESC_RV": { + "Bitmask": { + "0": "ESC 1", + "1": "ESC 2", + "10": "ESC 11", + "11": "ESC 12", + "12": "ESC 13", + "13": "ESC 14", + "14": "ESC 15", + "15": "ESC 16", + "16": "ESC 17", + "17": "ESC 18", + "18": "ESC 19", + "19": "ESC 20", + "2": "ESC 3", + "20": "ESC 21", + "21": "ESC 22", + "22": "ESC 23", + "23": "ESC 24", + "24": "ESC 25", + "25": "ESC 26", + "26": "ESC 27", + "27": "ESC 28", + "28": "ESC 29", + "29": "ESC 30", + "3": "ESC 4", + "30": "ESC 31", + "31": "ESC 32", + "4": "ESC 5", + "5": "ESC 6", + "6": "ESC 7", + "7": "ESC 8", + "8": "ESC 9", + "9": "ESC 10" + }, + "Description": "Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.", + "DisplayName": "Bitmask for output channels for reversible ESCs over DroneCAN.", + "User": "Advanced" + }, + "CAN_D3_UC_NODE": { + "Description": "DroneCAN node ID used by the driver itself on this network", + "DisplayName": "Own node ID", + "Range": { + "high": "125", + "low": "1" + }, + "User": "Advanced" + }, + "CAN_D3_UC_NTF_RT": { + "Description": "Maximum transmit rate for Notify State Message", + "DisplayName": "Notify State rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_OPTION": { + "Bitmask": { + "0": "ClearDNADatabase", + "1": "IgnoreDNANodeConflicts", + "2": "EnableCanfd", + "3": "IgnoreDNANodeUnhealthy", + "4": "SendServoAsPWM", + "5": "SendGNSS", + "6": "UseHimarkServo", + "7": "HobbyWingESC", + "8": "EnableStats", + "9": "EnableFlexDebug" + }, + "Description": "Option flags", + "DisplayName": "DroneCAN options", + "User": "Advanced" + }, + "CAN_D3_UC_POOL": { + "Description": "Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads", + "DisplayName": "CAN pool size", + "Range": { + "high": "16384", + "low": "1024" + }, + "User": "Advanced" + }, + "CAN_D3_UC_RLY_RT": { + "Description": "Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state", + "DisplayName": "DroneCAN relay output rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "CAN_D3_UC_S1_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S1_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "DroneCAN Serial1 index", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S1_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S1_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S2_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "DroneCAN Serial default baud rate", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S2_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S2_NOD": { + "Description": "CAN remote node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S2_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_S3_BD": { + "Description": "Serial baud rate on remote CAN node", + "DisplayName": "Serial baud rate on remote CAN node", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "CAN_D3_UC_S3_IDX": { + "Description": "Serial port number on remote CAN node", + "DisplayName": "Serial port number on remote CAN node", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_D3_UC_S3_NOD": { + "Description": "CAN node number for serial port", + "DisplayName": "Serial CAN remote node number", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "CAN_D3_UC_S3_PRO": { + "Description": "Serial protocol of DroneCAN serial port", + "DisplayName": "Serial protocol of DroneCAN serial port", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "CAN_D3_UC_SER_EN": { + "Description": "Enable DroneCAN virtual serial ports", + "DisplayName": "DroneCAN Serial enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "CAN_D3_UC_SRV_BM": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask with one set for channel to be transmitted as a servo command over DroneCAN", + "DisplayName": "Output channels to be transmitted as servo over DroneCAN" + }, + "CAN_D3_UC_SRV_RT": { + "Description": "Maximum transmit rate for servo outputs", + "DisplayName": "Servo output rate", + "Range": { + "high": "200", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "CAN_P1_": { + "CAN_P1_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P1_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P1_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P2_": { + "CAN_P2_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P2_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P2_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_P3_": { + "CAN_P3_BITRATE": { + "Description": "Bit rate can be set up to from 10000 to 1000000", + "DisplayName": "Bitrate of CAN interface", + "Range": { + "high": "1000000", + "low": "10000" + }, + "User": "Advanced" + }, + "CAN_P3_DRIVER": { + "Description": "Enabling this option enables use of CAN buses.", + "DisplayName": "Index of virtual driver to be used with physical CAN interface", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First driver", + "2": "Second driver", + "3": "Third driver" + } + }, + "CAN_P3_FDBITRATE": { + "Description": "Bit rate can be set up to from 1000000 to 8000000", + "DisplayName": "Bitrate of CANFD interface", + "User": "Advanced", + "Values": { + "1": "1M", + "2": "2M", + "4": "4M", + "5": "5M", + "8": "8M" + } + } + }, + "CAN_SLCAN_": { + "CAN_SLCAN_CPORT": { + "Description": "CAN Interface ID to be routed to SLCAN, 0 means no routing", + "DisplayName": "SLCAN Route", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "First interface", + "2": "Second interface" + } + }, + "CAN_SLCAN_SDELAY": { + "Description": "Duration after which slcan starts after setting SERNUM in seconds.", + "DisplayName": "SLCAN Start Delay", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "CAN_SLCAN_SERNUM": { + "Description": "Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details", + "DisplayName": "SLCAN Serial Port", + "User": "Standard", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "CAN_SLCAN_TIMOUT": { + "Description": "Duration of inactivity after which SLCAN is switched back to original driver in seconds.", + "DisplayName": "SLCAN Timeout", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + } + }, + "CIRC": { + "CIRC_DIR": { + "Description": "Circle Direction", + "DisplayName": "Circle Direction", + "User": "Standard", + "Values": { + "0": "Clockwise", + "1": "Counter-Clockwise" + } + }, + "CIRC_RADIUS": { + "Description": "Vehicle will circle the center at this distance", + "DisplayName": "Circle Radius", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "CIRC_SPEED": { + "Description": "Vehicle will move at this speed around the circle. If set to zero WP_SPEED will be used", + "DisplayName": "Circle Speed", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + } + }, + "COMPASS_": { + "COMPASS_AUTODEC": { + "Description": "Enable or disable the automatic calculation of the declination based on gps location", + "DisplayName": "Auto Declination", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_AUTO_ROT": { + "Description": "When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.", + "DisplayName": "Automatically check orientation", + "Values": { + "0": "Disabled", + "1": "CheckOnly", + "2": "CheckAndFix", + "3": "use same tolerance to auto rotate 45 deg rotations" + } + }, + "COMPASS_CAL_FIT": { + "Description": "This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.", + "DisplayName": "Compass calibration fitness", + "Increment": "0.1", + "Range": { + "high": "32", + "low": "4" + }, + "User": "Advanced", + "Values": { + "16": "Default", + "32": "Relaxed", + "4": "Very Strict", + "8": "Strict" + } + }, + "COMPASS_CUS_PIT": { + "Description": "Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation pitch offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_ROLL": { + "Description": "Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation roll offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_CUS_YAW": { + "Description": "Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.", + "DisplayName": "Custom orientation yaw offset", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "COMPASS_DEC": { + "Description": "An angle to compensate between the true north and magnetic north", + "DisplayName": "Compass declination", + "Increment": "0.01", + "Range": { + "high": "3.142", + "low": "-3.142" + }, + "Units": "rad", + "User": "Standard" + }, + "COMPASS_DEV_ID": { + "Description": "Compass device id. Automatically detected, do not set manually", + "DisplayName": "Compass device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID2": { + "Description": "Second compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass2 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID3": { + "Description": "Third compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass3 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID4": { + "Description": "Extra 4th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass4 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID5": { + "Description": "Extra 5th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass5 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID6": { + "Description": "Extra 6th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass6 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID7": { + "Description": "Extra 7th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass7 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DEV_ID8": { + "Description": "Extra 8th compass's device id. Automatically detected, do not set manually", + "DisplayName": "Compass8 device id", + "ReadOnly": "True", + "User": "Advanced" + }, + "COMPASS_DIA2_X": { + "Calibration": "1", + "Description": "DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA2_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA2_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA3_X": { + "Calibration": "1", + "Description": "DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA3_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA3_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DIA_X": { + "Calibration": "1", + "Description": "DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal X component", + "User": "Advanced" + }, + "COMPASS_DIA_Y": { + "Calibration": "1", + "Description": "DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Y component", + "User": "Advanced" + }, + "COMPASS_DIA_Z": { + "Calibration": "1", + "Description": "DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron diagonal Z component", + "User": "Advanced" + }, + "COMPASS_DISBLMSK": { + "Bitmask": { + "0": "HMC5883", + "1": "LSM303D", + "11": "DroneCAN", + "12": "QMC5883", + "14": "MAG3110", + "15": "IST8308", + "16": "RM3100", + "17": "MSP", + "18": "ExternalAHRS", + "19": "MMC5XX3", + "2": "AK8963", + "20": "QMC5883P", + "21": "BMM350", + "3": "BMM150", + "4": "LSM9DS1", + "5": "LIS3MDL", + "6": "AK09916", + "7": "IST8310", + "8": "ICM20948", + "9": "MMC3416" + }, + "Description": "This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup", + "DisplayName": "Compass disable driver type mask", + "User": "Advanced" + }, + "COMPASS_ENABLE": { + "Description": "Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.", + "DisplayName": "Enable Compass", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_EXTERN2": { + "Description": "Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass2 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERN3": { + "Description": "Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass3 is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_EXTERNAL": { + "Description": "Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.", + "DisplayName": "Compass is attached via an external cable", + "User": "Advanced", + "Values": { + "0": "Internal", + "1": "External", + "2": "ForcedExternal" + } + }, + "COMPASS_FLTR_RNG": { + "Description": "This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.", + "DisplayName": "Range in which sample is accepted", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "COMPASS_LEARN": { + "Description": "Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.", + "DisplayName": "Learn compass offsets automatically", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Internal-Learning", + "2": "EKF-Learning", + "3": "InFlight-Learning" + } + }, + "COMPASS_MOT2_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT2_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass2 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT3_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation to compass3 for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOTCT": { + "Calibration": "1", + "Description": "Set motor interference compensation type to disabled, throttle or current. Do not change manually.", + "DisplayName": "Motor interference compensation type", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Use Throttle", + "2": "Use Current" + } + }, + "COMPASS_MOT_X": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame X axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Y": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Y axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_MOT_Z": { + "Calibration": "1", + "Description": "Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)", + "DisplayName": "Motor interference compensation for body frame Z axis", + "Increment": "1", + "Range": { + "high": "1000", + "low": "-1000" + }, + "Units": "mGauss/A", + "User": "Advanced" + }, + "COMPASS_ODI2_X": { + "Calibration": "1", + "Description": "ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI2_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI2_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass2 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI3_X": { + "Calibration": "1", + "Description": "ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI3_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI3_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass3 soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_ODI_X": { + "Calibration": "1", + "Description": "ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal X component", + "User": "Advanced" + }, + "COMPASS_ODI_Y": { + "Calibration": "1", + "Description": "ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Y component", + "User": "Advanced" + }, + "COMPASS_ODI_Z": { + "Calibration": "1", + "Description": "ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]", + "DisplayName": "Compass soft-iron off-diagonal Z component", + "User": "Advanced" + }, + "COMPASS_OFFS_MAX": { + "Description": "This sets the maximum allowed compass offset in calibration and arming checks", + "DisplayName": "Compass maximum offset", + "Increment": "1", + "Range": { + "high": "3000", + "low": "500" + }, + "User": "Advanced" + }, + "COMPASS_OFS2_X": { + "Calibration": "1", + "Description": "Offset to be added to compass2's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass2's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS2_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass2's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass2 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_X": { + "Calibration": "1", + "Description": "Offset to be added to compass3's x-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Y": { + "Calibration": "1", + "Description": "Offset to be added to compass3's y-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS3_Z": { + "Calibration": "1", + "Description": "Offset to be added to compass3's z-axis values to compensate for metal in the frame", + "DisplayName": "Compass3 offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_X": { + "Calibration": "1", + "Description": "Offset to be added to the compass x-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the X axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Y": { + "Calibration": "1", + "Description": "Offset to be added to the compass y-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Y axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OFS_Z": { + "Calibration": "1", + "Description": "Offset to be added to the compass z-axis values to compensate for metal in the frame", + "DisplayName": "Compass offsets in milligauss on the Z axis", + "Increment": "1", + "Range": { + "high": "400", + "low": "-400" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "COMPASS_OPTIONS": { + "Bitmask": { + "0": "CalRequireGPS", + "1": "Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)" + }, + "Description": "This sets options to change the behaviour of the compass", + "DisplayName": "Compass options", + "User": "Advanced" + }, + "COMPASS_ORIENT": { + "Description": "The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT2": { + "Description": "The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass2 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_ORIENT3": { + "Description": "The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.", + "DisplayName": "Compass3 orientation", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Yaw45", + "10": "Yaw90Roll180", + "100": "Custom 4.1 and older", + "101": "Custom 1", + "102": "Custom 2", + "11": "Yaw135Roll180", + "12": "Pitch180", + "13": "Yaw225Roll180", + "14": "Yaw270Roll180", + "15": "Yaw315Roll180", + "16": "Roll90", + "17": "Yaw45Roll90", + "18": "Yaw90Roll90", + "19": "Yaw135Roll90", + "2": "Yaw90", + "20": "Roll270", + "21": "Yaw45Roll270", + "22": "Yaw90Roll270", + "23": "Yaw135Roll270", + "24": "Pitch90", + "25": "Pitch270", + "26": "Yaw90Pitch180", + "27": "Yaw270Pitch180", + "28": "Pitch90Roll90", + "29": "Pitch90Roll180", + "3": "Yaw135", + "30": "Pitch90Roll270", + "31": "Pitch180Roll90", + "32": "Pitch180Roll270", + "33": "Pitch270Roll90", + "34": "Pitch270Roll180", + "35": "Pitch270Roll270", + "36": "Yaw90Pitch180Roll90", + "37": "Yaw270Roll90", + "38": "Yaw293Pitch68Roll180", + "39": "Pitch315", + "4": "Yaw180", + "40": "Pitch315Roll90", + "42": "Roll45", + "43": "Roll315", + "5": "Yaw225", + "6": "Yaw270", + "7": "Yaw315", + "8": "Roll180", + "9": "Yaw45Roll180" + } + }, + "COMPASS_PRIO1_ID": { + "Description": "Compass device id with 1st order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 1st order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO2_ID": { + "Description": "Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 2nd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_PRIO3_ID": { + "Description": "Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.", + "DisplayName": "Compass device id with 3rd order priority", + "RebootRequired": "True", + "User": "Advanced" + }, + "COMPASS_SCALE": { + "Description": "Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass1 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE2": { + "Description": "Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass2 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_SCALE3": { + "Description": "Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done", + "DisplayName": "Compass3 scale factor", + "Range": { + "high": "1.3", + "low": "0" + }, + "User": "Standard" + }, + "COMPASS_USE": { + "Description": "Enable or disable the use of the compass (instead of the GPS) for determining heading", + "DisplayName": "Use compass for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE2": { + "Description": "Enable or disable the secondary compass for determining heading.", + "DisplayName": "Compass2 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_USE3": { + "Description": "Enable or disable the tertiary compass for determining heading.", + "DisplayName": "Compass3 used for yaw", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "COMPASS_PMOT": { + "COMPASS_PMOT1_X": { + "Description": "Compensation for X axis of motor1", + "DisplayName": "Compass per-motor1 X", + "User": "Advanced" + }, + "COMPASS_PMOT1_Y": { + "Description": "Compensation for Y axis of motor1", + "DisplayName": "Compass per-motor1 Y", + "User": "Advanced" + }, + "COMPASS_PMOT1_Z": { + "Description": "Compensation for Z axis of motor1", + "DisplayName": "Compass per-motor1 Z", + "User": "Advanced" + }, + "COMPASS_PMOT2_X": { + "Description": "Compensation for X axis of motor2", + "DisplayName": "Compass per-motor2 X", + "User": "Advanced" + }, + "COMPASS_PMOT2_Y": { + "Description": "Compensation for Y axis of motor2", + "DisplayName": "Compass per-motor2 Y", + "User": "Advanced" + }, + "COMPASS_PMOT2_Z": { + "Description": "Compensation for Z axis of motor2", + "DisplayName": "Compass per-motor2 Z", + "User": "Advanced" + }, + "COMPASS_PMOT3_X": { + "Description": "Compensation for X axis of motor3", + "DisplayName": "Compass per-motor3 X", + "User": "Advanced" + }, + "COMPASS_PMOT3_Y": { + "Description": "Compensation for Y axis of motor3", + "DisplayName": "Compass per-motor3 Y", + "User": "Advanced" + }, + "COMPASS_PMOT3_Z": { + "Description": "Compensation for Z axis of motor3", + "DisplayName": "Compass per-motor3 Z", + "User": "Advanced" + }, + "COMPASS_PMOT4_X": { + "Description": "Compensation for X axis of motor4", + "DisplayName": "Compass per-motor4 X", + "User": "Advanced" + }, + "COMPASS_PMOT4_Y": { + "Description": "Compensation for Y axis of motor4", + "DisplayName": "Compass per-motor4 Y", + "User": "Advanced" + }, + "COMPASS_PMOT4_Z": { + "Description": "Compensation for Z axis of motor4", + "DisplayName": "Compass per-motor4 Z", + "User": "Advanced" + }, + "COMPASS_PMOT_EN": { + "Description": "This enables per-motor compass corrections", + "DisplayName": "per-motor compass correction enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "COMPASS_PMOT_EXP": { + "Description": "This is the exponential correction for the power output of the motor for per-motor compass correction", + "DisplayName": "per-motor exponential correction", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + } + }, + "CUST_ROT": { + "CUST_ROT_ENABLE": { + "Description": "This enables custom rotations", + "DisplayName": "Enable Custom rotations", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + } + }, + "CUST_ROT1_": { + "CUST_ROT1_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT1_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "CUST_ROT2_": { + "CUST_ROT2_PITCH": { + "Description": "Custom euler pitch, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom pitch", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_ROLL": { + "Description": "Custom euler roll, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom roll", + "RebootRequired": "True", + "Units": "deg" + }, + "CUST_ROT2_YAW": { + "Description": "Custom euler yaw, euler 321 (yaw, pitch, roll) ordering", + "DisplayName": "Custom yaw", + "RebootRequired": "True", + "Units": "deg" + } + }, + "DDS": { + "DDS_DOMAIN_ID": { + "Description": "Set the ROS_DOMAIN_ID", + "DisplayName": "DDS DOMAIN ID", + "Range": { + "high": "232", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_ENABLE": { + "Description": "Enable DDS subsystem", + "DisplayName": "DDS enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DDS_MAX_RETRY": { + "Description": "The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.", + "DisplayName": "DDS ping max attempts", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "DDS_TIMEOUT_MS": { + "Description": "The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.", + "DisplayName": "DDS ping timeout", + "Increment": "1", + "Range": { + "high": "10000", + "low": "1" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Standard" + }, + "DDS_UDP_PORT": { + "Description": "UDP port number for DDS", + "DisplayName": "DDS UDP port", + "Range": { + "high": "65535", + "low": "1" + }, + "RebootRequired": "True", + "User": "Standard" + } + }, + "DDS_IP": { + "DDS_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "DDS_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "DID_": { + "DID_BARO_ACC": { + "Description": "Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default", + "DisplayName": "Barometer vertical accuraacy", + "Units": "m", + "User": "Advanced" + }, + "DID_CANDRIVER": { + "Description": "DroneCAN driver index, 0 to disable DroneCAN", + "DisplayName": "DroneCAN driver number", + "Values": { + "0": "Disabled", + "1": "Driver1", + "2": "Driver2" + } + }, + "DID_ENABLE": { + "Description": "Enable ODID subsystem", + "DisplayName": "Enable ODID subsystem", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DID_MAVPORT": { + "Description": "Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.", + "DisplayName": "MAVLink serial port", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "DID_OPTIONS": { + "Bitmask": { + "0": "EnforceArming", + "1": "AllowNonGPSPosition", + "2": "LockUASIDOnFirstBasicIDRx" + }, + "Description": "Options for OpenDroneID subsystem", + "DisplayName": "OpenDroneID options" + } + }, + "DOCK": { + "DOCK_DIR": { + "Description": "Compass direction in which vehicle should approach towards dock. -1 value represents unset parameter", + "DisplayName": "Dock mode direction of approach", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "DOCK_HDG_CORR_EN": { + "Description": "When enabled, the autopilot modifies the path to approach the target head-on along desired line of approch in dock mode", + "DisplayName": "Dock mode heading correction enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DOCK_HDG_CORR_WT": { + "Description": "This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach", + "DisplayName": "Dock mode heading correction weight", + "Increment": "0.05", + "Range": { + "high": "0.90", + "low": "0.00" + }, + "User": "Advanced" + }, + "DOCK_SPEED": { + "Description": "Vehicle speed limit in dock mode", + "DisplayName": "Dock mode speed", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "DOCK_STOP_DIST": { + "Description": "The vehicle starts stopping when it is this distance away from docking target", + "DisplayName": "Distance from docking target when we should stop", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Standard" + } + }, + "EAHRS": { + "EAHRS_LOG_RATE": { + "Description": "Logging rate for EARHS devices", + "DisplayName": "AHRS logging rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_OPTIONS": { + "Bitmask": { + "0": "Vector Nav use uncompensated values for accel gyro and mag." + }, + "Description": "External AHRS options bitmask", + "DisplayName": "External AHRS options", + "User": "Standard" + }, + "EAHRS_RATE": { + "Description": "Requested rate for AHRS device", + "DisplayName": "AHRS data rate", + "Units": "Hz", + "User": "Standard" + }, + "EAHRS_SENSORS": { + "Bitmask": { + "0": "GPS", + "1": "IMU", + "2": "Baro", + "3": "Compass" + }, + "Description": "External AHRS sensors bitmask", + "DisplayName": "External AHRS sensors", + "User": "Advanced" + }, + "EAHRS_TYPE": { + "Description": "Type of AHRS device", + "DisplayName": "AHRS type", + "User": "Standard", + "Values": { + "0": "None", + "1": "VectorNav", + "2": "MicroStrain5", + "5": "InertialLabs", + "7": "MicroStrain7" + } + } + }, + "EFI": { + "EFI_COEF1": { + "Description": "Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle", + "DisplayName": "EFI Calibration Coefficient 1", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_COEF2": { + "Description": "Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1", + "DisplayName": "EFI Calibration Coefficient 2", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "EFI_FUEL_DENS": { + "Description": "Used to calculate fuel consumption", + "DisplayName": "ECU Fuel Density", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "kg/m/m/m", + "User": "Advanced" + }, + "EFI_TYPE": { + "Description": "What method of communication is used for EFI #1", + "DisplayName": "EFI communication type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Serial-MS", + "2": "NWPMU", + "3": "Serial-Lutan", + "5": "DroneCAN", + "6": "Currawong-ECU", + "7": "Scripting", + "8": "Hirth", + "9": "MAVLink" + } + } + }, + "EFI_THRLIN": { + "EFI_THRLIN_COEF1": { + "Description": "First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)", + "DisplayName": "Throttle linearisation - First Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF2": { + "Description": "Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)", + "DisplayName": "Throttle linearisation - Second Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_COEF3": { + "Description": "Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)", + "DisplayName": "Throttle linearisation - Third Order", + "Range": { + "high": "1", + "low": "-1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EFI_THRLIN_EN": { + "Description": "Enable EFI throttle linearisation", + "DisplayName": "Enable throttle linearisation", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_THRLIN_OFS": { + "Description": "Offset for throttle linearization ", + "DisplayName": "throttle linearization offset", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "EK2_": { + "EK2_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.005", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK2_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_ALT_SOURCE": { + "Description": "Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).", + "DisplayName": "Primary altitude sensor source", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Use Baro", + "1": "Use Range Finder", + "2": "Use GPS", + "3": "Use Range Beacon" + } + }, + "EK2_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_ENABLE": { + "Description": "This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.", + "DisplayName": "Enable EKF2", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK2_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK2_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK2_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK2_GPS_TYPE": { + "Description": "This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.", + "DisplayName": "GPS mode control", + "User": "Advanced", + "Values": { + "0": "GPS 3D Vel and 2D Pos", + "1": "GPS 2D vel and 2D pos", + "2": "GPS 2D pos", + "3": "No GPS" + } + }, + "EK2_GSCL_P_NSE": { + "Description": "This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.", + "DisplayName": "Rate gyro scale factor stability (1/s)", + "Range": { + "high": "0.001", + "low": "0.000001" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EK2_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK2_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK2_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK2_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.", + "DisplayName": "Magnetometer default fusion mode", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always" + } + }, + "EK2_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK2_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK2_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK2_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK2_OPTIONS": { + "Bitmask": { + "0": "DisableExternalNavigation" + }, + "Description": "optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK2_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK2_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK2_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK2_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK2_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK2_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK2_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK2_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK2_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_": { + "EK3_ABIAS_P_NSE": { + "Description": "This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.", + "DisplayName": "Accelerometer bias stability (m/s^3)", + "Range": { + "high": "0.02", + "low": "0.00001" + }, + "Units": "m/s/s/s", + "User": "Advanced" + }, + "EK3_ACC_BIAS_LIM": { + "Description": "The accelerometer bias state will be limited to +- this value", + "DisplayName": "Accelerometer bias limit", + "Increment": "0.1", + "Range": { + "high": "2.5", + "low": "0.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_ACC_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.", + "DisplayName": "Accelerometer noise (m/s^2)", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_AFFINITY": { + "Bitmask": { + "0": "EnableGPSAffinity", + "1": "EnableBaroAffinity", + "2": "EnableCompassAffinity", + "3": "EnableAirspeedAffinity" + }, + "Description": "These options control the affinity between sensor instances and EKF cores", + "DisplayName": "EKF3 Sensor Affinity Options", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_ALT_M_NSE": { + "Description": "This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.", + "DisplayName": "Altitude measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "100.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BCN_DELAY": { + "Description": "This is the number of msec that the range beacon measurements lag behind the inertial measurements.", + "DisplayName": "Range beacon measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_BCN_I_GTE": { + "Description": "This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range beacon measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_BCN_M_NSE": { + "Description": "This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range beacon measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_BETA_MASK": { + "Bitmask": { + "0": "Always", + "1": "WhenNoYawSensor" + }, + "Description": "1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.", + "DisplayName": "Bitmask controlling sidelip angle fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_CHECK_SCALE": { + "Description": "This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.", + "DisplayName": "GPS accuracy check scaler (%)", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_X": { + "Description": "Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for X axis drag", + "Range": { + "high": "1000.0", + "low": "0.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_BCOEF_Y": { + "Description": "Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.", + "DisplayName": "Ballistic coefficient for Y axis drag", + "Range": { + "high": "1000.0", + "low": "50.0" + }, + "Units": "kg/m/m", + "User": "Advanced" + }, + "EK3_DRAG_MCOEF": { + "Description": "This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.", + "DisplayName": "Momentum coefficient for propeller drag", + "Increment": "0.01", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "Units": "1/s", + "User": "Advanced" + }, + "EK3_DRAG_M_NSE": { + "Description": "This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters", + "DisplayName": "Observation noise for drag acceleration", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.1" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_EAS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Airspeed measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_EAS_M_NSE": { + "Description": "This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.", + "DisplayName": "Equivalent airspeed measurement noise (m/s)", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_ENABLE": { + "Description": "This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.", + "DisplayName": "Enable EKF3", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EK3_ERR_THRESH": { + "Description": "lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences", + "DisplayName": "EKF3 Lane Relative Error Sensitivity Threshold", + "Increment": "0.05", + "Range": { + "high": "1", + "low": "0.05" + }, + "User": "Advanced" + }, + "EK3_FLOW_DELAY": { + "Description": "This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.", + "DisplayName": "Optical Flow measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_FLOW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Optical Flow measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_FLOW_M_NSE": { + "Description": "This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Optical flow measurement noise (rad/s)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_FLOW_USE": { + "Description": "Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.", + "DisplayName": "Optical flow use bitmask", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Navigation", + "2": "Terrain" + } + }, + "EK3_GBIAS_P_NSE": { + "Description": "This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.", + "DisplayName": "Rate gyro bias stability (rad/s/s)", + "Range": { + "high": "0.001", + "low": "0.00001" + }, + "Units": "rad/s/s", + "User": "Advanced" + }, + "EK3_GLITCH_RAD": { + "Description": "This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.", + "DisplayName": "GPS glitch radius gate size (m)", + "Increment": "5", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GND_EFF_DZ": { + "Description": "This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.", + "DisplayName": "Baro height ground effect dead zone", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_GPS_CHECK": { + "Bitmask": { + "0": "NSats", + "1": "HDoP", + "2": "speed error", + "3": "position error", + "4": "yaw error", + "5": "pos drift", + "6": "vert speed", + "7": "horiz speed" + }, + "Description": "This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.", + "DisplayName": "GPS preflight check", + "User": "Advanced" + }, + "EK3_GPS_VACC_MAX": { + "Description": "Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.", + "DisplayName": "GPS vertical accuracy threshold", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.0" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_GSF_RST_MAX": { + "Description": "Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.", + "DisplayName": "Maximum number of resets to the EKF-GSF yaw estimate allowed", + "Increment": "1", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_RUN_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0. ", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators run", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GSF_USE_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.", + "DisplayName": "Bitmask of which EKF-GSF yaw estimators are used", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_GYRO_P_NSE": { + "Description": "This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.", + "DisplayName": "Rate gyro noise (rad/s)", + "Increment": "0.0001", + "Range": { + "high": "0.1", + "low": "0.0001" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_HGT_DELAY": { + "Description": "This is the number of msec that the Height measurements lag behind the inertial measurements.", + "DisplayName": "Height measurement delay (msec)", + "Increment": "10", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "EK3_HGT_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.", + "DisplayName": "Height measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_HRT_FILT": { + "Description": "Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.", + "DisplayName": "Height rate filter crossover frequency", + "Range": { + "high": "30.0", + "low": "0.1" + }, + "Units": "Hz" + }, + "EK3_IMU_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU" + }, + "Description": "1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.", + "DisplayName": "Bitmask of active IMUs", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_LOG_LEVEL": { + "Description": "Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.", + "DisplayName": "Logging Level", + "Increment": "1", + "Range": { + "high": "3", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_MAGB_P_NSE": { + "Description": "This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.", + "DisplayName": "Body magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAGE_P_NSE": { + "Description": "This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.", + "DisplayName": "Earth magnetic field process noise (gauss/s)", + "Range": { + "high": "0.01", + "low": "0.00001" + }, + "Units": "Gauss/s", + "User": "Advanced" + }, + "EK3_MAG_CAL": { + "Description": "This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.", + "DisplayName": "Magnetometer default fusion mode", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "When flying", + "1": "When manoeuvring", + "2": "Never", + "3": "After first climb yaw reset", + "4": "Always", + "5": "Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)", + "6": "External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)" + } + }, + "EK3_MAG_EF_LIM": { + "Description": "This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.", + "DisplayName": "EarthField error limit", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "mGauss", + "User": "Advanced" + }, + "EK3_MAG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Magnetometer measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_MAG_MASK": { + "Bitmask": { + "0": "FirstEKF", + "1": "SecondEKF", + "2": "ThirdEKF", + "3": "FourthEKF", + "4": "FifthEKF", + "5": "SixthEKF" + }, + "Description": "1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.", + "DisplayName": "Bitmask of active EKF cores that will always use heading fusion", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_MAG_M_NSE": { + "Description": "This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Magnetometer measurement noise (Gauss)", + "Increment": "0.01", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "Units": "Gauss", + "User": "Advanced" + }, + "EK3_MAX_FLOW": { + "Description": "This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter", + "DisplayName": "Maximum valid optical flow rate", + "Increment": "0.1", + "Range": { + "high": "4.0", + "low": "1.0" + }, + "Units": "rad/s", + "User": "Advanced" + }, + "EK3_NOAID_M_NSE": { + "Description": "This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.", + "DisplayName": "Non-GPS operation position uncertainty (m)", + "Range": { + "high": "50.0", + "low": "0.5" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_OGNM_TEST_SF": { + "Description": "This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.", + "DisplayName": "On ground not moving test scale factor", + "Increment": "0.5", + "Range": { + "high": "10.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "EK3_OGN_HGT_MASK": { + "Bitmask": { + "0": "Correct when using Baro height", + "1": "Correct when using range finder height", + "2": "Apply corrections to local position" + }, + "Description": "When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).", + "DisplayName": "Bitmask control of EKF reference height correction", + "RebootRequired": "True", + "User": "Advanced" + }, + "EK3_OPTIONS": { + "Bitmask": { + "0": "JammingExpected" + }, + "Description": "This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad", + "DisplayName": "Optional EKF behaviour", + "User": "Advanced" + }, + "EK3_POSNE_M_NSE": { + "Description": "This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.", + "DisplayName": "GPS horizontal position measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_POS_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS position measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_PRIMARY": { + "Description": "The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.", + "DisplayName": "Primary core number", + "Increment": "1", + "Range": { + "high": "2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_RNG_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Range finder measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_RNG_M_NSE": { + "Description": "This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.", + "DisplayName": "Range finder measurement noise (m)", + "Increment": "0.1", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "EK3_RNG_USE_HGT": { + "Description": "Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.", + "DisplayName": "Range finder switch height percentage", + "Increment": "1", + "Range": { + "high": "70", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "EK3_RNG_USE_SPD": { + "Description": "The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.", + "DisplayName": "Range finder max ground speed", + "Increment": "0.5", + "Range": { + "high": "6.0", + "low": "2.0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_TAU_OUTPUT": { + "Description": "Sets the time constant of the output complementary filter/predictor in centi-seconds.", + "DisplayName": "Output complementary filter time constant (centi-sec)", + "Increment": "5", + "Range": { + "high": "50", + "low": "10" + }, + "Units": "cs", + "User": "Advanced" + }, + "EK3_TERR_GRAD": { + "Description": "Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference", + "DisplayName": "Maximum terrain gradient", + "Increment": "0.01", + "Range": { + "high": "0.2", + "low": "0" + }, + "User": "Advanced" + }, + "EK3_VELD_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.", + "DisplayName": "GPS vertical velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VELNE_M_NSE": { + "Description": "This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.", + "DisplayName": "GPS horizontal velocity measurement noise (m/s)", + "Increment": "0.05", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VEL_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.", + "DisplayName": "GPS velocity innovation gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_VIS_VERR_MAX": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry maximum velocity error", + "Increment": "0.1", + "Range": { + "high": "5.0", + "low": "0.5" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_VIS_VERR_MIN": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.", + "DisplayName": "Visual odometry minimum velocity error", + "Increment": "0.05", + "Range": { + "high": "0.5", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WENC_VERR": { + "Description": "This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.", + "DisplayName": "Wheel odometry velocity error", + "Increment": "0.1", + "Range": { + "high": "1.0", + "low": "0.01" + }, + "Units": "m/s", + "User": "Advanced" + }, + "EK3_WIND_PSCALE": { + "Description": "This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.", + "DisplayName": "Height rate to wind process noise scaler", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "EK3_WIND_P_NSE": { + "Description": "This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.", + "DisplayName": "Wind velocity process noise (m/s^2)", + "Increment": "0.1", + "Range": { + "high": "2.0", + "low": "0.01" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "EK3_YAW_I_GATE": { + "Description": "This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.", + "DisplayName": "Yaw measurement gate size", + "Increment": "25", + "Range": { + "high": "1000", + "low": "100" + }, + "User": "Advanced" + }, + "EK3_YAW_M_NSE": { + "Description": "This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.", + "DisplayName": "Yaw measurement noise (rad)", + "Increment": "0.05", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "EK3_SRC": { + "EK3_SRC1_POSXY": { + "Description": "Position Horizontal Source (Primary)", + "DisplayName": "Position Horizontal Source (Primary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_POSZ": { + "Description": "Position Vertical Source", + "DisplayName": "Position Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_VELXY": { + "Description": "Velocity Horizontal Source", + "DisplayName": "Velocity Horizontal Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC1_VELZ": { + "Description": "Velocity Vertical Source", + "DisplayName": "Velocity Vertical Source", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC1_YAW": { + "Description": "Yaw Source", + "DisplayName": "Yaw Source", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC2_POSXY": { + "Description": "Position Horizontal Source (Secondary)", + "DisplayName": "Position Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_POSZ": { + "Description": "Position Vertical Source (Secondary)", + "DisplayName": "Position Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_VELXY": { + "Description": "Velocity Horizontal Source (Secondary)", + "DisplayName": "Velocity Horizontal Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC2_VELZ": { + "Description": "Velocity Vertical Source (Secondary)", + "DisplayName": "Velocity Vertical Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC2_YAW": { + "Description": "Yaw Source (Secondary)", + "DisplayName": "Yaw Source (Secondary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC3_POSXY": { + "Description": "Position Horizontal Source (Tertiary)", + "DisplayName": "Position Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_POSZ": { + "Description": "Position Vertical Source (Tertiary)", + "DisplayName": "Position Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Baro", + "2": "RangeFinder", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_VELXY": { + "Description": "Velocity Horizontal Source (Tertiary)", + "DisplayName": "Velocity Horizontal Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "5": "OpticalFlow", + "6": "ExternalNav", + "7": "WheelEncoder" + } + }, + "EK3_SRC3_VELZ": { + "Description": "Velocity Vertical Source (Tertiary)", + "DisplayName": "Velocity Vertical Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "3": "GPS", + "4": "Beacon", + "6": "ExternalNav" + } + }, + "EK3_SRC3_YAW": { + "Description": "Yaw Source (Tertiary)", + "DisplayName": "Yaw Source (Tertiary)", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Compass", + "2": "GPS", + "3": "GPS with Compass Fallback", + "6": "ExternalNav", + "8": "GSF" + } + }, + "EK3_SRC_OPTIONS": { + "Bitmask": { + "0": "FuseAllVelocities", + "1": "AlignExtNavPosWhenUsingOptFlow" + }, + "Description": "EKF Source Options", + "DisplayName": "EKF Source Options", + "User": "Advanced" + } + }, + "ESC_TLM": { + "ESC_TLM_MAV_OFS": { + "Description": "Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets", + "DisplayName": "ESC Telemetry mavlink offset", + "Increment": "1", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + } + }, + "FENCE_": { + "FENCE_ACTION": { + "Description": "What action should be taken when fence is breached", + "DisplayName": "Fence Action", + "User": "Standard", + "Values": { + "0": "Report Only", + "1": "RTL or Hold", + "2": "Hold", + "3": "SmartRTL or RTL or Hold", + "4": "SmartRTL or Hold" + } + }, + "FENCE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.", + "DisplayName": "Fence enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FENCE_MARGIN": { + "Description": "Distance that autopilot's should maintain from the fence to avoid a breach", + "DisplayName": "Fence Margin", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_RADIUS": { + "Description": "Circle fence radius which when breached will cause an RTL", + "DisplayName": "Circular Fence Radius", + "Range": { + "high": "10000", + "low": "30" + }, + "Units": "m", + "User": "Standard" + }, + "FENCE_TOTAL": { + "Description": "Number of polygon points saved in eeprom (do not update manually)", + "DisplayName": "Fence polygon point total", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "FENCE_TYPE": { + "Bitmask": { + "1": "Circle Centered on Home", + "2": "Inclusion/Exclusion Circles+Polygons" + }, + "Description": "Configured fence types held as bitmask. Max altitide, Circle and Polygon fences will be immediately enabled if configured. Min altitude fence will only be enabled once the minimum altitude is reached.", + "DisplayName": "Fence Type", + "User": "Standard" + } + }, + "FFT_": { + "FFT_ATT_REF": { + "Description": "FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.", + "DisplayName": "FFT attenuation for bandwidth calculation", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_BW_HOVER": { + "Description": "FFT learned bandwidth at hover for the attenuation frequencies.", + "DisplayName": "FFT learned bandwidth at hover", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_ENABLE": { + "Description": "Enable Gyro FFT analyser", + "DisplayName": "Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FFT_FREQ_HOVER": { + "Description": "The learned hover noise frequency", + "DisplayName": "FFT learned hover frequency", + "Range": { + "high": "250", + "low": "0" + }, + "User": "Advanced" + }, + "FFT_HMNC_FIT": { + "Description": "FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.", + "DisplayName": "FFT harmonic fit frequency threshold", + "Range": { + "high": "100", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_HMNC_PEAK": { + "Description": "The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).", + "DisplayName": "FFT harmonic peak target", + "User": "Advanced", + "Values": { + "0": "Auto", + "1": "Center Frequency", + "2": "Lower-Shoulder Frequency", + "3": "Upper-Shoulder Frequency", + "4": "Roll-Axis", + "5": "Pitch-Axis" + } + }, + "FFT_MAXHZ": { + "Description": "Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.", + "DisplayName": "Maximum Frequency", + "Range": { + "high": "495", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_MINHZ": { + "Description": "Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.", + "DisplayName": "Minimum Frequency", + "Range": { + "high": "400", + "low": "20" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FFT_NUM_FRAMES": { + "Description": "Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.", + "DisplayName": "FFT output frames to retain and average", + "Range": { + "high": "8", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_OPTIONS": { + "Bitmask": { + "0": "Enable post-filter FFT", + "1": "Check motor noise" + }, + "Description": "FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference", + "DisplayName": "FFT options", + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SAMPLE_MODE": { + "Description": "Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.", + "DisplayName": "Sample Mode", + "Range": { + "high": "4", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_SNR_REF": { + "Description": "FFT SNR reference threshold in dB at which a signal is determined to be present.", + "DisplayName": "FFT SNR reference threshold", + "Range": { + "high": "100.0", + "low": "0.0" + }, + "User": "Advanced" + }, + "FFT_THR_REF": { + "Description": "FFT learned thrust reference for the hover frequency and FFT minimum frequency.", + "DisplayName": "FFT learned thrust reference", + "Range": { + "high": "0.9", + "low": "0.01" + }, + "User": "Advanced" + }, + "FFT_WINDOW_OLAP": { + "Description": "Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.", + "DisplayName": "FFT window overlap", + "Range": { + "high": "0.9", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "FFT_WINDOW_SIZE": { + "Description": "Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.", + "DisplayName": "FFT window size", + "Range": { + "high": "1024", + "low": "32" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "FILT1_": { + "FILT1_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT1_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT1_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT1_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT2_": { + "FILT2_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT2_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT2_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT2_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT3_": { + "FILT3_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT3_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT3_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT3_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT4_": { + "FILT4_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT4_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT4_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT4_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT5_": { + "FILT5_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT5_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT5_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT5_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT6_": { + "FILT6_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT6_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT6_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT6_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT7_": { + "FILT7_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT7_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT7_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT7_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FILT8_": { + "FILT8_NOTCH_ATT": { + "Description": "Notch Filter attenuation in dB.", + "DisplayName": "Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "FILT8_NOTCH_FREQ": { + "Description": "Notch Filter center frequency in Hz.", + "DisplayName": "Notch Filter center frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "FILT8_NOTCH_Q": { + "Description": "Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.", + "DisplayName": "Notch Filter quality factor", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced" + }, + "FILT8_TYPE": { + "Description": "Filter Type", + "DisplayName": "Filter Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Notch Filter" + } + } + }, + "FLOW": { + "FLOW_ADDR": { + "Description": "This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.", + "DisplayName": "Address on the bus", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Advanced" + }, + "FLOW_FXSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "X axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_FYSCALER": { + "Description": "This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.", + "DisplayName": "Y axis optical flow scale factor correction", + "Increment": "1", + "Range": { + "high": "+800", + "low": "-800" + }, + "User": "Standard" + }, + "FLOW_HGT_OVR": { + "Description": "This is used in rover vehicles, where the sensor is a fixed height above the ground", + "DisplayName": "Height override of sensor above ground", + "Increment": "0.01", + "Range": { + "high": "2", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_ORIENT_YAW": { + "Description": "Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.", + "DisplayName": "Flow sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "+18000", + "low": "-17999" + }, + "Units": "cdeg", + "User": "Standard" + }, + "FLOW_POS_X": { + "Description": "X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Y": { + "Description": "Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_POS_Z": { + "Description": "Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "FLOW_TYPE": { + "Description": "Optical flow sensor type", + "DisplayName": "Optical flow sensor type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "PX4Flow", + "2": "Pixart", + "3": "Bebop", + "4": "CXOF", + "5": "MAVLink", + "6": "DroneCAN", + "7": "MSP", + "8": "UPFLOW" + } + } + }, + "FOLL": { + "FOLL_ALT_TYPE": { + "Description": "Follow altitude type", + "DisplayName": "Follow altitude type", + "User": "Standard", + "Values": { + "0": "absolute", + "1": "relative" + } + }, + "FOLL_DIST_MAX": { + "Description": "Follow distance maximum. targets further than this will be ignored", + "DisplayName": "Follow distance maximum", + "Range": { + "high": "1000", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_ENABLE": { + "Description": "Enabled/disable following a target", + "DisplayName": "Follow enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "FOLL_OFS_TYPE": { + "Description": "Follow offset type", + "DisplayName": "Follow offset type", + "User": "Standard", + "Values": { + "0": "North-East-Down", + "1": "Relative to lead vehicle heading" + } + }, + "FOLL_OFS_X": { + "Description": "Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters north/forward", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Y": { + "Description": "Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE", + "DisplayName": "Follow offsets in meters east/right", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OFS_Z": { + "Description": "Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle", + "DisplayName": "Follow offsets in meters down", + "Increment": "1", + "Range": { + "high": "100", + "low": "-100" + }, + "Units": "m", + "User": "Standard" + }, + "FOLL_OPTIONS": { + "Description": "Follow options bitmask", + "DisplayName": "Follow options", + "User": "Standard", + "Values": { + "0": "None", + "1": "Mount Follows lead vehicle on mode enter" + } + }, + "FOLL_POS_P": { + "Description": "Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller", + "DisplayName": "Follow position error P gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.01" + }, + "User": "Standard" + }, + "FOLL_SYSID": { + "Description": "Follow target's mavlink system id", + "DisplayName": "Follow target's mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "FOLL_YAW_BEHAVE": { + "Description": "Follow yaw behaviour", + "DisplayName": "Follow yaw behaviour", + "User": "Standard", + "Values": { + "0": "None", + "1": "Face Lead Vehicle", + "2": "Same as Lead vehicle", + "3": "Direction of Flight" + } + } + }, + "FRSKY_": { + "FRSKY_DNLINK1_ID": { + "Description": "Change the first extra downlink sensor id (SPort only)", + "DisplayName": "First downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK2_ID": { + "Description": "Change the second extra downlink sensor id (SPort only)", + "DisplayName": "Second downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_DNLINK_ID": { + "Description": "Change the default downlink sensor id (SPort only)", + "DisplayName": "Default downlink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "27": "27", + "7": "7", + "8": "8", + "9": "9" + } + }, + "FRSKY_OPTIONS": { + "Bitmask": { + "0": "EnableAirspeedAndGroundspeed" + }, + "Description": "A bitmask to set some FRSky Telemetry specific options", + "DisplayName": "FRSky Telemetry Options", + "User": "Standard" + }, + "FRSKY_UPLINK_ID": { + "Description": "Change the uplink sensor id (SPort only)", + "DisplayName": "Uplink sensor id", + "User": "Advanced", + "Values": { + "-1": "Disable", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "15": "15", + "16": "16", + "17": "17", + "18": "18", + "19": "19", + "20": "20", + "21": "21", + "22": "22", + "23": "23", + "24": "24", + "25": "25", + "26": "26", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "GEN_": { + "GEN_OPTIONS": { + "Bitmask": { + "0": "Suppress Maintenance-Required Warnings" + }, + "Description": "Bitmask of options for generators", + "DisplayName": "Generator Options", + "User": "Standard" + }, + "GEN_TYPE": { + "Description": "Generator type", + "DisplayName": "Generator type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "IE 650w 800w Fuel Cell", + "2": "IE 2.4kW Fuel Cell", + "3": "Richenpower" + } + } + }, + "GPS": { + "GPS_AUTO_CONFIG": { + "Description": "Controls if the autopilot should automatically configure the GPS based on the parameters and default settings", + "DisplayName": "Automatic GPS configuration", + "User": "Advanced", + "Values": { + "0": "Disables automatic configuration", + "1": "Enable automatic configuration for Serial GPSes only", + "2": "Enable automatic configuration for DroneCAN as well" + } + }, + "GPS_AUTO_SWITCH": { + "Description": "Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary", + "DisplayName": "Automatic Switchover Setting", + "User": "Advanced", + "Values": { + "0": "Use primary", + "1": "UseBest", + "2": "Blend", + "4": "Use primary if 3D fix or better" + } + }, + "GPS_BLEND_MASK": { + "Bitmask": { + "0": "Horiz Pos", + "1": "Vert Pos", + "2": "Speed" + }, + "Description": "Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)", + "DisplayName": "Multi GPS Blending Mask", + "User": "Advanced" + }, + "GPS_CAN_NODEID1": { + "Description": "GPS Node id for first-discovered GPS.Renamed in 4.6 and later to GPS1_CAN_NODEID.", + "DisplayName": "GPS Node ID 1", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_CAN_NODEID2": { + "Description": "GPS Node id for second-discovered GPS.Renamed in 4.6 and later to GPS2_CAN_NODEID.", + "DisplayName": "GPS Node ID 2", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS,Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS_COM_PORT2": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS.Renamed in 4.6 and later to GPS1_COM_PORT.", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "GPS_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS1_DELAY_MS.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DELAY_MS2": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.Renamed in 4.6 and later to GPS2_DELAY_MS.", + "DisplayName": "GPS 2 delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS_DRV_OPTIONS": { + "Bitmask": { + "0": "Use UART2 for moving baseline on ublox", + "1": "Use base station for GPS yaw on SBF", + "2": "Use baudrate 115200", + "3": "Use dedicated CAN port b/w GPSes for moving baseline", + "4": "Use ellipsoid height instead of AMSL", + "5": "Override GPS satellite health of L5 band from L1 health", + "6": "Enable RTCM full parse even for a single channel", + "7": "Disable automatic full RTCM parsing when RTCM seen on more than one channel" + }, + "Description": "Additional backend specific options", + "DisplayName": "driver options", + "User": "Advanced" + }, + "GPS_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured).Renamed in 4.6 and later to GPS1_GNSS_MODE.", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS_GNSS_MODE2": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured). Renamed in 4.6 and later to GPS2_GNSS_MODE", + "DisplayName": "GNSS system configuration.", + "User": "Advanced" + }, + "GPS_INJECT_TO": { + "Description": "The GGS can send raw serial packets to inject data to multiple GPSes.", + "DisplayName": "Destination for GPS_INJECT_DATA MAVLink packets", + "User": "Advanced", + "Values": { + "0": "send to first GPS", + "1": "send to 2nd GPS", + "127": "send to all" + } + }, + "GPS_MIN_ELEV": { + "Description": "This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.", + "DisplayName": "Minimum elevation", + "Range": { + "high": "90", + "low": "-100" + }, + "Units": "deg", + "User": "Advanced" + }, + "GPS_NAVFILTER": { + "Description": "Navigation filter engine setting", + "DisplayName": "Navigation filter setting", + "User": "Advanced", + "Values": { + "0": "Portable", + "2": "Stationary", + "3": "Pedestrian", + "4": "Automotive", + "5": "Sea", + "6": "Airborne1G", + "7": "Airborne2G", + "8": "Airborne4G" + } + }, + "GPS_POS1_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS1_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS1_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_X": { + "Description": "X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_X.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Y": { + "Description": "Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Y.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_POS2_Z": { + "Description": "Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.Renamed in 4.6 and later to GPS2_POS_Z.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_PRIMARY": { + "Description": "This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.", + "DisplayName": "Primary GPS", + "Increment": "1", + "User": "Advanced", + "Values": { + "0": "FirstGPS", + "1": "SecondGPS" + } + }, + "GPS_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS1_RATE_MS", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RATE_MS2": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.Renamed in 4.6 and later to GPS2_RATE_MS", + "DisplayName": "GPS 2 update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS_RAW_DATA": { + "Description": "Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming", + "DisplayName": "Raw data logging", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Ignore", + "1": "Always log", + "2": "Stop logging when disarmed (SBF only)", + "5": "Only log every five samples (uBlox only)" + } + }, + "GPS_SAVE_CFG": { + "Description": "Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.", + "DisplayName": "Save GPS configuration", + "User": "Advanced", + "Values": { + "0": "Do not save config", + "1": "Save config", + "2": "Save only when needed" + } + }, + "GPS_SBAS_MODE": { + "Description": "This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.", + "DisplayName": "SBAS Mode", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "NoChange" + } + }, + "GPS_SBP_LOGMASK": { + "Description": "Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged", + "DisplayName": "Swift Binary Protocol Logging Mask", + "User": "Advanced", + "Values": { + "-1": "All (0xFFFF)", + "-256": "External only (0xFF00)", + "0": "None (0x0000)" + } + }, + "GPS_TYPE": { + "Description": "GPS type of 1st GPS.Renamed in 4.6 and later to GPS1_TYPE", + "DisplayName": "1st GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + }, + "GPS_TYPE2": { + "Description": "GPS type of 2nd GPS", + "DisplayName": "2nd GPS type.Renamed in 4.6 to GPS2_TYPE", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "SBF", + "11": "GSOF", + "13": "ERB", + "14": "MAV", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "SBF-DualAntenna", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_": { + "GPS1_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS1_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS1_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS1_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS1_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS1_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS1_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS1_MB_": { + "GPS1_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS1_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS2_": { + "GPS2_CAN_NODEID": { + "Description": "GPS Node id for GPS. Detected node unless CAN_OVRIDE is set", + "DisplayName": "Detected CAN Node ID for GPS", + "ReadOnly": "True", + "User": "Advanced" + }, + "GPS2_CAN_OVRIDE": { + "Description": "GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.", + "DisplayName": "DroneCAN GPS NODE ID", + "User": "Advanced" + }, + "GPS2_COM_PORT": { + "Description": "The physical COM port on the connected device, currently only applies to SBF and GSOF GPS", + "DisplayName": "GPS physical COM port", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "COM1(RS232) on GSOF", + "1": "COM2(TTL) on GSOF" + } + }, + "GPS2_DELAY_MS": { + "Description": "Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.", + "DisplayName": "GPS delay in milliseconds", + "Range": { + "high": "250", + "low": "0" + }, + "RebootRequired": "True", + "Units": "ms", + "User": "Advanced" + }, + "GPS2_GNSS_MODE": { + "Bitmask": { + "0": "GPS", + "1": "SBAS", + "2": "Galileo", + "3": "Beidou", + "4": "IMES", + "5": "QZSS", + "6": "GLONASS" + }, + "Description": "Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)", + "DisplayName": "GNSS system configuration", + "User": "Advanced" + }, + "GPS2_POS_X": { + "Description": "X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Y": { + "Description": "Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_POS_Z": { + "Description": "Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.", + "DisplayName": "Antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_RATE_MS": { + "Description": "Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.", + "DisplayName": "GPS update rate in milliseconds", + "Range": { + "high": "200", + "low": "50" + }, + "Units": "ms", + "User": "Advanced", + "Values": { + "100": "10Hz", + "125": "8Hz", + "200": "5Hz" + } + }, + "GPS2_TYPE": { + "Description": "GPS type", + "DisplayName": "GPS type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "AUTO", + "10": "Septentrio(SBF)", + "11": "Trimble(GSOF)", + "13": "ERB", + "14": "MAVLink", + "15": "NOVA", + "16": "HemisphereNMEA", + "17": "uBlox-MovingBaseline-Base", + "18": "uBlox-MovingBaseline-Rover", + "19": "MSP", + "2": "uBlox", + "20": "AllyStar", + "21": "ExternalAHRS", + "22": "DroneCAN-MovingBaseline-Base", + "23": "DroneCAN-MovingBaseline-Rover", + "24": "UnicoreNMEA", + "25": "UnicoreMovingBaselineNMEA", + "26": "Septentrio-DualAntenna(SBF)", + "5": "NMEA", + "6": "SiRF", + "7": "HIL", + "8": "SwiftNav", + "9": "DroneCAN" + } + } + }, + "GPS2_MB_": { + "GPS2_MB_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS2_MB_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB1_": { + "GPS_MB1_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB1_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GPS_MB2_": { + "GPS_MB2_OFS_X": { + "Description": "X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.", + "DisplayName": "Base antenna X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Y": { + "Description": "Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.", + "DisplayName": "Base antenna Y position offset ", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_OFS_Z": { + "Description": "Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.", + "DisplayName": "Base antenna Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "GPS_MB2_TYPE": { + "Description": "Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.", + "DisplayName": "Moving base type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Relative to alternate GPS instance", + "1": "RelativeToCustomBase" + } + } + }, + "GRIP_": { + "GRIP_AUTOCLOSE": { + "Description": "Time in seconds that gripper close the gripper after opening; 0 to disable", + "DisplayName": "Gripper Autoclose time", + "Range": { + "high": "255", + "low": "0.25" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_CAN_ID": { + "Description": "Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface", + "DisplayName": "EPM UAVCAN Hardpoint ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "GRIP_ENABLE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Enable/Disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "GRIP_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_NEUTRAL": { + "Description": "PWM value in microseconds sent to grabber when not grabbing or releasing", + "DisplayName": "Neutral PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_REGRAB": { + "Description": "Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable", + "DisplayName": "EPM Gripper Regrab interval", + "Range": { + "high": "255", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "GRIP_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "GRIP_TYPE": { + "Description": "Gripper enable/disable", + "DisplayName": "Gripper Type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "2": "EPM" + } + } + }, + "INS": { + "INS_ACC1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 1st accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer2 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC2SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer2 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 2nd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC2_ID": { + "Description": "Accelerometer2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACC3OFFS_X": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3OFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer3 offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACC3SCAL_X": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3SCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer3 scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd accelerometer was calibrated at", + "DisplayName": "Calibration temperature for 3rd accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS_ACC3_ID": { + "Description": "Accelerometer3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ACCEL_FILTER": { + "Description": "Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Accel filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS_ACC_BODYFIX": { + "Description": "The body-fixed accelerometer to be used for trim calculation", + "DisplayName": "Body-fixed accelerometer", + "User": "Advanced", + "Values": { + "1": "IMU 1", + "2": "IMU 2", + "3": "IMU 3" + } + }, + "INS_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_ENABLE_MASK": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU", + "3": "FourthIMU", + "4": "FifthIMU", + "5": "SixthIMU", + "6": "SeventhIMU" + }, + "Description": "Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs", + "DisplayName": "IMU enable mask", + "User": "Advanced" + }, + "INS_FAST_SAMPLE": { + "Bitmask": { + "0": "FirstIMU", + "1": "SecondIMU", + "2": "ThirdIMU" + }, + "Description": "Mask of IMUs to enable fast sampling on, if available", + "DisplayName": "Fast sampling mask", + "User": "Advanced" + }, + "INS_GYR1_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 1st gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 1st gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2OFFS_X": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Y": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2OFFS_Z": { + "Calibration": "1", + "Description": "Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro2 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR2_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 2nd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 2nd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR2_ID": { + "Description": "Gyro2 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro2 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYR3OFFS_X": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Y": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3OFFS_Z": { + "Calibration": "1", + "Description": "Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro3 offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYR3_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the 3rd gyroscope was calibrated at", + "DisplayName": "Calibration temperature for 3rd gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS_GYR3_ID": { + "Description": "Gyro3 sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro3 ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS_GYRO_FILTER": { + "Description": "Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)", + "DisplayName": "Gyro filter cutoff frequency", + "Range": { + "high": "256", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_GYRO_RATE": { + "Description": "Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.", + "DisplayName": "Gyro rate for IMUs with Fast Sampling enabled", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "1kHz", + "1": "2kHz", + "2": "4kHz", + "3": "8kHz" + } + }, + "INS_GYR_CAL": { + "Description": "Conrols when automatic gyro calibration is performed", + "DisplayName": "Gyro Calibration scheme", + "User": "Advanced", + "Values": { + "0": "Never", + "1": "Start-up only" + } + }, + "INS_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS_POS1_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS1_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_X": { + "Description": "X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Y": { + "Description": "Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS2_Z": { + "Description": "Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_X": { + "Description": "X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Range": { + "high": "10", + "low": "-10" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Y": { + "Description": "Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_POS3_Z": { + "Description": "Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS_RAW_LOG_OPT": { + "Bitmask": { + "0": "Log primary gyro only", + "1": "Log all gyros", + "2": "Post filter", + "3": "Pre and post filter" + }, + "Description": "Raw logging options bitmask", + "DisplayName": "Raw logging options", + "User": "Advanced" + }, + "INS_STILL_THRESH": { + "Description": "Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5", + "DisplayName": "Stillness threshold for detecting if we are moving", + "Range": { + "high": "50", + "low": "0.05" + }, + "User": "Advanced" + }, + "INS_TCAL_OPTIONS": { + "Bitmask": { + "0": "PersistTemps", + "1": "PersistAccels" + }, + "Description": "This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.", + "DisplayName": "Options for temperature calibration", + "User": "Advanced" + }, + "INS_TRIM_OPTION": { + "Description": "Specifies how the accel cal routine determines the trims", + "DisplayName": "Accel cal trim option", + "User": "Advanced", + "Values": { + "0": "Don't adjust the trims", + "1": "Assume first orientation was level", + "2": "Assume ACC_BODYFIX is perfectly aligned to the vehicle" + } + }, + "INS_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE2": { + "Description": "Use second IMU for attitude, velocity and position estimates", + "DisplayName": "Use second IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_USE3": { + "Description": "Use third IMU for attitude, velocity and position estimates", + "DisplayName": "Use third IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_": { + "INS4_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS4_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS4_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS4_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS4_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS4_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS4_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS4_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS4_TCAL_": { + "INS4_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS4_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS4_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS4_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS4_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS5_": { + "INS5_ACCOFFS_X": { + "Calibration": "1", + "Description": "Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of X axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Y": { + "Calibration": "1", + "Description": "Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Y axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCOFFS_Z": { + "Calibration": "1", + "Description": "Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations", + "DisplayName": "Accelerometer offsets of Z axis", + "Range": { + "high": "3.5", + "low": "-3.5" + }, + "Units": "m/s/s", + "User": "Advanced" + }, + "INS5_ACCSCAL_X": { + "Calibration": "1", + "Description": "Accelerometer scaling of X axis. Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of X axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Y": { + "Calibration": "1", + "Description": "Accelerometer scaling of Y axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Y axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACCSCAL_Z": { + "Calibration": "1", + "Description": "Accelerometer scaling of Z axis Calculated during acceleration calibration routine", + "DisplayName": "Accelerometer scaling of Z axis", + "Range": { + "high": "1.2", + "low": "0.8" + }, + "User": "Advanced" + }, + "INS5_ACC_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the accelerometer was calibrated at", + "DisplayName": "Calibration temperature for accelerometer", + "Units": "degC", + "User": "Advanced" + }, + "INS5_ACC_ID": { + "Description": "Accelerometer sensor ID, taking into account its type, bus and instance", + "DisplayName": "Accelerometer ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_GYROFFS_X": { + "Calibration": "1", + "Description": "Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Y": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYROFFS_Z": { + "Calibration": "1", + "Description": "Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations", + "DisplayName": "Gyro offsets of Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "INS5_GYR_CALTEMP": { + "Calibration": "1", + "Description": "Temperature that the gyroscope was calibrated at", + "DisplayName": "Calibration temperature for gyroscope", + "Units": "degC", + "User": "Advanced" + }, + "INS5_GYR_ID": { + "Description": "Gyro sensor ID, taking into account its type, bus and instance", + "DisplayName": "Gyro ID", + "ReadOnly": "True", + "User": "Advanced" + }, + "INS5_POS_X": { + "Description": "X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer X position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Y": { + "Description": "Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Y position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_POS_Z": { + "Description": "Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.", + "DisplayName": "IMU accelerometer Z position", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "INS5_USE": { + "Description": "Use first IMU for attitude, velocity and position estimates", + "DisplayName": "Use first IMU for attitude, velocity and position estimates", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "INS5_TCAL_": { + "INS5_TCAL_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS5_TCAL_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS5_TCAL_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS5_TCAL_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS5_TCAL_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_HNTC2_": { + "INS_HNTC2_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTC2_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTC2_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTC2_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTC2_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTC2_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTC2_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_HNTCH_": { + "INS_HNTCH_ATT": { + "Description": "Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.", + "DisplayName": "Harmonic Notch Filter attenuation", + "Range": { + "high": "50", + "low": "5" + }, + "Units": "dB", + "User": "Advanced" + }, + "INS_HNTCH_BW": { + "Description": "Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.", + "DisplayName": "Harmonic Notch Filter bandwidth", + "Range": { + "high": "250", + "low": "5" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_ENABLE": { + "Description": "Harmonic Notch Filter enable", + "DisplayName": "Harmonic Notch Filter enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "INS_HNTCH_FM_RAT": { + "Description": "The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.", + "DisplayName": "Throttle notch min freqency ratio", + "Range": { + "high": "1.0", + "low": "0.1" + }, + "User": "Advanced" + }, + "INS_HNTCH_FREQ": { + "Description": "Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz). ", + "DisplayName": "Harmonic Notch Filter base frequency", + "Range": { + "high": "495", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "INS_HNTCH_HMNCS": { + "Bitmask": { + "0": "1st harmonic", + "1": "2nd harmonic", + "10": "11th harmonic", + "11": "12th harmonic", + "12": "13th harmonic", + "13": "14th harmonic", + "14": "15th harmonic", + "15": "16th harmonic", + "2": "3rd harmonic", + "3": "4th harmonic", + "4": "5th harmonic", + "5": "6th harmonic", + "6": "7th harmonic", + "7": "8th harmonic", + "8": "9th harmonic", + "9": "10th harmonic" + }, + "Description": "Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.", + "DisplayName": "Harmonic Notch Filter harmonics", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_MODE": { + "Description": "Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.", + "DisplayName": "Harmonic Notch Filter dynamic frequency tracking mode", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced", + "Values": { + "0": "Fixed", + "1": "Throttle", + "2": "RPM Sensor", + "3": "ESC Telemetry", + "4": "Dynamic FFT", + "5": "Second RPM Sensor" + } + }, + "INS_HNTCH_OPTS": { + "Bitmask": { + "0": "Double notch", + "1": "Multi-Source", + "2": "Update at loop rate", + "3": "EnableOnAllIMUs", + "4": "Triple notch", + "5": "Use min freq on RPM source failure" + }, + "Description": "Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.", + "DisplayName": "Harmonic Notch Filter options", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_HNTCH_REF": { + "Description": "A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.", + "DisplayName": "Harmonic Notch Filter reference value", + "Range": { + "high": "1.0", + "low": "0.0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "INS_LOG_": { + "INS_LOG_BAT_CNT": { + "Description": "Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.", + "DisplayName": "sample count per batch", + "Increment": "32", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_LGCT": { + "Description": "Number of samples to push to count every INS_LOG_BAT_LGIN", + "DisplayName": "logging count", + "Increment": "1" + }, + "INS_LOG_BAT_LGIN": { + "Description": "Interval between pushing samples to the AP_Logger log", + "DisplayName": "logging interval", + "Increment": "10", + "Units": "ms" + }, + "INS_LOG_BAT_MASK": { + "Bitmask": { + "0": "IMU1", + "1": "IMU2", + "2": "IMU3" + }, + "Description": "Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.", + "DisplayName": "Sensor Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "INS_LOG_BAT_OPT": { + "Bitmask": { + "0": "Sensor-Rate Logging (sample at full sensor rate seen by AP)", + "1": "Sample post-filtering", + "2": "Sample pre- and post-filter" + }, + "Description": "Options for the BatchSampler.", + "DisplayName": "Batch Logging Options Mask", + "User": "Advanced" + } + }, + "INS_TCAL1_": { + "INS_TCAL1_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL1_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL1_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL1_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL1_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL2_": { + "INS_TCAL2_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL2_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL2_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL2_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL2_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "INS_TCAL3_": { + "INS_TCAL3_ACC1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_ACC3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Accelerometer 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_ENABLE": { + "Description": "Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot", + "DisplayName": "Enable temperature calibration", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "LearnCalibration" + } + }, + "INS_TCAL3_GYR1_X": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Y": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR1_Z": { + "Calibration": "1", + "Description": "This is the 1st order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 1st order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_X": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Y": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR2_Z": { + "Calibration": "1", + "Description": "This is the 2nd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 2nd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_X": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient X axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Y": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Y axis", + "User": "Advanced" + }, + "INS_TCAL3_GYR3_Z": { + "Calibration": "1", + "Description": "This is the 3rd order temperature coefficient from a temperature calibration", + "DisplayName": "Gyroscope 3rd order temperature coefficient Z axis", + "User": "Advanced" + }, + "INS_TCAL3_TMAX": { + "Calibration": "1", + "Description": "The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration", + "DisplayName": "Temperature calibration max", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + }, + "INS_TCAL3_TMIN": { + "Calibration": "1", + "Description": "The minimum temperature that the calibration is valid for", + "DisplayName": "Temperature calibration min", + "Range": { + "high": "80", + "low": "-70" + }, + "Units": "degC", + "User": "Advanced" + } + }, + "KDE_": { + "KDE_NPOLE": { + "Description": "Sets the number of motor poles to calculate the correct RPM value", + "DisplayName": "Number of motor poles" + } + }, + "LOG": { + "LOG_BACKEND_TYPE": { + "Bitmask": { + "0": "File", + "1": "MAVLink", + "2": "Block" + }, + "Description": "Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.", + "DisplayName": "AP_Logger Backend Storage type", + "User": "Standard" + }, + "LOG_BLK_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for block backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DARM_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.", + "DisplayName": "Maximum logging rate when disarmed", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_DISARMED": { + "Description": "If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.", + "DisplayName": "Enable logging while disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Disabled on USB connection", + "3": "Discard log on reboot if never armed" + } + }, + "LOG_FILE_BUFSIZE": { + "Description": "The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce \"gaps\" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.", + "DisplayName": "Maximum AP_Logger File and Block Backend buffer size (in kilobytes)", + "User": "Standard" + }, + "LOG_FILE_DSRMROT": { + "Description": "When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.", + "DisplayName": "Stop logging to current file on disarm", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "LOG_FILE_MB_FREE": { + "Description": "Set this such that the free space is larger than your largest typical flight log", + "DisplayName": "Old logs on the SD card will be deleted to maintain this amount of free space", + "Range": { + "high": "1000", + "low": "10" + }, + "Units": "MB", + "User": "Standard" + }, + "LOG_FILE_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for file backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_FILE_TIMEOUT": { + "Description": "This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.", + "DisplayName": "Timeout before giving up on file writes", + "Units": "s", + "User": "Standard" + }, + "LOG_MAV_BUFSIZE": { + "Description": "Maximum amount of memory to allocate to AP_Logger-over-mavlink", + "DisplayName": "Maximum AP_Logger MAVLink Backend buffer size", + "Units": "kB", + "User": "Advanced" + }, + "LOG_MAV_RATEMAX": { + "Description": "This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.", + "DisplayName": "Maximum logging rate for mavlink backend", + "Increment": "0.1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "LOG_MAX_FILES": { + "Description": "This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.", + "DisplayName": "Maximum number of log files", + "Increment": "1", + "Range": { + "high": "500", + "low": "2" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "LOG_REPLAY": { + "Description": "If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.", + "DisplayName": "Enable logging of information needed for Replay", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "Lua Script": { + "AEROM_ALT_ABORT": { + "Description": "Maximum allowable loss in altitude during a trick or sequence from its starting altitude.", + "DisplayName": "Altitude Abort", + "Units": "m" + }, + "AEROM_ANG_ACCEL": { + "Description": "Maximum angular acceleration in maneuvers", + "DisplayName": "Angular acceleration limit", + "Units": "deg/s/s" + }, + "AEROM_ANG_TC": { + "Description": "This is the time over which we filter the desired roll to smooth it", + "DisplayName": "Roll control filtertime constant", + "Units": "s" + }, + "AEROM_BOX_WIDTH": { + "Description": "Length of aerobatic \"box\" ", + "DisplayName": "Box Width", + "Units": "m" + }, + "AEROM_DEBUG": { + "Description": "This controls the printing of extra debug information on paths", + "DisplayName": "Debug control" + }, + "AEROM_ENTRY_RATE": { + "Description": "This controls how rapidly we roll into a new orientation", + "DisplayName": "The roll rate to use when entering a roll maneuver", + "Units": "deg/s" + }, + "AEROM_ERR_COR_D": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "D gain for path error corrections" + }, + "AEROM_ERR_COR_P": { + "Description": "This controls how rapidly we correct back onto the desired path", + "DisplayName": "P gain for path error corrections" + }, + "AEROM_KE_RUDD": { + "Description": "Percent of rudder normally uses to sustain knife-edge at trick speed", + "DisplayName": "KnifeEdge Rudder", + "Units": "%" + }, + "AEROM_KE_RUDD_LK": { + "Description": "Time to look ahead in the path to calculate rudder correction for bank angle", + "DisplayName": "KnifeEdge Rudder lookahead", + "Units": "s" + }, + "AEROM_LKAHD": { + "Description": "This is how much time to look ahead in the path for calculating path rates", + "DisplayName": "Lookahead", + "Units": "s" + }, + "AEROM_MIS_ANGLE": { + "Description": "When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used", + "DisplayName": "Mission angle", + "Units": "deg" + }, + "AEROM_OPTIONS": { + "Bitmask": { + "0": "UseRTLOnAbort", + "1": "AddAtToMessages", + "2": "DualAircraftSynchronised" + }, + "Description": "Options to control aerobatic behavior", + "DisplayName": "Aerobatic options", + "Units": "deg" + }, + "AEROM_PATH_SCALE": { + "Description": "Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.", + "DisplayName": "Path Scale", + "Range": { + "high": "100", + "low": "0.1" + } + }, + "AEROM_ROL_COR_TC": { + "Description": "This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections", + "DisplayName": "Roll control time constant", + "Units": "s" + }, + "AEROM_SPD_I": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "I gain for speed controller", + "Units": "%" + }, + "AEROM_SPD_P": { + "Description": "This controls how rapidly the throttle is raised to compensate for a speed error", + "DisplayName": "P gain for speed controller", + "Units": "%" + }, + "AEROM_STALL_PIT": { + "Description": "Pitch threashold for moving to final stage of stall turn", + "DisplayName": "Stall turn pitch threshold", + "Units": "deg" + }, + "AEROM_STALL_THR": { + "Description": "Amount of throttle to reduce to for a stall turn", + "DisplayName": "Stall turn throttle", + "Units": "%" + }, + "AEROM_THR_BOOST": { + "Description": "This is the extra throttle added in schedule elements marked as needing a throttle boost", + "DisplayName": "Throttle boost", + "Units": "%" + }, + "AEROM_THR_LKAHD": { + "Description": "This controls how far ahead we look in time along the path for the target throttle", + "DisplayName": "The lookahead for throttle control", + "Units": "s" + }, + "AEROM_THR_MIN": { + "Description": "Lowest throttle used during maneuvers", + "DisplayName": "Minimum Throttle", + "Units": "%" + }, + "AEROM_THR_PIT_FF": { + "Description": "This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch", + "DisplayName": "Throttle feed forward from pitch", + "Units": "%" + }, + "AEROM_TIME_COR_P": { + "Description": "This is the time constant for correcting path position errors", + "DisplayName": "Time constant for correction of our distance along the path", + "Units": "s" + }, + "AEROM_TS_I": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync I gain" + }, + "AEROM_TS_P": { + "Description": "This controls how rapidly two aircraft are brought back into time sync", + "DisplayName": "Timesync P gain" + }, + "AEROM_TS_RATE": { + "Description": "This sets the rate we send data for time sync between aircraft", + "DisplayName": "Timesync rate of send of NAMED_VALUE_FLOAT data", + "Units": "Hz" + }, + "AEROM_TS_SPDMAX": { + "Description": "This sets the maximum speed adjustment for time sync between aircraft", + "DisplayName": "Timesync speed max", + "Units": "m/s" + }, + "AEROM_YAW_ACCEL": { + "Description": "This is maximum yaw acceleration to use", + "DisplayName": "Yaw acceleration", + "Units": "deg/s/s" + }, + "BATT_ANX_CANDRV": { + "Description": "Set ANX CAN driver", + "DisplayName": "Set ANX CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "BATT_ANX_ENABLE": { + "Description": "Enable ANX battery support", + "DisplayName": "Enable ANX battery support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "BATT_ANX_INDEX": { + "Description": "ANX CAN battery index", + "DisplayName": "ANX CAN battery index", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "BATT_ANX_OPTIONS": { + "Bitmask": { + "0": "LogAllFrames" + }, + "Description": "ANX CAN battery options", + "DisplayName": "ANX CAN battery options", + "User": "Advanced" + }, + "BATT_SOC1_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC1_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC1_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC1_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC1_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC2_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC2_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC2_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC2_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC3_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC3_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC3_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC3_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_C1": { + "Description": "Battery estimator coefficient1", + "DisplayName": "Battery estimator coefficient1", + "Range": { + "high": "200", + "low": "100" + }, + "User": "Standard" + }, + "BATT_SOC4_C2": { + "Description": "Battery estimator coefficient2", + "DisplayName": "Battery estimator coefficient2", + "Range": { + "high": "5", + "low": "2" + }, + "User": "Standard" + }, + "BATT_SOC4_C3": { + "Description": "Battery estimator coefficient3", + "DisplayName": "Battery estimator coefficient3", + "Range": { + "high": "0.5", + "low": "0.01" + }, + "User": "Standard" + }, + "BATT_SOC4_IDX": { + "Description": "Battery estimator index", + "DisplayName": "Battery estimator index", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC4_NCELL": { + "Description": "Battery estimator cell count", + "DisplayName": "Battery estimator cell count", + "Range": { + "high": "48", + "low": "0" + }, + "User": "Standard" + }, + "BATT_SOC_COUNT": { + "Description": "Number of battery SOC estimators", + "DisplayName": "Count of SOC estimators", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "CAM1_THERM_GAIN": { + "Description": "thermal image temperature range", + "DisplayName": "Camera1 Thermal Gain", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "LowGain (50C to 550C)", + "1": "HighGain (-20C to 150C)" + } + }, + "CAM1_THERM_PAL": { + "Description": "thermal image colour palette", + "DisplayName": "Camera1 Thermal Palette", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "WhiteHot", + "10": "BlackHot", + "11": "GloryHot", + "2": "Sepia", + "3": "IronBow", + "4": "Rainbow", + "5": "Night", + "6": "Aurora", + "7": "RedHot", + "8": "Jungle", + "9": "Medical" + } + }, + "CAM1_THERM_RAW": { + "Description": "save images with raw temperatures", + "DisplayName": "Camera1 Thermal Raw Data", + "Units": "m", + "User": "Standard", + "Values": { + "-1": "Leave Unchanged", + "0": "Disabled (30fps)", + "1": "Enabled (25 fps)" + } + }, + "CGA_RATIO": { + "Description": "The ratio between the front and back motor outputs during steady-state hover. Positive when the CoG is in front of the motors midpoint (front motors work harder).", + "DisplayName": "CoG adjustment ratio", + "Range": { + "high": "2", + "low": "0.5" + }, + "User": "Advanced" + }, + "DIST_CUTOFF": { + "Description": "The distance from target beyond which the target is ignored", + "DisplayName": "Precland distance cutoff", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DJIR_DEBUG": { + "Description": "Enable DJIRS2 debug", + "DisplayName": "DJIRS2 debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled with attitude reporting" + } + }, + "DJIR_UPSIDEDOWN": { + "Description": "DJIRS2 upside down", + "DisplayName": "DJIRS2 upside down", + "User": "Standard", + "Values": { + "0": "Right side up", + "1": "Upside down" + } + }, + "DR_ENABLE": { + "Description": "Deadreckoning Enable", + "DisplayName": "Deadreckoning Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "DR_ENABLE_DIST": { + "Description": "Distance from home (in meters) beyond which the dead reckoning will be enabled", + "DisplayName": "Deadreckoning Enable Distance", + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ALT_MIN": { + "Description": "Copter will fly at at least this altitude (in meters) above home during deadreckoning", + "DisplayName": "Deadreckoning Altitude Min", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "DR_FLY_ANGLE": { + "Description": "lean angle (in degrees) during deadreckoning", + "DisplayName": "Deadreckoning Lean Angle", + "Range": { + "high": "45", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "DR_FLY_TIMEOUT": { + "Description": "Copter will attempt to switch to NEXT_MODE after this many seconds of deadreckoning. If it cannot switch modes it will continue in Guided_NoGPS. Set to 0 to disable timeout", + "DisplayName": "Deadreckoning flight timeout", + "Units": "s", + "User": "Standard" + }, + "DR_GPS_SACC_MAX": { + "Description": "GPS speed accuracy maximum, above which deadreckoning home will begin (default is 0.8). Lower values trigger with good GPS quality, higher values will allow poorer GPS before triggering. Set to 0 to disable use of GPS speed accuracy", + "DisplayName": "Deadreckoning GPS speed accuracy maximum threshold", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_SAT_MIN": { + "Description": "GPS satellite count threshold below which deadreckoning home will begin (default is 6). Higher values trigger with good GPS quality, Lower values trigger with worse GPS quality. Set to 0 to disable use of GPS satellite count", + "DisplayName": "Deadreckoning GPS satellite count min threshold", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "DR_GPS_TRIGG_SEC": { + "Description": "GPS checks must fail for this many seconds before dead reckoning will be triggered", + "DisplayName": "Deadreckoning GPS check trigger seconds", + "Units": "s", + "User": "Standard" + }, + "DR_NEXT_MODE": { + "Description": "Copter switch to this mode after GPS recovers or DR_FLY_TIMEOUT has elapsed. Default is 6/RTL. Set to -1 to return to mode used before deadreckoning was triggered", + "DisplayName": "Deadreckoning Next Mode", + "User": "Standard", + "Values": { + "16": "PosHold", + "17": "Brake", + "2": "AltHold", + "20": "Guided_NoGPS", + "21": "Smart_RTL", + "27": "Auto RTL", + "3": "Auto", + "4": "Guided", + "5": "Loiter", + "6": "RTL", + "7": "Circle", + "9": "Land" + } + }, + "EFI_2K_CANDRV": { + "Description": "NMEA 2000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "NMEA 2000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_2K_ENABLE": { + "Description": "Enable NMEA 2000 EFI driver", + "DisplayName": "Enable NMEA 2000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_2K_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "NMEA 2000 driver options", + "DisplayName": "NMEA 2000 options", + "User": "Standard" + }, + "EFI_DLA_ENABLE": { + "Description": "Enable EFI DLA driver", + "DisplayName": "EFI DLA enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_DLA_LPS": { + "Description": "EFI DLA litres of fuel per second of injection time", + "DisplayName": "EFI DLA fuel scale", + "Range": { + "high": "1", + "low": "0.00001" + }, + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_CANDRV": { + "Description": "Halo6000 CAN driver. Use 1 for first CAN scripting driver, 2 for 2nd driver", + "DisplayName": "Halo6000 CAN driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "FirstCAN", + "2": "SecondCAN" + } + }, + "EFI_H6K_ENABLE": { + "Description": "Enable Halo6000 EFI driver", + "DisplayName": "Enable Halo6000 EFI driver", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_H6K_FUELTOT": { + "Description": "The capacity of the tank in litres", + "DisplayName": "Halo6000 total fuel capacity", + "Units": "litres", + "User": "Standard" + }, + "EFI_H6K_OPTIONS": { + "Bitmask": { + "0": "LogAllCanPackets" + }, + "Description": "Halo6000 options", + "DisplayName": "Halo6000 options", + "User": "Standard" + }, + "EFI_H6K_START_FN": { + "Description": "The RC auxilliary function number for start/stop of the generator. Zero to disable start function", + "DisplayName": "Halo6000 start auxilliary function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_H6K_TELEM_RT": { + "Description": "The rate that additional generator telemetry is sent", + "DisplayName": "Halo6000 telemetry rate", + "Units": "Hz", + "User": "Standard" + }, + "EFI_INF_ENABLE": { + "Description": "Enable EFI INF-Inject driver", + "DisplayName": "EFI INF-Inject enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_INF_IGN_AUX": { + "Description": "EFI INF throttle ignition aux function", + "DisplayName": "EFI INF-Inject ignition aux function", + "User": "Standard" + }, + "EFI_INF_OPTIONS": { + "Bitmask": { + "0": "EnableLogging" + }, + "Description": "EFI INF driver options", + "DisplayName": "EFI INF-Inject options", + "User": "Standard" + }, + "EFI_INF_THR_HZ": { + "Description": "EFI INF throttle output rate", + "DisplayName": "EFI INF-Inject throttle rate", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + }, + "EFI_SP_CANDRV": { + "Description": "Set SkyPower EFI CAN driver", + "DisplayName": "Set SkyPower EFI CAN driver", + "User": "Standard", + "Values": { + "0": "None", + "1": "1stCANDriver", + "2": "2ndCanDriver" + } + }, + "EFI_SP_ENABLE": { + "Description": "Enable SkyPower EFI support", + "DisplayName": "Enable SkyPower EFI support", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_CTRL": { + "Description": "SkyPower EFI enable generator control", + "DisplayName": "SkyPower EFI enable generator control", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_GEN_FN": { + "Description": "SkyPower EFI generator control function. This is the RCn_OPTION value to use to find the R/C channel used for controlling generator start/stop", + "DisplayName": "SkyPower EFI generator control function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_LOG_RT": { + "Description": "SkyPower EFI log rate. This is the rate at which extra logging of the SkyPower EFI is performed", + "DisplayName": "SkyPower EFI log rate", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_MIN_RPM": { + "Description": "SkyPower EFI minimum RPM. This is the RPM below which the engine is considered to be stopped", + "DisplayName": "SkyPower EFI minimum RPM", + "Range": { + "high": "1000", + "low": "1" + }, + "User": "Advanced" + }, + "EFI_SP_MODEL": { + "Description": "SkyPower EFI ECU model", + "DisplayName": "SkyPower EFI ECU model", + "User": "Standard", + "Values": { + "0": "SRE_180", + "1": "SP_275" + } + }, + "EFI_SP_RST_TIME": { + "Description": "SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.", + "DisplayName": "SkyPower EFI restart time", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "EFI_SP_START_FN": { + "Description": "SkyPower EFI start function. This is the RCn_OPTION value to use to find the R/C channel used for controlling engine start", + "DisplayName": "SkyPower EFI start function", + "User": "Standard", + "Values": { + "0": "Disabled", + "300": "300", + "301": "301", + "302": "302", + "303": "303", + "304": "304", + "305": "305", + "306": "306", + "307": "307" + } + }, + "EFI_SP_ST_DISARM": { + "Description": "SkyPower EFI allow start disarmed. This controls if starting the engine while disarmed is allowed", + "DisplayName": "SkyPower EFI allow start disarmed", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SP_THR_FN": { + "Description": "SkyPower EFI throttle function. This sets which SERVOn_FUNCTION to use for the target throttle. This should be 70 for fixed wing aircraft and 31 for helicopter rotor speed control", + "DisplayName": "SkyPower EFI throttle function", + "User": "Standard", + "Values": { + "0": "Disabled", + "31": "HeliRSC", + "70": "FixedWing" + } + }, + "EFI_SP_THR_RATE": { + "Description": "SkyPower EFI throttle rate. This sets rate at which throttle updates are sent to the engine", + "DisplayName": "SkyPower EFI throttle rate", + "Range": { + "high": "100", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_TLM_RT": { + "Description": "SkyPower EFI telemetry rate. This is the rate at which extra telemetry values are sent to the GCS", + "DisplayName": "SkyPower EFI telemetry rate", + "Range": { + "high": "10", + "low": "1" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SP_UPDATE_HZ": { + "Description": "SkyPower EFI update rate", + "DisplayName": "SkyPower EFI update rate", + "Range": { + "high": "200", + "low": "10" + }, + "Units": "Hz", + "User": "Advanced" + }, + "EFI_SVF_ARMCHECK": { + "Description": "Check for Generator ARM state before arming", + "DisplayName": "Generator SVFFI arming check", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "EFI_SVF_ENABLE": { + "Description": "Enable SVFFI generator support", + "DisplayName": "Generator SVFFI enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_ENABLE": { + "Description": "Enable Hobbywing ESC telemetry", + "DisplayName": "Hobbywing ESC Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "ESC_HW_OFS": { + "Description": "Motor number offset of first ESC", + "DisplayName": "Hobbywing ESC motor offset", + "Range": { + "high": "31", + "low": "0" + }, + "User": "Standard" + }, + "ESC_HW_POLES": { + "Description": "Number of motor poles for eRPM scaling", + "DisplayName": "Hobbywing ESC motor poles", + "Range": { + "high": "50", + "low": "1" + }, + "User": "Standard" + }, + "ESRC_EXTN_QUAL": { + "Description": "ExternalNav may be used if quality is above this threshold", + "DisplayName": "EKF Source ExternalNav Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_EXTN_THRESH": { + "Description": "ExternalNav may be used if innovations are below this threshold", + "DisplayName": "EKF Source ExternalNav Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_FLOW_QUAL": { + "Description": "OpticalFlow may be used if quality is above this threshold", + "DisplayName": "EKF Source OpticalFlow Quality Threshold", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "ESRC_FLOW_THRESH": { + "Description": "OpticalFlow may be used if innovations are below this threshold", + "DisplayName": "EKF Source OpticalFlow Innovation Threshold", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "ESRC_RNGFND_MAX": { + "Description": "OpticalFlow may be used if rangefinder distance is below this threshold", + "DisplayName": "EKF Source Rangefinder Max", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "PLND_ALT_CUTOFF": { + "Description": "The altitude (rangefinder distance) below which we stop using the precision landing sensor and continue landing", + "DisplayName": "Precland altitude cutoff", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "POI_DIST_MAX": { + "Description": "POI's max distance (in meters) from the vehicle", + "DisplayName": "Mount POI distance max", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Standard" + }, + "PREV_ENABLE": { + "Description": "Enable parameter reversion system", + "DisplayName": "parameter reversion enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PREV_RC_FUNC": { + "Description": "RCn_OPTION number to used to trigger parameter reversion", + "DisplayName": "param reversion RC function", + "User": "Standard" + }, + "QUIK_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "QUIK_AXES": { + "Bitmask": { + "0": "Roll", + "1": "Pitch", + "2": "Yaw" + }, + "Description": "axes to tune", + "DisplayName": "Quicktune axes", + "User": "Standard" + }, + "QUIK_DOUBLE_TIME": { + "Description": "Time to double a tuning parameter. Raise this for a slower tune.", + "DisplayName": "Quicktune doubling time", + "Range": { + "high": "20", + "low": "5" + }, + "Units": "s", + "User": "Standard" + }, + "QUIK_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "QUIK_GAIN_MARGIN": { + "Description": "Reduction in gain after oscillation detected. Raise this number to get a more conservative tune", + "DisplayName": "Quicktune gain margin", + "Range": { + "high": "80", + "low": "20" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_MAX_REDUCE": { + "Description": "This controls how much quicktune is allowed to lower gains from the original gains. If the vehicle already has a reasonable tune and is not oscillating then you can set this to zero to prevent gain reductions. The default of 20% is reasonable for most vehicles. Using a maximum gain reduction lowers the chance of an angle P oscillation happening if quicktune gets a false positive oscillation at a low gain, which can result in very low rate gains and a dangerous angle P oscillation.", + "DisplayName": "Quicktune maximum gain reduction", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "QUIK_OPTIONS": { + "Bitmask": { + "0": "UseTwoPositionSwitch" + }, + "Description": "Additional options. When the Two Position Switch option is enabled then a high switch position will start the tune, low will disable the tune. you should also set a QUIK_AUTO_SAVE time so that you will be able to save the tune.", + "DisplayName": "Quicktune options", + "User": "Standard" + }, + "QUIK_OSC_SMAX": { + "Description": "Threshold for oscillation detection. A lower value will lead to a more conservative tune.", + "DisplayName": "Quicktune oscillation rate threshold", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Standard" + }, + "QUIK_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Quicktune RC function", + "User": "Standard" + }, + "QUIK_RP_PI_RATIO": { + "Description": "Ratio between P and I gains for roll and pitch. Raise this to get a lower I gain", + "DisplayName": "Quicktune roll/pitch PI ratio", + "Range": { + "high": "1.0", + "low": "0.5" + }, + "User": "Standard" + }, + "QUIK_YAW_D_MAX": { + "Description": "Maximum value for yaw D gain", + "DisplayName": "Quicktune Yaw D max", + "Range": { + "high": "1", + "low": "0.001" + }, + "User": "Standard" + }, + "QUIK_YAW_P_MAX": { + "Description": "Maximum value for yaw P gain", + "DisplayName": "Quicktune Yaw P max", + "Range": { + "high": "3", + "low": "0.1" + }, + "User": "Standard" + }, + "QUIK_Y_PI_RATIO": { + "Description": "Ratio between P and I gains for yaw. Raise this to get a lower I gain", + "DisplayName": "Quicktune Yaw PI ratio", + "Range": { + "high": "20", + "low": "0.5" + }, + "User": "Standard" + }, + "RCK_DEBUG": { + "Description": "Sends Rockblock debug text to GCS via statustexts", + "DisplayName": "Display Rockblock debugging text", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_ENABLE": { + "Description": "Enables the Rockblock sending and recieving", + "DisplayName": "Enable Message transmission", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_FORCEHL": { + "Description": "Automatically enables High Latency mode if not already enabled", + "DisplayName": "Force enable High Latency mode", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RCK_PERIOD": { + "Description": "When in High Latency mode, send Rockblock updates every N seconds", + "DisplayName": "Update rate", + "Range": { + "high": "600", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "RTUN_AUTO_FILTER": { + "Description": "When enabled the PID filter settings are automatically set based on INS_GYRO_FILTER", + "DisplayName": "Rover Quicktune auto filter enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_AUTO_SAVE": { + "Description": "Number of seconds after completion of tune to auto-save. This is useful when using a 2 position switch for quicktune", + "DisplayName": "Rover Quicktune auto save", + "Units": "s", + "User": "Standard" + }, + "RTUN_AXES": { + "Bitmask": { + "0": "Steering", + "1": "Speed" + }, + "Description": "axes to tune", + "DisplayName": "Rover Quicktune axes", + "User": "Standard" + }, + "RTUN_ENABLE": { + "Description": "Enable quicktune system", + "DisplayName": "Rover Quicktune enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "RTUN_RC_FUNC": { + "Description": "RCn_OPTION number to use to control tuning stop/start/save", + "DisplayName": "Rover Quicktune RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + }, + "RTUN_SPD_FFRATIO": { + "Description": "Ratio between measured response and CRUISE_THROTTLE value. Raise this to get a higher CRUISE_THROTTLE value", + "DisplayName": "Rover Quicktune Speed FeedForward (equivalent) ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_I_RATIO": { + "Description": "Ratio between speed FF and I gain. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Speed FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_SPD_P_RATIO": { + "Description": "Ratio between speed FF and P gain. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Speed FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_FFRATIO": { + "Description": "Ratio between measured response and FF gain. Raise this to get a higher FF gain", + "DisplayName": "Rover Quicktune Steering Rate FeedForward ratio", + "Range": { + "high": "1.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_I_RATIO": { + "Description": "Ratio between steering FF and I gains. Raise this to get a higher I gain, 0 to leave I unchanged", + "DisplayName": "Rover Quicktune Steering FF to I ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "RTUN_STR_P_RATIO": { + "Description": "Ratio between steering FF and P gains. Raise this to get a higher P gain, 0 to leave P unchanged", + "DisplayName": "Rover Quicktune Steering FF to P ratio", + "Range": { + "high": "2.0", + "low": "0" + }, + "User": "Standard" + }, + "SHIP_AUTO_OFS": { + "Description": "Settings this parameter to one triggers an automatic follow offset calculation based on current position of the vehicle and the landing target. NOTE: This parameter will auto-reset to zero once the offset has been calculated.", + "DisplayName": "Ship automatic offset trigger", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Trigger" + } + }, + "SHIP_ENABLE": { + "Description": "Enable ship landing system", + "DisplayName": "Ship landing enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SHIP_LAND_ANGLE": { + "Description": "Angle from the stern of the ship for landing approach. Use this to ensure that on a go-around that ship superstructure and cables are avoided. A value of zero means to approach from the rear of the ship. A value of 90 means the landing will approach from the port (left) side of the ship. A value of -90 will mean approaching from the starboard (right) side of the ship. A value of 180 will approach from the bow of the ship. This parameter is combined with the sign of the RTL_RADIUS parameter to determine the holdoff pattern. If RTL_RADIUS is positive then a clockwise loiter is performed, if RTL_RADIUS is negative then a counter-clockwise loiter is used.", + "DisplayName": "Ship landing angle", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "SLUP_DEBUG": { + "Description": "Slung payload debug output, set to 1 to enable debug", + "DisplayName": "Slung Payload debug output", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_DIST_MAX": { + "Description": "Oscillation is suppressed when vehicle and payload are no more than this distance horizontally. Set to 0 to always suppress", + "DisplayName": "Slung Payload horizontal distance max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_ENABLE": { + "Description": "Slung Payload enable", + "DisplayName": "Slung Payload enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SLUP_RESTOFS_TC": { + "Description": "payload's position estimator's time constant used to compensate for GPS errors and wind. Higher values result in smoother estimate but slower response", + "DisplayName": "Slung Payload resting offset estimate filter time constant", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "SLUP_SYSID": { + "Description": "Slung Payload mavlink system id. 0 to use any/all system ids", + "DisplayName": "Slung Payload mavlink system id", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_VEL_P": { + "Description": "Slung Payload Velocity P gain, higher values will result in faster movements in sync with payload", + "DisplayName": "Slung Payload Velocity P gain", + "Range": { + "high": "0.8", + "low": "0" + }, + "User": "Standard" + }, + "SLUP_WP_POS_P": { + "Description": "WP position P gain. higher values will result in vehicle moving more quickly back to the original waypoint", + "DisplayName": "Slung Payload return to WP position P gain", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Standard" + }, + "TERR_BRK_ALT": { + "Description": "terrain brake altitude. The altitude above the ground below which BRAKE mode will be engaged if in LOITER mode.", + "DisplayName": "terrain brake altitude", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_ENABLE": { + "Description": "terrain brake enable", + "DisplayName": "terrain brake enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "TERR_BRK_HDIST": { + "Description": "terrain brake home distance. The distance from home where the auto BRAKE will be enabled. When within this distance of home the script will not activate", + "DisplayName": "terrain brake home distance", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "TERR_BRK_SPD": { + "Description": "terrain brake speed threshold. Don't trigger BRAKE if both horizontal speed and descent rate are below this threshold. By setting this to a small value this can be used to allow the user to climb up to a safe altitude in LOITER mode. A value of 0.5 is recommended if you want to use LOITER to recover from an emergency terrain BRAKE mode change.", + "DisplayName": "terrain brake speed threshold", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "TOFSENSE_ID1": { + "Description": "First TOFSENSE-M sensor ID. Leave this at 0 to accept all IDs and if only one sensor is present. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M First ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID2": { + "Description": "Second TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Second ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_ID3": { + "Description": "Third TOFSENSE-M sensor ID. This cannot be 0. You can change ID of sensor from NAssistant Software", + "DisplayName": "TOFSENSE-M Thir ID", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST1": { + "Description": "First TOFSENSE-M sensors backend Instance. Setting this to 1 will pick the first backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M First Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST2": { + "Description": "Second TOFSENSE-M sensors backend Instance. Setting this to 2 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Second Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_INST3": { + "Description": "Third TOFSENSE-M sensors backend Instance. Setting this to 3 will pick the second backend from PRX_ or RNG_ Parameters (Depending on TOFSENSE_PRX)", + "DisplayName": "TOFSENSE-M Third Instance", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_MODE": { + "Description": "TOFSENSE-M mode to be used. 0 for 8x8 mode. 1 for 4x4 mode", + "DisplayName": "TOFSENSE-M mode to be used", + "User": "Standard", + "Values": { + "0": "8x8 mode", + "1": "4x4 mode" + } + }, + "TOFSENSE_NO": { + "Description": "Number of TOFSENSE-M CAN sensors connected", + "DisplayName": "TOFSENSE-M Connected", + "Range": { + "high": "3", + "low": "1" + }, + "User": "Standard" + }, + "TOFSENSE_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_BR": { + "Description": "Serial Port baud rate. Sensor baud rate can be changed from Nassistant software", + "DisplayName": "TOFSENSE-M serial port baudrate", + "User": "Standard" + }, + "TOFSENSE_S1_PRX": { + "Description": "Set 0 if sensor is to be used as a 1-D rangefinder (minimum of all distances will be sent, typically used for height detection). Set 1 if it should be used as a 3-D proximity device (Eg. Obstacle Avoidance)", + "DisplayName": "TOFSENSE-M to be used as Proximity sensor", + "User": "Standard", + "Values": { + "0": "Set as Rangefinder", + "1": "Set as Proximity sensor" + } + }, + "TOFSENSE_S1_SP": { + "Description": "UART instance sensor is connected to. Set 1 if sensor is connected to the port with fist SERIALx_PROTOCOL = 28. ", + "DisplayName": "TOFSENSE-M serial port config", + "Range": { + "high": "4", + "low": "1" + }, + "User": "Standard" + }, + "TRIK_ACT_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)", + "DisplayName": "Trik Action Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "TRIK_COUNT": { + "Description": "Number of tricks which can be selected over the range of the trik selection RC channel", + "DisplayName": "Trik Count", + "Range": { + "high": "11", + "low": "1" + } + }, + "TRIK_ENABLE": { + "Description": "Enables Tricks on Switch. TRIK params hidden until enabled", + "DisplayName": "Tricks on Switch Enable" + }, + "TRIK_SEL_FN": { + "Description": "Setting an RC channel's _OPTION to this value will use it for trick selection", + "DisplayName": "Trik Selection Scripting Function", + "Range": { + "high": "307", + "low": "301" + } + }, + "VIEP_CAM_SWHIGH": { + "Description": "Camera selection when switch is in high position", + "DisplayName": "ViewPro Camera For Switch High", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWLOW": { + "Description": "Camera selection when switch is in low position", + "DisplayName": "ViewPro Camera For Switch Low", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_CAM_SWMID": { + "Description": "Camera selection when switch is in middle position", + "DisplayName": "ViewPro Camera For Switch Mid", + "User": "Standard", + "Values": { + "0": "No change in camera selection", + "1": "EO1", + "2": "IR thermal", + "3": "EO1 + IR Picture-in-picture", + "4": "IR + EO1 Picture-in-picture", + "5": "Fusion", + "6": "IR1 13mm", + "7": "IR2 52mm" + } + }, + "VIEP_DEBUG": { + "Description": "ViewPro debug", + "DisplayName": "ViewPro debug", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled including attitude reporting" + } + }, + "VIEP_ZOOM_MAX": { + "Description": "ViewPro Zoom Times Max", + "DisplayName": "ViewPro Zoom Times Max", + "Range": { + "high": "30", + "low": "0" + }, + "User": "Standard" + }, + "VIEP_ZOOM_SPEED": { + "Description": "ViewPro Zoom Speed. Higher numbers result in faster zooming", + "DisplayName": "ViewPro Zoom Speed", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "WEB_BIND_PORT": { + "Description": "web server TCP port", + "DisplayName": "web server TCP port", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Standard" + }, + "WEB_BLOCK_SIZE": { + "Description": "web server block size for download", + "DisplayName": "web server block size", + "Range": { + "high": "65535", + "low": "1" + }, + "User": "Advanced" + }, + "WEB_DEBUG": { + "Description": "web server debugging", + "DisplayName": "web server debugging", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_ENABLE": { + "Description": "enable web server", + "DisplayName": "enable web server", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WEB_SENDFILE_MIN": { + "Description": "sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download", + "DisplayName": "web server minimum file size for sendfile", + "Range": { + "high": "10000000", + "low": "0" + }, + "User": "Advanced" + }, + "WEB_TIMEOUT": { + "Description": "timeout for inactive connections", + "DisplayName": "web server timeout", + "Range": { + "high": "60", + "low": "0.1" + }, + "Units": "s", + "User": "Advanced" + }, + "WINCH_RATE_DN": { + "Description": "Maximum rate when releasing line", + "DisplayName": "WinchControl Rate Down", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RATE_UP": { + "Description": "Maximum rate when retracting line", + "DisplayName": "WinchControl Rate Up", + "Range": { + "high": "5.0", + "low": "0.1" + }, + "User": "Standard" + }, + "WINCH_RC_FUNC": { + "Description": "RCn_OPTION number to use to control winch rate", + "DisplayName": "Winch Rate Control RC function", + "User": "Standard", + "Values": { + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8" + } + } + }, + "MIS_": { + "MIS_OPTIONS": { + "Bitmask": { + "0": "Clear Mission on reboot" + }, + "Description": "Bitmask of what options to use in missions.", + "DisplayName": "Mission options bitmask", + "User": "Advanced" + }, + "MIS_RESTART": { + "Description": "Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)", + "DisplayName": "Mission Restart when entering Auto mode", + "User": "Advanced", + "Values": { + "0": "Resume Mission", + "1": "Restart Mission" + } + }, + "MIS_TOTAL": { + "Description": "The number of mission mission items that has been loaded by the ground station. Do not change this manually.", + "DisplayName": "Total mission commands", + "Increment": "1", + "Range": { + "high": "32766", + "low": "0" + }, + "ReadOnly": "True", + "User": "Advanced" + } + }, + "MNT1": { + "MNT1_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT1_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT1_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT1_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT1_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT1_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT1_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT1_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT1_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MNT2": { + "MNT2_DEFLT_MODE": { + "Description": "Mount default operating mode on startup and after control is returned from autopilot", + "DisplayName": "Mount default operating mode", + "User": "Standard", + "Values": { + "0": "Retracted", + "1": "Neutral", + "2": "MavLink Targeting", + "3": "RC Targeting", + "4": "GPS Point", + "5": "SysID Target", + "6": "Home Location" + } + }, + "MNT2_DEVID": { + "Description": "Mount device ID, taking into account its type, bus and instance", + "DisplayName": "Mount Device ID", + "User": "Advanced" + }, + "MNT2_LEAD_PTCH": { + "Description": "Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Pitch stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_LEAD_RLL": { + "Description": "Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot", + "DisplayName": "Mount Roll stabilization lead time", + "Increment": ".005", + "Range": { + "high": "0.2", + "low": "0.0" + }, + "Units": "s", + "User": "Standard" + }, + "MNT2_NEUTRAL_X": { + "Description": "Mount roll angle when in neutral position", + "DisplayName": "Mount roll angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Y": { + "Description": "Mount pitch angle when in neutral position", + "DisplayName": "Mount pitch angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_NEUTRAL_Z": { + "Description": "Mount yaw angle when in neutral position", + "DisplayName": "Mount yaw angle when in neutral position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_OPTIONS": { + "Bitmask": { + "0": "RC lock state from previous mode" + }, + "Description": "Mount options bitmask", + "DisplayName": "Mount options", + "User": "Standard" + }, + "MNT2_PITCH_MAX": { + "Description": "Mount Pitch angle maximum", + "DisplayName": "Mount Pitch angle maximum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_PITCH_MIN": { + "Description": "Mount Pitch angle minimum", + "DisplayName": "Mount Pitch angle minimum", + "Increment": "1", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RC_RATE": { + "Description": "Pilot rate control's maximum rate. Set to zero to use angle control", + "DisplayName": "Mount RC Rate", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "MNT2_RETRACT_X": { + "Description": "Mount roll angle when in retracted position", + "DisplayName": "Mount roll angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Y": { + "Description": "Mount pitch angle when in retracted position", + "DisplayName": "Mount pitch angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_RETRACT_Z": { + "Description": "Mount yaw angle when in retracted position", + "DisplayName": "Mount yaw angle when in retracted position", + "Increment": "1", + "Range": { + "high": "180.0", + "low": "-180.0" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MAX": { + "Description": "Mount Roll angle maximum", + "DisplayName": "Mount Roll angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_ROLL_MIN": { + "Description": "Mount Roll angle minimum", + "DisplayName": "Mount Roll angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_SYSID_DFLT": { + "Description": "Default Target sysID for the mount to point to", + "DisplayName": "Mount Target sysID", + "RebootRequired": "True", + "User": "Standard" + }, + "MNT2_TYPE": { + "Description": "Mount Type", + "DisplayName": "Mount Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Servo", + "10": "Xacti", + "11": "Viewpro", + "12": "Topotek", + "2": "3DR Solo", + "3": "Alexmos Serial", + "4": "SToRM32 MAVLink", + "5": "SToRM32 Serial", + "6": "Gremsy", + "7": "BrushlessPWM", + "8": "Siyi", + "9": "Scripting" + } + }, + "MNT2_YAW_MAX": { + "Description": "Mount Yaw angle maximum", + "DisplayName": "Mount Yaw angle maximum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + }, + "MNT2_YAW_MIN": { + "Description": "Mount Yaw angle minimum", + "DisplayName": "Mount Yaw angle minimum", + "Increment": "1", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MOT_": { + "MOT_PWM_FREQ": { + "Description": "Motor Output PWM freq for brushed motors", + "DisplayName": "Motor Output PWM freq for brushed motors", + "Increment": "1", + "Range": { + "high": "20", + "low": "1" + }, + "RebootRequired": "True", + "Units": "kHz", + "User": "Advanced" + }, + "MOT_PWM_TYPE": { + "Description": "This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)", + "DisplayName": "Motor Output PWM type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "OneShot", + "2": "OneShot125", + "3": "BrushedWithRelay", + "4": "BrushedBiPolar", + "5": "DShot150", + "6": "DShot300", + "7": "DShot600", + "8": "DShot1200" + } + }, + "MOT_SAFE_DISARM": { + "Description": "Disables motor PWM output when disarmed", + "DisplayName": "Motor PWM output disabled when disarmed", + "User": "Advanced", + "Values": { + "0": "PWM enabled while disarmed", + "1": "PWM disabled while disarmed" + } + }, + "MOT_SLEWRATE": { + "Description": "Throttle slew rate as a percentage of total range per second. A value of 100 allows the motor to change over its full range in one second. A value of zero disables the limit. Note some NiMH powered rovers require a lower setting of 40 to reduce current demand to avoid brownouts.", + "DisplayName": "Throttle slew rate", + "Increment": "1", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "%/s", + "User": "Standard" + }, + "MOT_SPD_SCA_BASE": { + "Description": "Speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling", + "DisplayName": "Motor speed scaling base speed", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "MOT_STR_THR_MIX": { + "Description": "Steering vs Throttle priorisation. Higher numbers prioritise steering, lower numbers prioritise throttle. Only valid for Skid Steering vehicles", + "DisplayName": "Motor steering vs throttle prioritisation", + "Range": { + "high": "1.0", + "low": "0.2" + }, + "User": "Advanced" + }, + "MOT_THR_MAX": { + "Description": "Throttle maximum percentage the autopilot will apply. This can be used to prevent overheating an ESC or motor on an electric rover", + "DisplayName": "Throttle maximum", + "Increment": "1", + "Range": { + "high": "100", + "low": "30" + }, + "Units": "%", + "User": "Standard" + }, + "MOT_THR_MIN": { + "Description": "Throttle minimum percentage the autopilot will apply. This is useful for handling a deadzone around low throttle and for preventing internal combustion motors cutting out during missions.", + "DisplayName": "Throttle minimum", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "MOT_THST_ASYM": { + "Description": "Thrust Asymetry. Used for skid-steering. 2.0 means your motors move twice as fast forward than they do backwards.", + "DisplayName": "Motor Thrust Asymmetry", + "Range": { + "high": "10.0", + "low": "1.0" + }, + "User": "Advanced" + }, + "MOT_THST_EXPO": { + "Description": "Thrust curve exponent (-1 to +1 with 0 being linear)", + "DisplayName": "Thrust Curve Expo", + "Range": { + "high": "1.0", + "low": "-1.0" + }, + "User": "Advanced" + }, + "MOT_VEC_ANGLEMAX": { + "Description": "The angle between steering's middle position and maximum position when using vectored thrust (boats only)", + "DisplayName": "Vector thrust angle max", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + } + }, + "MSP": { + "MSP_OPTIONS": { + "Bitmask": { + "0": "EnableTelemetryMode", + "1": "unused", + "2": "EnableBTFLFonts" + }, + "Description": "A bitmask to set some MSP specific options: EnableTelemetryMode-allows \"push\" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.", + "DisplayName": "MSP OSD Options", + "User": "Standard" + }, + "MSP_OSD_NCELLS": { + "Description": "Used for average cell voltage calculation", + "DisplayName": "Cell count override", + "User": "Standard", + "Values": { + "0": "Auto", + "1": "1", + "10": "10", + "11": "11", + "12": "12", + "13": "13", + "14": "14", + "2": "2", + "3": "3", + "4": "4", + "5": "5", + "6": "6", + "7": "7", + "8": "8", + "9": "9" + } + } + }, + "NET_": { + "NET_DHCP": { + "Description": "Enable/Disable DHCP client", + "DisplayName": "DHCP client", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_ENABLE": { + "Description": "Networking Enable", + "DisplayName": "Networking Enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "NET_NETMASK": { + "Description": "Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0", + "DisplayName": "IP Subnet mask", + "Range": { + "high": "32", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_OPTIONS": { + "Bitmask": { + "0": "EnablePPP Ethernet gateway", + "1": "Enable CAN1 multicast gateway", + "2": "Enable CAN2 multicast gateway" + }, + "Description": "Networking options", + "DisplayName": "Networking options", + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_TESTS": { + "Bitmask": { + "0": "UDP echo test", + "1": "TCP echo test", + "2": "TCP discard test", + "3": "TCP reflect test" + }, + "Description": "Enable/Disable networking tests", + "DisplayName": "Test enable flags", + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_GWADDR": { + "NET_GWADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_GWADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_IPADDR": { + "NET_IPADDR0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_IPADDR3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_MACADDR": { + "NET_MACADDR0": { + "Description": "MAC address 1st byte", + "DisplayName": "MAC Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR1": { + "Description": "MAC address 2nd byte", + "DisplayName": "MAC Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR2": { + "Description": "MAC address 3rd byte", + "DisplayName": "MAC Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR3": { + "Description": "MAC address 4th byte", + "DisplayName": "MAC Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR4": { + "Description": "MAC address 5th byte", + "DisplayName": "MAC Address 5th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_MACADDR5": { + "Description": "MAC address 6th byte", + "DisplayName": "MAC Address 6th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "NET_P1_": { + "NET_P1_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P1_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P1_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P1_IP": { + "NET_P1_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P1_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P2_": { + "NET_P2_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P2_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P2_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P2_IP": { + "NET_P2_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P2_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P3_": { + "NET_P3_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P3_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P3_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P3_IP": { + "NET_P3_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P3_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_P4_": { + "NET_P4_PORT": { + "Description": "Port number", + "DisplayName": "Port number", + "Range": { + "high": "65535", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NET_P4_PROTOCOL": { + "Description": "Networked serial port protocol", + "DisplayName": "Protocol", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "NET_P4_TYPE": { + "Description": "Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.", + "DisplayName": "Port type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "UDP client", + "2": "UDP server", + "3": "TCP client", + "4": "TCP server" + } + } + }, + "NET_P4_IP": { + "NET_P4_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_P4_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_REMPPP_IP": { + "NET_REMPPP_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_REMPPP_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NET_TEST_IP": { + "NET_TEST_IP0": { + "Description": "IPv4 address. Example: 192.xxx.xxx.xxx", + "DisplayName": "IPv4 Address 1st byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP1": { + "Description": "IPv4 address. Example: xxx.168.xxx.xxx", + "DisplayName": "IPv4 Address 2nd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP2": { + "Description": "IPv4 address. Example: xxx.xxx.13.xxx", + "DisplayName": "IPv4 Address 3rd byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + }, + "NET_TEST_IP3": { + "Description": "IPv4 address. Example: xxx.xxx.xxx.14", + "DisplayName": "IPv4 Address 4th byte", + "Range": { + "high": "255", + "low": "0" + }, + "RebootRequired": "True" + } + }, + "NMEA_": { + "NMEA_MSG_EN": { + "Bitmask": { + "0": "GPGGA", + "1": "GPRMC", + "2": "PASHR" + }, + "Description": "This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval", + "DisplayName": "Messages Enable bitmask", + "User": "Standard" + }, + "NMEA_RATE_MS": { + "Description": "NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.", + "DisplayName": "NMEA Output rate", + "Increment": "1", + "Range": { + "high": "2000", + "low": "20" + }, + "Units": "ms", + "User": "Standard" + } + }, + "NTF_": { + "NTF_BUZZ_ON_LVL": { + "Description": "Specifies pin level that indicates buzzer should play", + "DisplayName": "Buzzer-on pin logic level", + "User": "Advanced", + "Values": { + "0": "LowIsOn", + "1": "HighIsOn" + } + }, + "NTF_BUZZ_PIN": { + "Description": "Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Buzzer pin", + "User": "Advanced", + "Values": { + "-1": "Disabled" + } + }, + "NTF_BUZZ_TYPES": { + "Bitmask": { + "0": "Built-in buzzer", + "1": "DShot", + "2": "DroneCAN" + }, + "Description": "Controls what types of Buzzer will be enabled", + "DisplayName": "Buzzer Driver Types", + "User": "Advanced" + }, + "NTF_BUZZ_VOLUME": { + "Description": "Control the volume of the buzzer", + "DisplayName": "Buzzer volume", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%" + }, + "NTF_DISPLAY_TYPE": { + "Description": "This sets up the type of on-board I2C display. Disabled by default.", + "DisplayName": "Type of on-board I2C display", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "ssd1306", + "10": "SITL", + "2": "sh1106" + } + }, + "NTF_LED_BRIGHT": { + "Description": "Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.", + "DisplayName": "LED Brightness", + "User": "Advanced", + "Values": { + "0": "Off", + "1": "Low", + "2": "Medium", + "3": "High" + } + }, + "NTF_LED_LEN": { + "Description": "The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)", + "DisplayName": "Serial LED String Length", + "Range": { + "high": "32", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "NTF_LED_OVERRIDE": { + "Description": "Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially \"Green\" is disarmed (safe-to-approach), \"Red\" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.", + "DisplayName": "Specifies colour source for the RGBLed", + "User": "Advanced", + "Values": { + "0": "Standard", + "1": "MAVLink/Scripting/AP_Periph", + "2": "OutbackChallenge", + "3": "TrafficLight" + } + }, + "NTF_LED_TYPES": { + "Bitmask": { + "0": "Built-in LED", + "1": "Internal ToshibaLED", + "10": "Scripting", + "11": "DShot", + "12": "ProfiLED_SPI", + "13": "LP5562 External", + "14": "LP5562 Internal", + "15": "IS31FL3195 External", + "16": "IS31FL3195 Internal", + "17": "DiscreteRGB", + "18": "NeoPixelRGB", + "2": "External ToshibaLED", + "3": "External PCA9685", + "4": "Oreo LED", + "5": "DroneCAN", + "6": "NCP5623 External", + "7": "NCP5623 Internal", + "8": "NeoPixel", + "9": "ProfiLED" + }, + "Description": "Controls what types of LEDs will be enabled", + "DisplayName": "LED Driver Types", + "User": "Advanced" + }, + "NTF_OREO_THEME": { + "Description": "Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme", + "DisplayName": "OreoLED Theme", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Aircraft", + "2": "Rover" + } + } + }, + "OA_": { + "OA_MARGIN_MAX": { + "Description": "Object Avoidance will ignore objects more than this many meters from vehicle", + "DisplayName": "Object Avoidance wide margin distance", + "Increment": "1", + "Range": { + "high": "100", + "low": "0.1" + }, + "Units": "m", + "User": "Standard" + }, + "OA_OPTIONS": { + "Bitmask": { + "0": "Reset the origin of the waypoint to the present location", + "1": "log Dijkstra points" + }, + "Description": "Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear). ", + "DisplayName": "Options while recovering from Object Avoidance", + "User": "Standard" + }, + "OA_TYPE": { + "Description": "Enabled/disable path planning around obstacles", + "DisplayName": "Object Avoidance Path Planning algorithm to use", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "BendyRuler", + "2": "Dijkstra", + "3": "Dijkstra with BendyRuler" + } + } + }, + "OA_BR_": { + "OA_BR_CONT_ANGLE": { + "Description": " BendyRuler will resist changing current bearing if the change in bearing is over this angle", + "DisplayName": "BendyRuler's bearing change resistance threshold angle ", + "Increment": "5", + "Range": { + "high": "180", + "low": "20" + }, + "User": "Standard" + }, + "OA_BR_CONT_RATIO": { + "Description": " BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.", + "DisplayName": "Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly ", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "1.1" + }, + "User": "Standard" + }, + "OA_BR_LOOKAHEAD": { + "Description": "Object Avoidance will look this many meters ahead of vehicle", + "DisplayName": "Object Avoidance look ahead distance maximum", + "Increment": "1", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "m", + "User": "Standard" + } + }, + "OA_DB_": { + "OA_DB_BEAM_WIDTH": { + "Description": "Beam width of incoming lidar data", + "DisplayName": "OADatabase beam width", + "Range": { + "high": "10", + "low": "1" + }, + "RebootRequired": "True", + "Units": "deg", + "User": "Advanced" + }, + "OA_DB_DIST_MAX": { + "Description": "Maximum distance of objects held in database. Set to zero to disable the limits", + "DisplayName": "OADatabase Distance Maximum", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "OA_DB_EXPIRE": { + "Description": "OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.", + "DisplayName": "OADatabase item timeout", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "OA_DB_OUTPUT": { + "Description": "OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.", + "DisplayName": "OADatabase output level", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Send only HIGH importance items", + "2": "Send HIGH and NORMAL importance items", + "3": "Send all items" + } + }, + "OA_DB_QUEUE_SIZE": { + "Description": "OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.", + "DisplayName": "OADatabase queue maximum number of points", + "Range": { + "high": "200", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "OA_DB_RADIUS_MIN": { + "Description": "Minimum radius of objects held in database", + "DisplayName": "OADatabase Minimum radius", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "OA_DB_SIZE": { + "Description": "OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process", + "DisplayName": "OADatabase maximum number of points", + "Range": { + "high": "10000", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "OSD": { + "OSD_ARM_SCR": { + "Description": "Screen to be shown on Arm event. Zero to disable the feature.", + "DisplayName": "Arm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_BTN_DELAY": { + "Description": "Debounce time in ms for stick commanded parameter navigation.", + "DisplayName": "Button delay", + "Range": { + "high": "3000", + "low": "0" + }, + "User": "Advanced" + }, + "OSD_CELL_COUNT": { + "Description": "Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.", + "DisplayName": "Battery cell count", + "Increment": "1", + "User": "Advanced" + }, + "OSD_CHAN": { + "Description": "This sets the channel used to switch different OSD screens.", + "DisplayName": "Screen switch transmitter channel", + "User": "Standard", + "Values": { + "0": "Disable", + "10": "Chan10", + "11": "Chan11", + "12": "Chan12", + "13": "Chan13", + "14": "Chan14", + "15": "Chan15", + "16": "Chan16", + "5": "Chan5", + "6": "Chan6", + "7": "Chan7", + "8": "Chan8", + "9": "Chan9" + } + }, + "OSD_DSARM_SCR": { + "Description": "Screen to be shown on disarm event. Zero to disable the feature.", + "DisplayName": "Disarm screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_FONT": { + "Description": "This sets which OSD font to use. It is an integer from 0 to the number of fonts available", + "DisplayName": "OSD Font", + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_FS_SCR": { + "Description": "Screen to be shown on failsafe event. Zero to disable the feature.", + "DisplayName": "Failsafe screen", + "Range": { + "high": "4", + "low": "0" + }, + "User": "Standard" + }, + "OSD_H_OFFSET": { + "Description": "Sets horizontal offset of the osd inside image", + "DisplayName": "OSD horizontal offset", + "Range": { + "high": "63", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_MSG_TIME": { + "Description": "Sets message duration seconds", + "DisplayName": "Message display duration in seconds", + "Range": { + "high": "20", + "low": "1" + }, + "User": "Standard" + }, + "OSD_OPTIONS": { + "Bitmask": { + "0": "UseDecimalPack", + "1": "InvertedWindArrow", + "2": "InvertedAHRoll", + "3": "Convert feet to miles at 5280ft instead of 10000ft", + "4": "DisableCrosshair", + "5": "TranslateArrows", + "6": "AviationStyleAH", + "7": "Prefix LQ with RF Mode" + }, + "Description": "This sets options that change the display", + "DisplayName": "OSD Options", + "User": "Standard" + }, + "OSD_SB_H_OFS": { + "Description": "Extends the spacing between the sidebar elements by this amount of columns. Positive values increases the width to the right of the screen.", + "DisplayName": "Sidebar horizontal offset", + "Range": { + "high": "20", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SB_V_EXT": { + "Description": "Increase of vertical length of the sidebar itens by this amount of lines. Applied equally both above and below the default setting.", + "DisplayName": "Sidebar vertical extension", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Standard" + }, + "OSD_SW_METHOD": { + "Description": "This sets the method used to switch different OSD screens.", + "DisplayName": "Screen switch method", + "User": "Standard", + "Values": { + "0": "switch to next screen if channel value was changed", + "1": "select screen based on pwm ranges specified for each screen", + "2": "switch to next screen after low to high transition and every 1s while channel value is high" + } + }, + "OSD_TYPE": { + "Description": "OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_TYPE2": { + "Description": "OSD type 2. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.", + "DisplayName": "OSD type 2", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "MAX7456", + "2": "SITL", + "3": "MSP", + "4": "TXONLY", + "5": "MSP_DISPLAYPORT" + } + }, + "OSD_UNITS": { + "Description": "Sets the units to use in displaying items", + "DisplayName": "Display Units", + "User": "Standard", + "Values": { + "0": "Metric", + "1": "Imperial", + "2": "SI", + "3": "Aviation" + } + }, + "OSD_V_OFFSET": { + "Description": "Sets vertical offset of the osd inside image", + "DisplayName": "OSD vertical offset", + "Range": { + "high": "31", + "low": "0" + }, + "RebootRequired": "True", + "User": "Standard" + }, + "OSD_W_ACRVOLT": { + "Description": "Set level at which ACRVOLT item will flash", + "DisplayName": "Avg Cell Resting Volt warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_AVGCELLV": { + "Description": "Set level at which AVGCELLV item will flash", + "DisplayName": "AVGCELLV warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_BATVOLT": { + "Description": "Set level at which BAT_VOLT item will flash", + "DisplayName": "BAT_VOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_LQ": { + "Description": "Set level at which RC_LQ item will flash (%)", + "DisplayName": "RC link quality warn level (in %)", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_NSAT": { + "Description": "Set level at which NSAT item will flash", + "DisplayName": "NSAT warn level", + "Range": { + "high": "30", + "low": "1" + }, + "User": "Standard" + }, + "OSD_W_RESTVOLT": { + "Description": "Set level at which RESTVOLT item will flash", + "DisplayName": "RESTVOLT warn level", + "Range": { + "high": "100", + "low": "0" + }, + "User": "Standard" + }, + "OSD_W_RSSI": { + "Description": "Set level at which RSSI item will flash (in positive % or negative dBm values as applicable). 30% or -100dBm are defaults.", + "DisplayName": "RSSI warn level (in %)", + "Range": { + "high": "100", + "low": "-128" + }, + "User": "Standard" + }, + "OSD_W_SNR": { + "Description": "Set level at which RC_SNR item will flash (in db)", + "DisplayName": "RC link SNR warn level (in %)", + "Range": { + "high": "10", + "low": "-20" + }, + "User": "Standard" + }, + "OSD_W_TERR": { + "Description": "Set level below which TER_HGT item will flash. -1 disables.", + "DisplayName": "Terrain warn level", + "Range": { + "high": "3000", + "low": "-1" + }, + "Units": "m", + "User": "Standard" + } + }, + "OSD1_": { + "OSD1_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD1_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD1_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD1_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD1_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD1_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD1_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD1_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD1_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD1_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD2_": { + "OSD2_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD2_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD2_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD2_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD2_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD2_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD2_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD2_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD2_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD2_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD3_": { + "OSD3_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD3_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD3_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD3_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD3_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD3_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD3_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD3_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD3_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD3_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD4_": { + "OSD4_ACRVOLT_EN": { + "Description": "Displays resting voltage for the average cell. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "ACRVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ACRVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ACRVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ACRVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ACRVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ALTITUDE_EN": { + "Description": "Enables display of altitude AGL", + "DisplayName": "ALTITUDE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ALTITUDE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ALTITUDE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ALTITUDE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ALTITUDE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ARMING_EN": { + "Description": "Displays arming status (MSP OSD only)", + "DisplayName": "ARMING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ARMING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ARMING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ARMING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ARMING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD1_EN": { + "Description": "Displays airspeed reported directly from primary airspeed sensor", + "DisplayName": "ASPD1_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD1_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD1_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPD2_EN": { + "Description": "Displays airspeed reported directly from secondary airspeed sensor", + "DisplayName": "ASPD2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPD2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPD2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPD2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPD2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ASPEED_EN": { + "Description": "Displays airspeed value being used by TECS (fused value)", + "DisplayName": "ASPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ASPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ASPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ASPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ASPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ATEMP_EN": { + "Description": "Displays temperature reported by primary airspeed sensor", + "DisplayName": "ATEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ATEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ATEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ATEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ATEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_AVGCELLV_EN": { + "Description": "Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).", + "DisplayName": "AVGCELLV_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_AVGCELLV_X": { + "Description": "Horizontal position on screen", + "DisplayName": "AVGCELLV_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_AVGCELLV_Y": { + "Description": "Vertical position on screen", + "DisplayName": "AVGCELLV_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2USED_EN": { + "Description": "Displays secondary battery mAh consumed", + "DisplayName": "BAT2USED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2USED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2USED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2USED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2USED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT2_VLT_EN": { + "Description": "Displays battery2 voltage", + "DisplayName": "BAT2VLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT2_VLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BAT2VLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT2_VLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BAT2VLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATTBAR_EN": { + "Description": "Displays battery usage bar (MSP OSD only)", + "DisplayName": "BATT_BAR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATTBAR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATT_BAR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATTBAR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATT_BAR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BATUSED_EN": { + "Description": "Displays primary battery mAh consumed", + "DisplayName": "BATUSED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BATUSED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATUSED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BATUSED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATUSED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BAT_VOLT_EN": { + "Description": "Displays main battery voltage", + "DisplayName": "BATVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BAT_VOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BATVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BAT_VOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BATVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_BTEMP_EN": { + "Description": "Displays temperature reported by secondary barometer", + "DisplayName": "BTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_BTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "BTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_BTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "BTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CALLSIGN_EN": { + "Description": "Displays callsign from callsign.txt on microSD card", + "DisplayName": "CALLSIGN_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CALLSIGN_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CALLSIGN_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CALLSIGN_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CALLSIGN_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CELLVOLT_EN": { + "Description": "Displays average cell voltage (MSP OSD only)", + "DisplayName": "CELL_VOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CELLVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CELL_VOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CELLVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CELL_VOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD4_CLIMBEFF_EN": { + "Description": "Displays climb efficiency (climb rate/current)", + "DisplayName": "CLIMBEFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLIMBEFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLIMBEFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLIMBEFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLIMBEFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CLK_EN": { + "Description": "Displays a clock panel based on AP_RTC local time", + "DisplayName": "CLK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CLK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CLK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CLK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CLK_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_COMPASS_EN": { + "Description": "Enables display of compass rose", + "DisplayName": "COMPASS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_COMPASS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "COMPASS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_COMPASS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "COMPASS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CRSSHAIR_EN": { + "Description": "Displays artificial horizon crosshair (MSP OSD only)", + "DisplayName": "CRSSHAIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CRSSHAIR_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CRSSHAIR_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "CRSSHAIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT2_EN": { + "Description": "Displays 2nd battery current", + "DisplayName": "CURRENT2_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT2_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT2_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_CURRENT_EN": { + "Description": "Displays main battery current", + "DisplayName": "CURRENT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_CURRENT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "CURRENT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_CURRENT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "CURRENT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_DIST_EN": { + "Description": "Displays total distance flown", + "DisplayName": "DIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_DIST_X": { + "Description": "Horizontal position on screen", + "DisplayName": "DIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_DIST_Y": { + "Description": "Vertical position on screen", + "DisplayName": "DIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_EFF_EN": { + "Description": "Displays flight efficiency (mAh/km or /mi)", + "DisplayName": "EFF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_EFF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "EFF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_EFF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "EFF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_EN": { + "Description": "Displays the current of the ESC with the highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCAMPS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCAMPS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCAMPS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCAMPS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCAMPS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCRPM_EN": { + "Description": "Displays highest rpm of all active ESCs, or of a specific ESC if OSDx_ESC_IDX is set", + "DisplayName": "ESCRPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCRPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCRPM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCRPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCRPM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESCTEMP_EN": { + "Description": "Displays highest temp of all active ESCs, or of a specific ECS if OSDx_ESC_IDX is set", + "DisplayName": "ESCTEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ESCTEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ESCTEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ESCTEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ESCTEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ESC_IDX": { + "Description": "Index of the ESC to use for displaying ESC information. 0 means use the ESC with the highest value.", + "DisplayName": "ESC_IDX", + "Range": { + "high": "32", + "low": "0" + } + }, + "OSD4_FENCE_EN": { + "Description": "Displays indication of fence enable and breach", + "DisplayName": "FENCE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FENCE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FENCE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FENCE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FENCE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTIME_EN": { + "Description": "Displays total flight time", + "DisplayName": "FLTIME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTIME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTIME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTIME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTIME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FLTMODE_EN": { + "Description": "Displays flight mode", + "DisplayName": "FLTMODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_FLTMODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "FLTMODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_FLTMODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "FLTMODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_FONT": { + "Description": "Sets the font index for this screen (MSP DisplayPort only)", + "DisplayName": "Sets the font index for this screen (MSP DisplayPort only)", + "Range": { + "high": "21", + "low": "0" + }, + "User": "Standard" + }, + "OSD4_GPSLAT_EN": { + "Description": "Displays GPS latitude", + "DisplayName": "GPSLAT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLAT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLAT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLAT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLAT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GPSLONG_EN": { + "Description": "Displays GPS longitude", + "DisplayName": "GPSLONG_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GPSLONG_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GPSLONG_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GPSLONG_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GPSLONG_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_GSPEED_EN": { + "Description": "Displays GPS ground speed", + "DisplayName": "GSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_GSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "GSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_GSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "GSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HDOP_EN": { + "Description": "Displays Horizontal Dilution Of Position", + "DisplayName": "HDOP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HDOP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HDOP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HDOP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HDOP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HEADING_EN": { + "Description": "Displays heading", + "DisplayName": "HEADING_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HEADING_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HEADING_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HEADING_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HEADING_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIR_EN": { + "Description": "Displays relative direction to HOME (MSP OSD only)", + "DisplayName": "HOMEDIR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOMEDIR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOMEDIR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOMEDIST_EN": { + "Description": "Displays distance from HOME (MSP OSD only)", + "DisplayName": "HOMEDIST_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOMEDIST_X": { + "Description": "Horizontal position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOMEDIST_Y": { + "Description": "Vertical position on screen (MSP OSD only)", + "DisplayName": "HOMEDIST_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HOME_EN": { + "Description": "Displays distance and relative direction to HOME", + "DisplayName": "HOME_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HOME_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HOME_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HOME_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HOME_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_HORIZON_EN": { + "Description": "Displays artificial horizon", + "DisplayName": "HORIZON_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_HORIZON_X": { + "Description": "Horizontal position on screen", + "DisplayName": "HORIZON_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_HORIZON_Y": { + "Description": "Vertical position on screen", + "DisplayName": "HORIZON_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_LINK_Q_EN": { + "Description": "Displays Receiver link quality", + "DisplayName": "LINK_Q_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_LINK_Q_X": { + "Description": "Horizontal position on screen", + "DisplayName": "LINK_Q_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_LINK_Q_Y": { + "Description": "Vertical position on screen", + "DisplayName": "LINK_Q_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_MESSAGE_EN": { + "Description": "Displays Mavlink messages", + "DisplayName": "MESSAGE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_MESSAGE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "MESSAGE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_MESSAGE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "MESSAGE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PITCH_EN": { + "Description": "Displays degrees of pitch from level", + "DisplayName": "PITCH_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PITCH_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PITCH_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PITCH_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PITCH_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_PLUSCODE_EN": { + "Description": "Displays pluscode (OLC) element", + "DisplayName": "PLUSCODE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_PLUSCODE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "PLUSCODE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_PLUSCODE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "PLUSCODE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_POWER_EN": { + "Description": "Displays power (MSP OSD only)", + "DisplayName": "POWER_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_POWER_X": { + "Description": "Horizontal position on screen", + "DisplayName": "POWER_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_POWER_Y": { + "Description": "Vertical position on screen", + "DisplayName": "POWER_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_ANT_EN": { + "Description": "Displays the current RC link active antenna", + "DisplayName": "RC_ANT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_ANT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_ANT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_ANT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_ANT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_LQ_EN": { + "Description": "Displays the RC link quality (uplink, 0 to 100%) and also RF mode if bit 7 of OSD_OPTIONS is set", + "DisplayName": "RC_LQ_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_LQ_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_LQ_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_LQ_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_LQ_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_PWR_EN": { + "Description": "Displays the RC link transmit (TX) power in mW or W, depending on level", + "DisplayName": "RC_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RC_SNR_EN": { + "Description": "Displays RC link signal to noise ratio in dB", + "DisplayName": "RC_SNR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RC_SNR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RC_SNR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RC_SNR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RC_SNR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RESTVOLT_EN": { + "Description": "Displays main battery resting voltage", + "DisplayName": "RESTVOLT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RESTVOLT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RESTVOLT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RESTVOLT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RESTVOLT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RNGF_EN": { + "Description": "Displays a rangefinder's distance in cm", + "DisplayName": "RNGF_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RNGF_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RNGF_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RNGF_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RNGF_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_ROLL_EN": { + "Description": "Displays degrees of roll from level", + "DisplayName": "ROLL_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_ROLL_X": { + "Description": "Horizontal position on screen", + "DisplayName": "ROLL_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_ROLL_Y": { + "Description": "Vertical position on screen", + "DisplayName": "ROLL_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RPM_EN": { + "Description": "Displays main rotor revs/min", + "DisplayName": "RPM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RPM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RPM_X", + "Range": { + "high": "29", + "low": "0" + } + }, + "OSD4_RPM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RPM_Y", + "Range": { + "high": "15", + "low": "0" + } + }, + "OSD4_RSSIDBM_EN": { + "Description": "Displays RC link signal strength in dBm", + "DisplayName": "RSSIDBM_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSIDBM_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSIDBM_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSIDBM_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSIDBM_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_RSSI_EN": { + "Description": "Displays RC signal strength", + "DisplayName": "RSSI_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_RSSI_X": { + "Description": "Horizontal position on screen", + "DisplayName": "RSSI_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_RSSI_Y": { + "Description": "Vertical position on screen", + "DisplayName": "RSSI_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SATS_EN": { + "Description": "Displays number of acquired satellites", + "DisplayName": "SATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_SIDEBARS_EN": { + "Description": "Displays artificial horizon side bars", + "DisplayName": "SIDEBARS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_SIDEBARS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "SIDEBARS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_SIDEBARS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "SIDEBARS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_STATS_EN": { + "Description": "Displays flight stats", + "DisplayName": "STATS_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_STATS_X": { + "Description": "Horizontal position on screen", + "DisplayName": "STATS_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_STATS_Y": { + "Description": "Vertical position on screen", + "DisplayName": "STATS_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TEMP_EN": { + "Description": "Displays temperature reported by primary barometer", + "DisplayName": "TEMP_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TEMP_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TEMP_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TEMP_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TEMP_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TER_HGT_EN": { + "Description": "Displays Height above terrain", + "DisplayName": "TER_HGT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_TER_HGT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "TER_HGT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_TER_HGT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "TER_HGT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_THROTTLE_EN": { + "Description": "Displays actual throttle percentage being sent to motor(s)", + "DisplayName": "THROTTLE_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_THROTTLE_X": { + "Description": "Horizontal position on screen", + "DisplayName": "THROTTLE_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_THROTTLE_Y": { + "Description": "Vertical position on screen", + "DisplayName": "THROTTLE_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_TXT_RES": { + "Description": "Sets the overlay text resolution for this screen to either SD 30x16 or HD 50x18/60x22 (MSP DisplayPort only)", + "DisplayName": "Sets the overlay text resolution (MSP DisplayPort only)", + "User": "Standard", + "Values": { + "0": "30x16", + "1": "50x18", + "2": "60x22" + } + }, + "OSD4_VSPEED_EN": { + "Description": "Displays climb rate", + "DisplayName": "VSPEED_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VSPEED_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VSPEED_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VSPEED_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VSPEED_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_VTX_PWR_EN": { + "Description": "Displays VTX Power", + "DisplayName": "VTX_PWR_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_VTX_PWR_X": { + "Description": "Horizontal position on screen", + "DisplayName": "VTX_PWR_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_VTX_PWR_Y": { + "Description": "Vertical position on screen", + "DisplayName": "VTX_PWR_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WAYPOINT_EN": { + "Description": "Displays bearing and distance to next waypoint", + "DisplayName": "WAYPOINT_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WAYPOINT_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WAYPOINT_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WAYPOINT_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WAYPOINT_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_WIND_EN": { + "Description": "Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted", + "DisplayName": "WIND_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_WIND_X": { + "Description": "Horizontal position on screen", + "DisplayName": "WIND_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_WIND_Y": { + "Description": "Vertical position on screen", + "DisplayName": "WIND_Y", + "Range": { + "high": "21", + "low": "0" + } + }, + "OSD4_XTRACK_EN": { + "Description": "Displays crosstrack error", + "DisplayName": "XTRACK_EN", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD4_XTRACK_X": { + "Description": "Horizontal position on screen", + "DisplayName": "XTRACK_X", + "Range": { + "high": "59", + "low": "0" + } + }, + "OSD4_XTRACK_Y": { + "Description": "Vertical position on screen", + "DisplayName": "XTRACK_Y", + "Range": { + "high": "21", + "low": "0" + } + } + }, + "OSD5_": { + "OSD5_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD5_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD5_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD5_PARAM1": { + "OSD5_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM2": { + "OSD5_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM3": { + "OSD5_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM4": { + "OSD5_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM5": { + "OSD5_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM6": { + "OSD5_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM7": { + "OSD5_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM8": { + "OSD5_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD5_PARAM9": { + "OSD5_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD5_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD5_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD5_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD5_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD5_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD5_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD5_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD5_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD5_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_": { + "OSD6_CHAN_MAX": { + "Description": "This sets the PWM upper limit for this screen", + "DisplayName": "Transmitter switch screen maximum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_CHAN_MIN": { + "Description": "This sets the PWM lower limit for this screen", + "DisplayName": "Transmitter switch screen minimum pwm", + "Range": { + "high": "2100", + "low": "900" + }, + "User": "Standard" + }, + "OSD6_ENABLE": { + "Description": "Enable this screen", + "DisplayName": "Enable screen", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_SAVE_X": { + "Description": "Horizontal position of Save button on screen", + "DisplayName": "SAVE_X", + "Range": { + "high": "25", + "low": "0" + }, + "User": "Advanced" + }, + "OSD6_SAVE_Y": { + "Description": "Vertical position of Save button on screen", + "DisplayName": "SAVE_Y", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "OSD6_PARAM1": { + "OSD6_PARAM1_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM1_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM1_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM1_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM1_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM1_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM1_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM1_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM1_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM1_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM2": { + "OSD6_PARAM2_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM2_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM2_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM2_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM2_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM2_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM2_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM2_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM2_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM2_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM3": { + "OSD6_PARAM3_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM3_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM3_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM3_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM3_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM3_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM3_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM3_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM3_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM3_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM4": { + "OSD6_PARAM4_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM4_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM4_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM4_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM4_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM4_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM4_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM4_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM4_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM4_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM5": { + "OSD6_PARAM5_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM5_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM5_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM5_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM5_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM5_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM5_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM5_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM5_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM5_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM6": { + "OSD6_PARAM6_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM6_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM6_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM6_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM6_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM6_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM6_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM6_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM6_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM6_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM7": { + "OSD6_PARAM7_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM7_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM7_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM7_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM7_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM7_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM7_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM7_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM7_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM7_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM8": { + "OSD6_PARAM8_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM8_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM8_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM8_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM8_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM8_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM8_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM8_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM8_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM8_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "OSD6_PARAM9": { + "OSD6_PARAM9_EN": { + "Description": "Enable setting", + "DisplayName": "Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "OSD6_PARAM9_GRP": { + "Description": "Group of the parameter to be displayed and modified", + "DisplayName": "Parameter group", + "User": "Standard" + }, + "OSD6_PARAM9_IDX": { + "Description": "Index of the parameter to be displayed and modified", + "DisplayName": "Parameter index", + "User": "Standard" + }, + "OSD6_PARAM9_INCR": { + "Description": "Increment of the parameter to be displayed and modified", + "DisplayName": "Parameter increment", + "User": "Standard" + }, + "OSD6_PARAM9_KEY": { + "Description": "Key of the parameter to be displayed and modified", + "DisplayName": "Parameter key", + "User": "Standard" + }, + "OSD6_PARAM9_MAX": { + "Description": "Maximum of the parameter to be displayed and modified", + "DisplayName": "Parameter maximum", + "User": "Standard" + }, + "OSD6_PARAM9_MIN": { + "Description": "Minimum value of the parameter to be displayed and modified", + "DisplayName": "Parameter minimum", + "User": "Standard" + }, + "OSD6_PARAM9_TYPE": { + "Description": "Type of the parameter to be displayed and modified", + "DisplayName": "Parameter type", + "User": "Standard" + }, + "OSD6_PARAM9_X": { + "Description": "Horizontal position on screen", + "DisplayName": "X position", + "Range": { + "high": "29", + "low": "0" + }, + "User": "Standard" + }, + "OSD6_PARAM9_Y": { + "Description": "Vertical position on screen", + "DisplayName": "Y position", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Standard" + } + }, + "PLND_": { + "PLND_ACC_P_NSE": { + "Description": "Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less", + "DisplayName": "Kalman Filter Accelerometer Noise", + "Range": { + "high": "5", + "low": "0.5" + }, + "User": "Advanced" + }, + "PLND_ALT_MAX": { + "Description": "Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand maximum alt for retry", + "Range": { + "high": "50", + "low": "0" + }, + "Units": "m" + }, + "PLND_ALT_MIN": { + "Description": "Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.", + "DisplayName": "PrecLand minimum alt for retry", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m" + }, + "PLND_BUS": { + "Description": "Precland sensor bus for I2C sensors.", + "DisplayName": "Sensor Bus", + "User": "Advanced", + "Values": { + "-1": "DefaultBus", + "0": "InternalI2C", + "1": "ExternalI2C" + } + }, + "PLND_CAM_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_CAM_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_ENABLED": { + "Description": "Precision Land enabled/disabled", + "DisplayName": "Precision Land enabled/disabled", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "PLND_EST_TYPE": { + "Description": "Specifies the estimation method to be used", + "DisplayName": "Precision Land Estimator Type", + "User": "Advanced", + "Values": { + "0": "RawSensor", + "1": "KalmanFilter" + } + }, + "PLND_LAG": { + "Description": "Precision Landing sensor lag, to cope with variable landing_target latency", + "DisplayName": "Precision Landing sensor lag", + "Increment": "1", + "Range": { + "high": "0.250", + "low": "0.02" + }, + "RebootRequired": "True", + "Units": "s", + "User": "Advanced" + }, + "PLND_LAND_OFS_X": { + "Description": "Desired landing position of the camera forward of the target in vehicle body frame", + "DisplayName": "Land offset forward", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_LAND_OFS_Y": { + "Description": "desired landing position of the camera right of the target in vehicle body frame", + "DisplayName": "Land offset right", + "Increment": "1", + "Range": { + "high": "20", + "low": "-20" + }, + "Units": "cm", + "User": "Advanced" + }, + "PLND_OPTIONS": { + "Bitmask": { + "0": "Moving Landing Target", + "1": "Allow Precision Landing after manual reposition", + "2": "Maintain high speed in final descent" + }, + "Description": "Precision Landing Extra Options", + "DisplayName": "Precision Landing Extra Options", + "User": "Advanced" + }, + "PLND_ORIENT": { + "Description": "Orientation of camera/sensor on body", + "DisplayName": "Camera Orientation", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Forward", + "25": "Down", + "4": "Back" + } + }, + "PLND_RET_BEHAVE": { + "Description": "Prec Land will do the action selected by this parameter if a retry to a landing is needed", + "DisplayName": "PrecLand retry behaviour", + "Values": { + "0": "Go to the last location where landing target was detected", + "1": "Go towards the approximate location of the detected landing target" + } + }, + "PLND_RET_MAX": { + "Description": "PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.", + "DisplayName": "PrecLand Maximum number of retires for a failed landing", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + } + }, + "PLND_STRICT": { + "Description": "How strictly should the vehicle land on the target if target is lost", + "DisplayName": "PrecLand strictness", + "Values": { + "0": "Land Vertically (Not strict)", + "1": "Retry Landing(Normal Strictness)", + "2": "Do not land (just Hover) (Very Strict)" + } + }, + "PLND_TIMEOUT": { + "Description": "Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.", + "DisplayName": "PrecLand retry timeout", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "s" + }, + "PLND_TYPE": { + "Description": "Precision Land Type", + "DisplayName": "Precision Land Type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IRLock", + "3": "SITL_Gazebo", + "4": "SITL" + } + }, + "PLND_XY_DIST_MAX": { + "Description": "The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.", + "DisplayName": "Precision Landing maximum distance to target before descending", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PLND_YAW_ALIGN": { + "Description": "Yaw angle from body x-axis to sensor x-axis.", + "DisplayName": "Sensor yaw alignment", + "Increment": "10", + "Range": { + "high": "36000", + "low": "0" + }, + "Units": "cdeg", + "User": "Advanced" + } + }, + "PRX": { + "PRX_FILT": { + "Description": "Cutoff frequency for low pass filter applied to each face in the proximity boundary", + "DisplayName": "Proximity filter cutoff frequency", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PRX_LOG_RAW": { + "Description": "Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled", + "DisplayName": "Proximity raw distances log", + "User": "Advanced", + "Values": { + "0": "Off", + "1": "On" + } + } + }, + "PRX1": { + "PRX1_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX1_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX1_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX1_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX1_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX1_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX1_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX1_": { + "PRX1_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX2": { + "PRX2_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX2_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX2_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX2_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX2_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX2_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX2_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX2_": { + "PRX2_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX3": { + "PRX3_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX3_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX3_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX3_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX3_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX3_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX3_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX3_": { + "PRX3_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PRX4": { + "PRX4_ADDR": { + "Description": "The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "PRX4_IGN_ANG1": { + "Description": "Proximity sensor ignore angle 1", + "DisplayName": "Proximity sensor ignore angle 1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG2": { + "Description": "Proximity sensor ignore angle 2", + "DisplayName": "Proximity sensor ignore angle 2", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG3": { + "Description": "Proximity sensor ignore angle 3", + "DisplayName": "Proximity sensor ignore angle 3", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_ANG4": { + "Description": "Proximity sensor ignore angle 4", + "DisplayName": "Proximity sensor ignore angle 4", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID1": { + "Description": "Proximity sensor ignore width 1", + "DisplayName": "Proximity sensor ignore width 1", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID2": { + "Description": "Proximity sensor ignore width 2", + "DisplayName": "Proximity sensor ignore width 2", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID3": { + "Description": "Proximity sensor ignore width 3", + "DisplayName": "Proximity sensor ignore width 3", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_IGN_WID4": { + "Description": "Proximity sensor ignore width 4", + "DisplayName": "Proximity sensor ignore width 4", + "Range": { + "high": "127", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PRX4_MAX": { + "Description": "Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity maximum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX4_MIN": { + "Description": "Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.", + "DisplayName": "Proximity minimum range", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "PRX4_ORIENT": { + "Description": "Proximity sensor orientation", + "DisplayName": "Proximity sensor orientation", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Upside Down" + } + }, + "PRX4_TYPE": { + "Description": "What type of proximity sensor is connected", + "DisplayName": "Proximity type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "10": "SITL", + "12": "AirSimSITL", + "13": "CygbotD1", + "14": "DroneCAN", + "15": "Scripting", + "16": "LD06", + "17": "MR72_CAN", + "2": "MAVLink", + "3": "TeraRangerTower", + "4": "RangeFinder", + "5": "RPLidarA2", + "6": "TeraRangerTowerEvo", + "7": "LightwareSF40c", + "8": "LightwareSF45B" + } + }, + "PRX4_YAW_CORR": { + "Description": "Proximity sensor yaw correction", + "DisplayName": "Proximity sensor yaw correction", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Standard" + } + }, + "PRX4_": { + "PRX4_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + } + }, + "PSC": { + "PSC_POS_P": { + "Description": "Position controller P gain. Converts the distance to the target location into a desired speed which is then passed to the loiter latitude rate controller", + "DisplayName": "Position controller P gain", + "Range": { + "high": "2.000", + "low": "0.500" + }, + "User": "Standard" + }, + "PSC_VEL_D": { + "Description": "Velocity (horizontal) D gain. Corrects short-term changes in velocity", + "DisplayName": "Velocity (horizontal) D gain", + "Increment": "0.001", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "PSC_VEL_FF": { + "Description": "Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) feed forward gain", + "Increment": "0.01", + "Range": { + "high": "6", + "low": "0" + }, + "User": "Advanced" + }, + "PSC_VEL_FLTD": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VEL_FLTE": { + "Description": "Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms", + "DisplayName": "Velocity (horizontal) input filter", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "PSC_VEL_I": { + "Description": "Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) I gain", + "Increment": "0.01", + "Range": { + "high": "1.00", + "low": "0.00" + }, + "User": "Advanced" + }, + "PSC_VEL_IMAX": { + "Description": "Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output", + "DisplayName": "Velocity (horizontal) integrator maximum", + "Increment": "10", + "Range": { + "high": "4500", + "low": "0" + }, + "Units": "cm/s/s", + "User": "Advanced" + }, + "PSC_VEL_P": { + "Description": "Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration", + "DisplayName": "Velocity (horizontal) P gain", + "Increment": "0.1", + "Range": { + "high": "6.0", + "low": "0.1" + }, + "User": "Advanced" + } + }, + "RALLY_": { + "RALLY_INCL_HOME": { + "Description": "Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL", + "DisplayName": "Rally Include Home", + "User": "Standard", + "Values": { + "0": "DoNotIncludeHome", + "1": "IncludeHome" + } + }, + "RALLY_LIMIT_KM": { + "Description": "Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.", + "DisplayName": "Rally Limit", + "Increment": "0.1", + "Units": "km", + "User": "Advanced" + }, + "RALLY_TOTAL": { + "Description": "Number of rally points currently loaded", + "DisplayName": "Rally Total", + "User": "Advanced" + } + }, + "RC": { + "RC_FS_TIMEOUT": { + "Description": "RC failsafe will trigger this many seconds after loss of RC", + "DisplayName": "RC Failsafe timeout", + "Range": { + "high": "10.0", + "low": "0.5" + }, + "Units": "s", + "User": "Standard" + }, + "RC_OPTIONS": { + "Bitmask": { + "0": "Ignore RC Receiver", + "1": "Ignore MAVLink Overrides", + "10": "Enable multiple receiver support", + "11": "Use Link Quality for RSSI with CRSF", + "12": "Annotate CRSF flight mode with * on disarm", + "13": "Use 420kbaud for ELRS protocol", + "2": "Ignore Receiver Failsafe bit but allow other RC failsafes if setup", + "3": "FPort Pad", + "4": "Log RC input bytes", + "5": "Arming check throttle for 0 input", + "6": "Skip the arming check for neutral Roll/Pitch/Yaw sticks", + "7": "Allow Switch reverse", + "8": "Use passthrough for CRSF telemetry", + "9": "Suppress CRSF mode/rate message for ELRS systems" + }, + "Description": "RC input options", + "DisplayName": "RC options", + "User": "Advanced" + }, + "RC_OVERRIDE_TIME": { + "Description": "Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled", + "DisplayName": "RC override timeout", + "Range": { + "high": "120.0", + "low": "0.0" + }, + "Units": "s", + "User": "Advanced" + }, + "RC_PROTOCOLS": { + "Bitmask": { + "0": "All", + "1": "PPM", + "10": "ST24", + "11": "FPORT", + "12": "FPORT2", + "13": "FastSBUS", + "14": "DroneCAN", + "15": "Ghost", + "16": "MAVRadio", + "2": "IBUS", + "3": "SBUS", + "4": "SBUS_NI", + "5": "DSM", + "6": "SUMD", + "7": "SRXL", + "8": "SRXL2", + "9": "CRSF" + }, + "Description": "Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.", + "DisplayName": "RC protocols enabled", + "User": "Advanced" + } + }, + "RC10_": { + "RC10_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC10_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC10_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC10_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC11_": { + "RC11_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC11_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC11_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC11_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC12_": { + "RC12_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC12_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC12_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC12_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC13_": { + "RC13_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC13_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC13_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC13_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC14_": { + "RC14_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC14_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC14_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC14_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC15_": { + "RC15_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC15_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC15_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC15_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC16_": { + "RC16_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC16_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC16_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC16_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC1_": { + "RC1_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC1_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC1_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC1_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC2_": { + "RC2_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC2_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC2_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC2_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC3_": { + "RC3_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC3_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC3_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC3_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC4_": { + "RC4_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC4_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC4_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC4_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC5_": { + "RC5_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC5_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC5_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC5_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC6_": { + "RC6_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC6_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC6_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC6_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC7_": { + "RC7_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC7_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC7_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC7_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC8_": { + "RC8_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC8_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC8_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC8_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RC9_": { + "RC9_DZ": { + "Description": "PWM dead zone in microseconds around trim or bottom", + "DisplayName": "RC dead-zone", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MAX": { + "Description": "RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC max PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_MIN": { + "Description": "RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC min PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + }, + "RC9_OPTION": { + "Description": "Function assigned to this RC channel", + "DisplayName": "RC input option", + "User": "Standard", + "Values": { + "0": "Do Nothing", + "100": "KillIMU1", + "101": "KillIMU2", + "102": "Camera Mode Toggle", + "105": "GPS Disable Yaw", + "106": "Disable Airspeed Use", + "11": "Fence Enable", + "110": "KillIMU3", + "112": "SwitchExternalAHRS", + "113": "Retract Mount2", + "153": "ArmDisarm (4.2 and higher)", + "155": "Set steering trim to current servo and RC", + "156": "Torqeedo Clear Err", + "16": "AUTO Mode", + "162": "FFT Tune", + "163": "Mount Lock", + "164": "Pause Stream Logging", + "165": "Arm/Emergency Motor Stop", + "166": "Camera Record Video", + "167": "Camera Zoom", + "168": "Camera Manual Focus", + "169": "Camera Auto Focus", + "171": "Calibrate Compasses", + "172": "Battery MPPT Enable", + "174": "Camera Image Tracking", + "175": "Camera Lens", + "177": "Mount LRF enable", + "19": "Gripper Release", + "201": "Roll", + "202": "Pitch", + "207": "MainSail", + "208": "Flap", + "211": "Walking Height", + "212": "Mount1 Roll", + "213": "Mount1 Pitch", + "214": "Mount1 Yaw", + "215": "Mount2 Roll", + "216": "Mount2 Pitch", + "217": "Mount2 Yaw", + "24": "Auto Mission Reset", + "27": "Retract Mount1", + "28": "Relay1 On/Off", + "30": "Lost Rover Sound", + "300": "Scripting1", + "301": "Scripting2", + "302": "Scripting3", + "303": "Scripting4", + "304": "Scripting5", + "305": "Scripting6", + "306": "Scripting7", + "307": "Scripting8", + "31": "Motor Emergency Stop", + "34": "Relay2 On/Off", + "35": "Relay3 On/Off", + "36": "Relay4 On/Off", + "4": "RTL", + "40": "Proximity Avoidance Enable", + "41": "ArmDisarm (4.1 and lower)", + "42": "SMARTRTL Mode", + "46": "RC Override Enable", + "5": "Save Trim (4.1 and lower)", + "50": "LearnCruise Speed", + "51": "MANUAL Mode", + "52": "ACRO Mode", + "53": "STEERING Mode", + "54": "HOLD Mode", + "55": "GUIDED Mode", + "56": "LOITER Mode", + "57": "FOLLOW Mode", + "58": "Clear Waypoints", + "59": "Simple Mode", + "62": "Compass Learn", + "63": "Sailboat Tack", + "65": "GPS Disable", + "66": "Relay5 On/Off", + "67": "Relay6 On/Off", + "7": "Save WP", + "72": "CIRCLE Mode", + "74": "Sailboat motoring 3pos", + "78": "RunCam Control", + "79": "RunCam OSD Control", + "80": "VisoOdom Align", + "81": "Disarm", + "9": "Camera Trigger", + "90": "EKF Source Set", + "94": "VTX Power", + "97": "Windvane home heading direction offset" + } + }, + "RC9_REVERSED": { + "Description": "Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.", + "DisplayName": "RC reversed", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "RC9_TRIM": { + "Description": "RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "RC trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Advanced" + } + }, + "RCMAP_": { + "RCMAP_PITCH": { + "Description": "Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Pitch channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_ROLL": { + "Description": "Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Roll channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_THROTTLE": { + "Description": "Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Throttle channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "RCMAP_YAW": { + "Description": "Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.", + "DisplayName": "Yaw channel", + "Increment": "1", + "Range": { + "high": "16", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "RELAY10_": { + "RELAY10_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY10_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY10_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY10_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY11_": { + "RELAY11_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY11_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY11_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY11_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY12_": { + "RELAY12_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY12_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY12_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY12_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY13_": { + "RELAY13_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY13_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY13_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY13_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY14_": { + "RELAY14_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY14_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY14_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY14_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY15_": { + "RELAY15_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY15_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY15_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY15_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY16_": { + "RELAY16_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY16_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY16_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY16_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY1_": { + "RELAY1_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY1_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY1_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY1_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY2_": { + "RELAY2_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY2_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY2_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY2_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY3_": { + "RELAY3_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY3_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY3_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY3_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY4_": { + "RELAY4_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY4_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY4_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY4_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY5_": { + "RELAY5_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY5_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY5_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY5_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY6_": { + "RELAY6_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY6_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY6_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY6_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY7_": { + "RELAY7_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY7_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY7_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY7_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY8_": { + "RELAY8_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY8_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY8_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY8_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RELAY9_": { + "RELAY9_DEFAULT": { + "Description": "Should the relay default to on or off, this only applies to RELAYx_FUNC \"Relay\" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.", + "DisplayName": "Relay default state", + "User": "Standard", + "Values": { + "0": "Off", + "1": "On", + "2": "NoChange" + } + }, + "RELAY9_FUNCTION": { + "Description": "The function the relay channel is mapped to.", + "DisplayName": "Relay function", + "Values": { + "0": "None", + "1": "Relay", + "4": "Camera", + "5": "Bushed motor reverse 1 throttle or throttle-left or omni motor 1", + "6": "Bushed motor reverse 2 throttle-right or omni motor 2", + "7": "Bushed motor reverse 3 omni motor 3", + "8": "Bushed motor reverse 4 omni motor 4" + } + }, + "RELAY9_INVERTED": { + "Description": "Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.", + "DisplayName": "Relay invert output signal", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Inverted" + } + }, + "RELAY9_PIN": { + "Description": "Digital pin number for relay control. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Relay pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "1000": "DroneCAN Hardpoint ID 0", + "1001": "DroneCAN Hardpoint ID 1", + "1002": "DroneCAN Hardpoint ID 2", + "1003": "DroneCAN Hardpoint ID 3", + "1004": "DroneCAN Hardpoint ID 4", + "1005": "DroneCAN Hardpoint ID 5", + "1006": "DroneCAN Hardpoint ID 6", + "1007": "DroneCAN Hardpoint ID 7", + "1008": "DroneCAN Hardpoint ID 8", + "1009": "DroneCAN Hardpoint ID 9", + "101": "MainOut1", + "1010": "DroneCAN Hardpoint ID 10", + "1011": "DroneCAN Hardpoint ID 11", + "1012": "DroneCAN Hardpoint ID 12", + "1013": "DroneCAN Hardpoint ID 13", + "1014": "DroneCAN Hardpoint ID 14", + "1015": "DroneCAN Hardpoint ID 15", + "102": "MainOut2", + "103": "MainOut3", + "104": "MainOut4", + "105": "MainOut5", + "106": "MainOut6", + "107": "MainOut7", + "108": "MainOut8", + "113": "BB Blue GP0 pin 6", + "116": "BB Blue GP0 pin 5", + "49": "BB Blue GP0 pin 4", + "50": "AUXOUT1", + "51": "AUXOUT2", + "52": "AUXOUT3", + "53": "AUXOUT4", + "54": "AUXOUT5", + "55": "AUXOUT6", + "57": "BB Blue GP0 pin 3", + "62": "BBBMini Pin P8.13" + } + } + }, + "RNGFND1_": { + "RNGFND1_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND1_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND1_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND1_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND1_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND1_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND1_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND1_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND1_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND1_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND1_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND1_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND1_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND1_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND2_": { + "RNGFND2_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND2_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND2_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND2_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND2_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND2_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND2_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND2_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND2_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND2_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND2_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND2_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND2_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND2_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND3_": { + "RNGFND3_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND3_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND3_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND3_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND3_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND3_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND3_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND3_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND3_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND3_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND3_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND3_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND3_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND3_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND4_": { + "RNGFND4_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND4_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND4_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND4_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND4_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND4_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND4_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND4_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND4_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND4_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND4_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND4_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND4_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND4_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND5_": { + "RNGFND5_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND5_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND5_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND5_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND5_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND5_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND5_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND5_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND5_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND5_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND5_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND5_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND5_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND5_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND6_": { + "RNGFND6_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND6_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND6_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND6_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND6_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND6_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND6_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND6_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND6_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND6_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND6_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND6_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND6_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND6_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND7_": { + "RNGFND7_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND7_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND7_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND7_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND7_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND7_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND7_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND7_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND7_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND7_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND7_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND7_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND7_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND7_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND8_": { + "RNGFND8_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND8_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND8_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND8_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND8_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND8_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND8_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND8_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND8_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND8_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND8_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND8_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND8_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND8_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFND9_": { + "RNGFND9_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFND9_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFND9_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFND9_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFND9_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFND9_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFND9_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFND9_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFND9_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFND9_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFND9_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFND9_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFND9_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFND9_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RNGFNDA_": { + "RNGFNDA_ADDR": { + "Description": "This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.", + "DisplayName": "Bus address of sensor", + "Increment": "1", + "Range": { + "high": "127", + "low": "0" + }, + "User": "Standard" + }, + "RNGFNDA_FUNCTION": { + "Description": "Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.", + "DisplayName": "Rangefinder function", + "User": "Standard", + "Values": { + "0": "Linear", + "1": "Inverted", + "2": "Hyperbolic" + } + }, + "RNGFNDA_GNDCLEAR": { + "Description": "This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.", + "DisplayName": "Distance (in cm) from the range finder to the ground", + "Increment": "1", + "Range": { + "high": "127", + "low": "5" + }, + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MAX_CM": { + "Description": "Maximum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder maximum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_MIN_CM": { + "Description": "Minimum distance in centimeters that rangefinder can reliably read", + "DisplayName": "Rangefinder minimum distance", + "Increment": "1", + "Units": "cm", + "User": "Standard" + }, + "RNGFNDA_OFFSET": { + "Description": "Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars", + "DisplayName": "rangefinder offset", + "Increment": "0.001", + "Units": "V", + "User": "Standard" + }, + "RNGFNDA_ORIENT": { + "Description": "Orientation of rangefinder", + "DisplayName": "Rangefinder orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "1": "Forward-Right", + "2": "Right", + "24": "Up", + "25": "Down", + "3": "Back-Right", + "4": "Back", + "5": "Back-Left", + "6": "Left", + "7": "Forward-Left" + } + }, + "RNGFNDA_PIN": { + "Description": "Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Rangefinder pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_POS_X": { + "Description": "X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.", + "DisplayName": " X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Y": { + "Description": "Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.", + "DisplayName": "Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_POS_Z": { + "Description": "Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.", + "DisplayName": "Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "RNGFNDA_PWRRNG": { + "Description": "This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled", + "DisplayName": "Powersave range", + "Range": { + "high": "32767", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "RNGFNDA_RECV_ID": { + "Description": "The receive ID of the CAN frames. A value of zero means all IDs are accepted.", + "DisplayName": "RangeFinder CAN receive ID", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_RMETRIC": { + "Description": "This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.", + "DisplayName": "Ratiometric", + "User": "Standard", + "Values": { + "0": "No", + "1": "Yes" + } + }, + "RNGFNDA_SCALING": { + "Description": "Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.", + "DisplayName": "Rangefinder scaling", + "Increment": "0.001", + "Units": "m/V", + "User": "Standard" + }, + "RNGFNDA_SNR_MIN": { + "Description": "RangeFinder Minimum signal strength (SNR) to accept distance", + "DisplayName": "RangeFinder Minimum signal strength", + "Range": { + "high": "65535", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_STOP_PIN": { + "Description": "Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Rangefinder stop pin", + "User": "Standard", + "Values": { + "-1": "Not Used", + "111": "PX4 FMU Relay1", + "112": "PX4 FMU Relay2", + "113": "PX4IO Relay1", + "114": "PX4IO Relay2", + "115": "PX4IO ACC1", + "116": "PX4IO ACC2", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RNGFNDA_TYPE": { + "Description": "Type of connected rangefinder", + "DisplayName": "Rangefinder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Analog", + "10": "MAVLink", + "100": "SITL", + "11": "USD1_Serial", + "12": "LeddarOne", + "13": "MaxbotixSerial", + "14": "TeraRangerI2C", + "15": "LidarLiteV3-I2C", + "16": "VL53L0X or VL53L1X", + "17": "NMEA", + "18": "WASP-LRF", + "19": "BenewakeTF02", + "2": "MaxbotixI2C", + "20": "Benewake-Serial", + "21": "LidarLightV3HP", + "22": "PWM", + "23": "BlueRoboticsPing", + "24": "DroneCAN", + "25": "BenewakeTFminiPlus-I2C", + "26": "LanbaoPSK-CM8JL65-CC5", + "27": "BenewakeTF03", + "28": "VL53L1X-ShortRange", + "29": "LeddarVu8-Serial", + "3": "LidarLite-I2C", + "30": "HC-SR04", + "31": "GYUS42v2", + "32": "MSP", + "33": "USD1_CAN", + "34": "Benewake_CAN", + "35": "TeraRangerSerial", + "36": "Lua_Scripting", + "37": "NoopLoop_TOFSense", + "38": "NoopLoop_TOFSense_CAN", + "39": "NRA24_CAN", + "40": "NoopLoop_TOFSenseF_I2C", + "41": "JRE_Serial", + "42": "Ainstein_LR_D1", + "43": "RDS02UF", + "5": "PWM", + "6": "BBB-PRU", + "7": "LightWareI2C", + "8": "LightWareSerial", + "9": "Bebop" + } + }, + "RNGFNDA_WSP_AVG": { + "Description": "Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement", + "DisplayName": "Multi-pulse averages", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_BAUD": { + "Description": "Desired baud rate", + "DisplayName": "Baud rate", + "User": "Advanced", + "Values": { + "0": "Low Speed", + "1": "High Speed" + } + }, + "RNGFNDA_WSP_FRQ": { + "Description": "Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.", + "DisplayName": "Frequency", + "Range": { + "high": "10000", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MAVG": { + "Description": "Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results", + "DisplayName": "Moving Average Range", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_MEDF": { + "Description": "Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active", + "DisplayName": "Moving Median Filter", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "RNGFNDA_WSP_THR": { + "Description": "Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments", + "DisplayName": "Sensitivity threshold", + "Range": { + "high": "255", + "low": "-1" + }, + "User": "Advanced" + } + }, + "RPM1_": { + "RPM1_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM1_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM1_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM1_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM1_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM1_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM1_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM1_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM2_": { + "RPM2_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM2_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM2_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM2_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM2_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM2_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM2_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM2_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM3_": { + "RPM3_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM3_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM3_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM3_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM3_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM3_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM3_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM3_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RPM4_": { + "RPM4_DC_ID": { + "Description": "DroneCAN sensor ID to assign to this backend", + "DisplayName": "DroneCAN Sensor ID", + "Increment": "1", + "Range": { + "high": "10", + "low": "-1" + }, + "User": "Advanced" + }, + "RPM4_ESC_INDEX": { + "Description": "ESC Telemetry Index to write RPM to. Use 0 to disable.", + "DisplayName": "ESC Telemetry Index to write RPM to", + "Increment": "1", + "Range": { + "high": "10", + "low": "0" + }, + "User": "Advanced" + }, + "RPM4_ESC_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "2": "Channel3", + "3": "Channel4", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged", + "DisplayName": "Bitmask of ESC telemetry channels to average", + "User": "Advanced" + }, + "RPM4_MAX": { + "Description": "Maximum RPM to report. Only used on type = GPIO.", + "DisplayName": "Maximum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN": { + "Description": "Minimum RPM to report. Only used on type = GPIO.", + "DisplayName": "Minimum RPM", + "Increment": "1", + "User": "Standard" + }, + "RPM4_MIN_QUAL": { + "Description": "Minimum data quality to be used", + "DisplayName": "Minimum Quality", + "Increment": "0.1", + "User": "Advanced" + }, + "RPM4_PIN": { + "Description": "Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's \"GPIOs\" page for how to determine the pin number for a given autopilot.", + "DisplayName": "Input pin number", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "RPM4_SCALING": { + "Description": "Scaling factor between sensor reading and RPM.", + "DisplayName": "RPM scaling", + "Increment": "0.001", + "User": "Standard" + }, + "RPM4_TYPE": { + "Description": "What type of RPM sensor is connected", + "DisplayName": "RPM type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Not Used", + "2": "GPIO", + "3": "EFI", + "4": "Harmonic Notch", + "5": "ESC Telemetry Motors Bitmask", + "6": "Generator", + "7": "DroneCAN" + } + } + }, + "RSSI_": { + "RSSI_ANA_PIN": { + "Description": "Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as \"GPIOs\". Values for some autopilots are given as examples. Search wiki for \"Analog pins\" for analog pin or \"GPIOs\", if PWM input type, to determine pin number.", + "DisplayName": "Receiver RSSI sensing pin", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6", + "8": "V5 Nano" + } + }, + "RSSI_CHANNEL": { + "Description": "The channel number where RSSI will be output by the radio receiver (5 and above).", + "DisplayName": "Receiver RSSI channel number", + "Range": { + "high": "16", + "low": "0" + }, + "User": "Standard" + }, + "RSSI_CHAN_HIGH": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW", + "DisplayName": "Receiver RSSI PWM high value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_CHAN_LOW": { + "Description": "PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH", + "DisplayName": "RSSI PWM low value", + "Range": { + "high": "2000", + "low": "0" + }, + "Units": "PWM", + "User": "Standard" + }, + "RSSI_PIN_HIGH": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's highest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_PIN_LOW": { + "Description": "RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "RSSI pin's lowest voltage", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "RSSI_TYPE": { + "Description": "Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.", + "DisplayName": "RSSI Type", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "AnalogPin", + "2": "RCChannelPwmValue", + "3": "ReceiverProtocol", + "4": "PWMInputPin", + "5": "TelemetryRadioRSSI" + } + } + }, + "Rover": { + "ACRO_TURN_RATE": { + "Description": "Acro mode turn rate maximum", + "DisplayName": "Acro mode turn rate maximum", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "AUTO_KICKSTART": { + "Description": "X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor", + "DisplayName": "Auto mode trigger kickstart acceleration", + "Increment": "0.1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "AUTO_TRIGGER_PIN": { + "Description": "pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.", + "DisplayName": "Auto mode trigger pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "0": "APM TriggerPin0", + "1": "APM TriggerPin1", + "2": "APM TriggerPin2", + "3": "APM TriggerPin3", + "4": "APM TriggerPin4", + "5": "APM TriggerPin5", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6", + "6": "APM TriggerPin6", + "7": "APM TriggerPin7", + "8": "APM TriggerPin8" + } + }, + "AUX_CH": { + "Description": "RC Channel to use for auxiliary functions including saving waypoints", + "DisplayName": "Auxiliary switch channel", + "User": "Advanced" + }, + "BAL_PITCH_MAX": { + "Description": "Pitch angle in degrees at 100% throttle", + "DisplayName": "BalanceBot Maximum Pitch", + "Increment": "0.1", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "BAL_PITCH_TRIM": { + "Description": "Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.", + "DisplayName": "Balance Bot pitch trim angle", + "Increment": "0.1", + "Range": { + "high": "2", + "low": "-2" + }, + "Units": "deg", + "User": "Standard" + }, + "CH7_OPTION": { + "Description": "What to do use channel 7 for", + "DisplayName": "Channel 7 option", + "User": "Standard", + "Values": { + "0": "Nothing", + "1": "SaveWaypoint", + "10": "SmartRTL", + "11": "Guided", + "12": "Loiter", + "2": "LearnCruiseSpeed", + "3": "ArmDisarm", + "4": "Manual", + "5": "Acro", + "6": "Steering", + "7": "Hold", + "8": "Auto", + "9": "RTL" + } + }, + "CRASH_ANGLE": { + "Description": "Pitch/Roll angle limit in degrees for crash check. Zero disables check", + "DisplayName": "Crash Angle", + "Increment": "1", + "Range": { + "high": "60", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "CRUISE_SPEED": { + "Description": "The target speed in auto missions.", + "DisplayName": "Target cruise speed in auto modes", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "CRUISE_THROTTLE": { + "Description": "The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.", + "DisplayName": "Base throttle percentage in auto", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "FORMAT_VERSION": { + "Description": "This value is incremented when changes are made to the eeprom format", + "DisplayName": "Eeprom format version number", + "User": "Advanced" + }, + "FRAME_CLASS": { + "Description": "Frame Class", + "DisplayName": "Frame Class", + "User": "Standard", + "Values": { + "0": "Undefined", + "1": "Rover", + "2": "Boat", + "3": "BalanceBot" + } + }, + "FRAME_TYPE": { + "Description": "Frame Type", + "DisplayName": "Frame Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Undefined", + "1": "Omni3", + "2": "OmniX", + "3": "OmniPlus", + "4": "Omni3Mecanum" + } + }, + "FS_ACTION": { + "Description": "What to do on a failsafe event", + "DisplayName": "Failsafe Action", + "User": "Standard", + "Values": { + "0": "Nothing", + "1": "RTL", + "2": "Hold", + "3": "SmartRTL or RTL", + "4": "SmartRTL or Hold", + "5": "Terminate" + } + }, + "FS_CRASH_CHECK": { + "Description": "What to do on a crash event. When enabled the rover will go to hold if a crash is detected.", + "DisplayName": "Crash check action", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Hold", + "2": "HoldAndDisarm" + } + }, + "FS_EKF_ACTION": { + "Description": "Controls the action that will be taken when an EKF failsafe is invoked", + "DisplayName": "EKF Failsafe Action", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Hold", + "2": "ReportOnly" + } + }, + "FS_EKF_THRESH": { + "Description": "Allows setting the maximum acceptable compass and velocity variance", + "DisplayName": "EKF failsafe variance threshold", + "User": "Advanced", + "Values": { + "0.6": "Strict", + "0.8": "Default", + "1.0": "Relaxed" + } + }, + "FS_GCS_ENABLE": { + "Description": "Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.", + "DisplayName": "GCS failsafe enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled Continue with Mission in Auto" + } + }, + "FS_GCS_TIMEOUT": { + "Description": "Timeout before triggering the GCS failsafe", + "DisplayName": "GCS failsafe timeout", + "Increment": "1", + "Range": { + "high": "120", + "low": "2" + }, + "Units": "s", + "User": "Standard" + }, + "FS_OPTIONS": { + "Bitmask": { + "0": "Failsafe enabled in Hold mode" + }, + "Description": "Bitmask to enable failsafe options", + "DisplayName": "Failsafe Options", + "User": "Advanced" + }, + "FS_THR_ENABLE": { + "Description": "The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.", + "DisplayName": "Throttle Failsafe Enable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled", + "2": "Enabled Continue with Mission in Auto" + } + }, + "FS_THR_VALUE": { + "Description": "The PWM level on the throttle channel below which throttle failsafe triggers.", + "DisplayName": "Throttle Failsafe Value", + "Increment": "1", + "Range": { + "high": "1100", + "low": "910" + }, + "User": "Standard" + }, + "FS_TIMEOUT": { + "Description": "The time in seconds that a failsafe condition must persist before the failsafe action is triggered", + "DisplayName": "Failsafe timeout", + "Increment": "0.5", + "Range": { + "high": "100", + "low": "1" + }, + "Units": "s", + "User": "Standard" + }, + "GCS_PID_MASK": { + "Bitmask": { + "0": "Steering", + "1": "Throttle", + "2": "Pitch", + "3": "Left Wheel", + "4": "Right Wheel", + "5": "Sailboat Heel", + "6": "Velocity North", + "7": "Velocity East" + }, + "Description": "bitmask of PIDs to send MAVLink PID_TUNING messages for", + "DisplayName": "GCS PID tuning mask", + "User": "Advanced" + }, + "GUID_OPTIONS": { + "Bitmask": { + "6": "SCurves used for navigation" + }, + "Description": "Options that can be applied to change guided mode behaviour", + "DisplayName": "Guided mode options", + "User": "Advanced" + }, + "INITIAL_MODE": { + "Description": "This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.", + "DisplayName": "Initial driving mode", + "User": "Advanced", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "LOG_BITMASK": { + "Bitmask": { + "0": "Fast Attitude", + "1": "Medium Attitude", + "10": "Rangefinder", + "11": "Compass", + "12": "Camera", + "13": "Steering", + "14": "RC Input-Output", + "19": "Raw IMU", + "2": "GPS", + "20": "Video Stabilization", + "21": "Optical Flow", + "3": "System Performance", + "4": "Throttle", + "5": "Navigation Tuning", + "7": "IMU", + "8": "Mission Commands", + "9": "Battery Monitor" + }, + "Description": "Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.", + "DisplayName": "Log bitmask", + "User": "Advanced" + }, + "LOIT_RADIUS": { + "Description": "Vehicle will drift when within this distance of the target position", + "DisplayName": "Loiter radius", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "LOIT_SPEED_GAIN": { + "Description": "Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable.", + "DisplayName": "Loiter speed gain", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "0" + }, + "User": "Advanced" + }, + "LOIT_TYPE": { + "Description": "Loiter behaviour when moving to the target point", + "DisplayName": "Loiter type", + "User": "Standard", + "Values": { + "0": "Forward or reverse to target point", + "1": "Always face bow towards target point", + "2": "Always face stern towards target point" + } + }, + "MANUAL_OPTIONS": { + "Bitmask": { + "0": "Enable steering speed scaling" + }, + "Description": "Manual mode specific options", + "DisplayName": "Manual mode options", + "User": "Advanced" + }, + "MANUAL_STR_EXPO": { + "Description": "Manual steering expo to allow faster steering when stick at edges", + "DisplayName": "Manual Steering Expo", + "Range": { + "high": "0.95", + "low": "-0.5" + }, + "User": "Advanced", + "Values": { + "0": "Disabled", + "0.1": "Very Low", + "0.2": "Low", + "0.3": "Medium", + "0.4": "High", + "0.5": "Very High" + } + }, + "MIS_DONE_BEHAVE": { + "Description": "Behaviour after mission completes", + "DisplayName": "Mission done behave", + "User": "Standard", + "Values": { + "0": "Hold in Auto Mode", + "1": "Loiter in Auto Mode", + "2": "Acro Mode", + "3": "Manual Mode" + } + }, + "MODE1": { + "Description": "Driving mode for switch position 1 (910 to 1230 and above 2049)", + "DisplayName": "Mode1", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE2": { + "Description": "Driving mode for switch position 2 (1231 to 1360)", + "DisplayName": "Mode2", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE3": { + "Description": "Driving mode for switch position 3 (1361 to 1490)", + "DisplayName": "Mode3", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE4": { + "Description": "Driving mode for switch position 4 (1491 to 1620)", + "DisplayName": "Mode4", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE5": { + "Description": "Driving mode for switch position 5 (1621 to 1749)", + "DisplayName": "Mode5", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE6": { + "Description": "Driving mode for switch position 6 (1750 to 2049)", + "DisplayName": "Mode6", + "User": "Standard", + "Values": { + "0": "Manual", + "1": "Acro", + "10": "Auto", + "11": "RTL", + "12": "SmartRTL", + "15": "Guided", + "3": "Steering", + "4": "Hold", + "5": "Loiter", + "6": "Follow", + "7": "Simple", + "8": "Dock", + "9": "Circle" + } + }, + "MODE_CH": { + "Description": "RC Channel to use for driving mode control", + "DisplayName": "Mode channel", + "User": "Advanced" + }, + "PILOT_STEER_TYPE": { + "Description": "Pilot RC input interpretation", + "DisplayName": "Pilot input steering type", + "User": "Standard", + "Values": { + "0": "Default", + "1": "Two Paddles Input", + "2": "Direction reversed when backing up", + "3": "Direction unchanged when backing up" + } + }, + "PIVOT_TURN_ANGLE": { + "Description": "Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.", + "DisplayName": "Pivot turn angle", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "PIVOT_TURN_RATE": { + "Description": "Desired pivot turn rate in deg/s.", + "DisplayName": "Pivot turn rate", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + }, + "RST_SWITCH_CH": { + "Description": "RC channel to use to reset to last flight mode after geofence takeover.", + "DisplayName": "Reset Switch Channel", + "User": "Advanced" + }, + "RTL_SPEED": { + "Description": "Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.", + "DisplayName": "Return-to-Launch speed default", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "SIMPLE_TYPE": { + "Description": "Simple mode types", + "DisplayName": "Simple_Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "InitialHeading", + "1": "CardinalDirections" + } + }, + "SPEED_MAX": { + "Description": "Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE.", + "DisplayName": "Speed maximum", + "Increment": "0.1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "m/s", + "User": "Advanced" + }, + "STICK_MIXING": { + "Description": "When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.", + "DisplayName": "Stick Mixing", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SYSID_ENFORCE": { + "Description": "This controls whether packets from other than the expected GCS system ID will be accepted", + "DisplayName": "GCS sysid enforcement", + "User": "Advanced", + "Values": { + "0": "NotEnforced", + "1": "Enforced" + } + }, + "SYSID_MYGCS": { + "Description": "The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.", + "DisplayName": "MAVLink ground station ID", + "Increment": "1", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "SYSID_THISMAV": { + "Description": "Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network", + "DisplayName": "MAVLink system ID of this vehicle", + "Range": { + "high": "255", + "low": "1" + }, + "User": "Advanced" + }, + "TELEM_DELAY": { + "Description": "The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up", + "DisplayName": "Telemetry startup delay", + "Increment": "1", + "Range": { + "high": "30", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "TURN_RADIUS": { + "Description": "Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode", + "DisplayName": "Turn radius of vehicle", + "Increment": "0.1", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Standard" + } + }, + "SAIL_": { + "SAIL_ANGLE_IDEAL": { + "Description": "Ideal angle between sail and apparent wind", + "DisplayName": "Sail ideal angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "SAIL_ANGLE_MAX": { + "Description": "Mainsheet loose, angle between centerline and boom. For direct-control rotating masts, the rotation angle at SERVOx_MAX/_MIN; for rotating masts, this value can exceed 90 degrees if the linkages can physically rotate the mast past that angle.", + "DisplayName": "Sail max angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "SAIL_ANGLE_MIN": { + "Description": "Mainsheet tight, angle between centerline and boom", + "DisplayName": "Sail min angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "SAIL_ENABLE": { + "Description": "This enables Sailboat functionality", + "DisplayName": "Enable Sailboat", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SAIL_HEEL_MAX": { + "Description": "When in auto sail trim modes the heel will be limited to this value using PID control", + "DisplayName": "Sailing maximum heel angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "SAIL_LOIT_RADIUS": { + "Description": "When in sailing modes the vehicle will keep moving within this loiter radius", + "DisplayName": "Loiter radius", + "Increment": "1", + "Range": { + "high": "20", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "SAIL_NO_GO_ANGLE": { + "Description": "The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind", + "DisplayName": "Sailing no go zone angle", + "Increment": "1", + "Range": { + "high": "90", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "SAIL_WNDSPD_MIN": { + "Description": "Sailboat minimum wind speed to continue sail in, at lower wind speeds the sailboat will motor if one is fitted", + "DisplayName": "Sailboat minimum wind speed to sail in", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "SAIL_XTRACK_MAX": { + "Description": "The sail boat will tack when it reaches this cross track error, defines a corridor of 2 times this value wide, 0 disables", + "DisplayName": "Sailing vehicle max cross track error", + "Increment": "1", + "Range": { + "high": "25", + "low": "5" + }, + "Units": "m", + "User": "Standard" + } + }, + "SCHED_": { + "SCHED_DEBUG": { + "Description": "Set to non-zero to enable scheduler debug messages. When set to show \"Slips\" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.", + "DisplayName": "Scheduler debug level", + "User": "Advanced", + "Values": { + "0": "Disabled", + "2": "ShowSlips", + "3": "ShowOverruns" + } + }, + "SCHED_LOOP_RATE": { + "Description": "This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.", + "DisplayName": "Scheduling main loop rate", + "Range": { + "high": "400", + "low": "50" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SCHED_OPTIONS": { + "Bitmask": { + "0": "Enable per-task perf info" + }, + "Description": "This controls optional aspects of the scheduler.", + "DisplayName": "Scheduling options", + "User": "Advanced" + } + }, + "SCR_": { + "SCR_DEBUG_OPTS": { + "Bitmask": { + "0": "No Scripts to run message if all scripts have stopped", + "1": "Runtime messages for memory usage and execution time", + "2": "Suppress logging scripts to dataflash", + "3": "log runtime memory usage and execution time", + "4": "Disable pre-arm check", + "5": "Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm" + }, + "Description": "Debugging options", + "DisplayName": "Scripting Debug Level", + "User": "Advanced" + }, + "SCR_DIR_DISABLE": { + "Bitmask": { + "0": "ROMFS", + "1": "APM/scripts" + }, + "Description": "This will stop scripts being loaded from the given locations", + "DisplayName": "Directory disable", + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_ENABLE": { + "Description": "Controls if scripting is enabled", + "DisplayName": "Enable Scripting", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "Lua Scripts" + } + }, + "SCR_HEAP_SIZE": { + "Description": "Amount of memory available for scripting", + "DisplayName": "Scripting Heap Size", + "Increment": "1024", + "Range": { + "high": "1048576", + "low": "1024" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SCR_LD_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables", + "DisplayName": "Loaded script checksum", + "User": "Advanced" + }, + "SCR_RUN_CHECKSUM": { + "Description": "Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables", + "DisplayName": "Running script checksum", + "User": "Advanced" + }, + "SCR_SDEV1_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV2_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV3_PROTO": { + "Description": "Serial protocol of scripting serial device", + "DisplayName": "Serial protocol of scripting serial device", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SCR_SDEV_EN": { + "Description": "Enable scripting serial devices", + "DisplayName": "Scripting serial device enable", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SCR_THD_PRIORITY": { + "Description": "This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.", + "DisplayName": "Scripting thread priority", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "IO Priority", + "2": "Storage Priority", + "3": "UART Priority", + "4": "I2C Priority", + "5": "SPI Priority", + "6": "Timer Priority", + "7": "Main Priority", + "8": "Boost Priority" + } + }, + "SCR_USER1": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter1", + "User": "Standard" + }, + "SCR_USER2": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter2", + "User": "Standard" + }, + "SCR_USER3": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter3", + "User": "Standard" + }, + "SCR_USER4": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter4", + "User": "Standard" + }, + "SCR_USER5": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter5", + "User": "Standard" + }, + "SCR_USER6": { + "Description": "General purpose user variable input for scripts", + "DisplayName": "Scripting User Parameter6", + "User": "Standard" + }, + "SCR_VM_I_COUNT": { + "Description": "The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time", + "DisplayName": "Scripting Virtual Machine Instruction Count", + "Increment": "10000", + "Range": { + "high": "1000000", + "low": "1000" + }, + "User": "Advanced" + } + }, + "SERIAL": { + "SERIAL0_BAUD": { + "Description": "The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial0 baud rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL0_PROTOCOL": { + "Description": "Control what protocol to use on the console. ", + "DisplayName": "Console protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "1": "MAVLink1", + "2": "MAVLink2" + } + }, + "SERIAL1_BAUD": { + "Description": "The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telem1 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL1_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem1 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL1_PROTOCOL": { + "Description": "Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telem1 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL2_BAUD": { + "Description": "The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Telemetry 2 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL2_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Telem2 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL2_PROTOCOL": { + "Description": "Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Telemetry 2 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL3_BAUD": { + "Description": "The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 3 (GPS) Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL3_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial3 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL3_PROTOCOL": { + "Description": "Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial 3 (GPS) protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL4_BAUD": { + "Description": "The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 4 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL4_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial4 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL4_PROTOCOL": { + "Description": "Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial4 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL5_BAUD": { + "Description": "The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 5 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL5_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial5 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL5_PROTOCOL": { + "Description": "Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial5 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL6_BAUD": { + "Description": "The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 6 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL6_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial6 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL6_PROTOCOL": { + "Description": "Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial6 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL7_BAUD": { + "Description": "The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 7 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL7_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial7 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL7_PROTOCOL": { + "Description": "Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial7 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL8_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 8 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL8_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial8 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL8_PROTOCOL": { + "Description": "Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial8 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL9_BAUD": { + "Description": "The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.", + "DisplayName": "Serial 9 Baud Rate", + "User": "Standard", + "Values": { + "1": "1200", + "111": "111100", + "115": "115200", + "1500": "1500000", + "19": "19200", + "2": "2400", + "2000": "2000000", + "230": "230400", + "256": "256000", + "38": "38400", + "4": "4800", + "460": "460800", + "500": "500000", + "57": "57600", + "9": "9600", + "921": "921600" + } + }, + "SERIAL9_OPTIONS": { + "Bitmask": { + "0": "InvertRX", + "1": "InvertTX", + "10": "Don't forward mavlink to/from", + "11": "DisableFIFO", + "12": "Ignore Streamrate", + "2": "HalfDuplex", + "3": "SwapTXRX", + "4": "RX_PullDown", + "5": "RX_PullUp", + "6": "TX_PullDown", + "7": "TX_PullUp", + "8": "RX_NoDMA", + "9": "TX_NoDMA" + }, + "Description": "Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.", + "DisplayName": "Serial9 options", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERIAL9_PROTOCOL": { + "Description": "Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.", + "DisplayName": "Serial9 protocol selection", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "None", + "1": "MAVLink1", + "10": "FrSky SPort Passthrough (OpenTX)", + "11": "Lidar360", + "13": "Beacon", + "14": "Volz servo out", + "15": "SBus servo out", + "16": "ESC Telemetry", + "17": "Devo Telemetry", + "18": "OpticalFlow", + "19": "RobotisServo", + "2": "MAVLink2", + "20": "NMEA Output", + "21": "WindVane", + "22": "SLCAN", + "23": "RCIN", + "24": "EFI Serial", + "25": "LTM", + "26": "RunCam", + "27": "HottTelem", + "28": "Scripting", + "29": "Crossfire VTX", + "3": "Frsky D", + "30": "Generator", + "31": "Winch", + "32": "MSP", + "33": "DJI FPV", + "34": "AirSpeed", + "35": "ADSB", + "36": "AHRS", + "37": "SmartAudio", + "38": "FETtecOneWire", + "39": "Torqeedo", + "4": "Frsky SPort", + "40": "AIS", + "41": "CoDevESC", + "42": "DisplayPort", + "43": "MAVLink High Latency", + "44": "IRC Tramp", + "45": "DDS XRCE", + "46": "IMUDATA", + "48": "PPP", + "5": "GPS", + "7": "Alexmos Gimbal Serial", + "8": "Gimbal", + "9": "Rangefinder" + } + }, + "SERIAL_PASS1": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru first port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASS2": { + "Description": "This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port", + "DisplayName": "Serial passthru second port", + "User": "Advanced", + "Values": { + "-1": "Disabled", + "0": "Serial0", + "1": "Serial1", + "2": "Serial2", + "3": "Serial3", + "4": "Serial4", + "5": "Serial5", + "6": "Serial6" + } + }, + "SERIAL_PASSTIMO": { + "Description": "This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.", + "DisplayName": "Serial passthru timeout", + "Range": { + "high": "120", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + } + }, + "SERVO": { + "SERVO_32_ENABLE": { + "Description": "This allows for up to 32 outputs, enabling parameters for outputs above 16", + "DisplayName": "Enable outputs 17 to 31", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_DSHOT_ESC": { + "Description": "DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.", + "DisplayName": "Servo DShot ESC type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "BLHeli32/Kiss/AM32", + "2": "BLHeli_S/BlueJay", + "3": "BLHeli32/AM32/Kiss+EDT", + "4": "BLHeli_S/BlueJay+EDT" + } + }, + "SERVO_DSHOT_RATE": { + "Description": "DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.", + "DisplayName": "Servo DShot output rate", + "User": "Advanced", + "Values": { + "0": "1Khz", + "1": "loop-rate", + "2": "double loop-rate", + "3": "triple loop-rate", + "4": "quadruple loop rate" + } + }, + "SERVO_GPIO_MASK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin", + "DisplayName": "Servo GPIO mask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_RATE": { + "Description": "Default output rate in Hz for all PWM outputs.", + "DisplayName": "Servo default output rate", + "Range": { + "high": "400", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SERVO_RC_FS_MSK": { + "Bitmask": { + "0": "RCIN1Scaled", + "1": "RCIN2Scaled", + "10": "RCIN11Scaled", + "11": "SRCIN12Scaled", + "12": "RCIN13Scaled", + "13": "RCIN14Scaled", + "14": "RCIN15Scaled", + "15": "RCIN16Scaled", + "2": "RCIN3Scaled", + "3": "RCIN4Scaled", + "4": "RCIN5Scaled", + "5": "RCIN6Scaled", + "6": "RCIN7Scaled", + "7": "RCIN8Scaled", + "8": "RCIN9Scaled", + "9": "RCIN10Scaled" + }, + "Description": "Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.", + "DisplayName": "Servo RC Failsafe Mask", + "User": "Advanced" + } + }, + "SERVO10_": { + "SERVO10_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO10_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO10_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO10_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO11_": { + "SERVO11_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO11_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO11_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO11_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO12_": { + "SERVO12_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO12_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO12_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO12_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO13_": { + "SERVO13_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO13_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO13_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO13_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO14_": { + "SERVO14_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO14_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO14_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO14_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO15_": { + "SERVO15_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO15_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO15_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO15_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO16_": { + "SERVO16_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO16_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO16_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO16_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO17_": { + "SERVO17_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO17_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO17_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO17_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO18_": { + "SERVO18_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO18_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO18_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO18_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO19_": { + "SERVO19_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO19_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO19_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO19_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO1_": { + "SERVO1_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO1_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO1_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO1_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO20_": { + "SERVO20_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO20_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO20_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO20_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO21_": { + "SERVO21_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO21_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO21_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO21_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO22_": { + "SERVO22_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO22_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO22_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO22_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO23_": { + "SERVO23_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO23_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO23_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO23_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO24_": { + "SERVO24_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO24_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO24_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO24_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO25_": { + "SERVO25_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO25_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO25_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO25_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO26_": { + "SERVO26_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO26_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO26_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO26_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO27_": { + "SERVO27_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO27_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO27_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO27_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO28_": { + "SERVO28_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO28_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO28_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO28_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO29_": { + "SERVO29_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO29_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO29_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO29_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO2_": { + "SERVO2_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO2_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO2_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO2_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO30_": { + "SERVO30_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO30_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO30_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO30_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO31_": { + "SERVO31_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO31_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO31_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO31_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO32_": { + "SERVO32_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO32_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO32_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO32_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO3_": { + "SERVO3_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO3_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO3_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO3_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO4_": { + "SERVO4_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO4_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO4_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO4_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO5_": { + "SERVO5_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO5_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO5_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO5_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO6_": { + "SERVO6_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO6_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO6_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO6_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO7_": { + "SERVO7_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO7_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO7_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO7_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO8_": { + "SERVO8_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO8_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO8_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO8_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO9_": { + "SERVO9_FUNCTION": { + "Description": "Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function", + "DisplayName": "Servo output function", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "GPIO", + "0": "Disabled", + "1": "RCPassThru", + "10": "CameraTrigger", + "100": "Script7", + "101": "Script8", + "102": "Script9", + "103": "Script10", + "104": "Script11", + "105": "Script12", + "106": "Script13", + "107": "Script14", + "108": "Script15", + "109": "Script16", + "12": "Mount2Yaw", + "120": "NeoPixel1", + "121": "NeoPixel2", + "122": "NeoPixel3", + "123": "NeoPixel4", + "128": "WingSailElevator", + "129": "ProfiLED1", + "13": "Mount2Pitch", + "130": "ProfiLED2", + "131": "ProfiLED3", + "132": "ProfiLEDClock", + "133": "Winch Clutch", + "134": "SERVOn_MIN", + "135": "SERVOn_TRIM", + "136": "SERVOn_MAX", + "137": "SailMastRotation", + "138": "Alarm", + "139": "Alarm Inverted", + "14": "Mount2Roll", + "140": "RCIN1Scaled", + "141": "RCIN2Scaled", + "142": "RCIN3Scaled", + "143": "RCIN4Scaled", + "144": "RCIN5Scaled", + "145": "RCIN6Scaled", + "146": "RCIN7Scaled", + "147": "RCIN8Scaled", + "148": "RCIN9Scaled", + "149": "RCIN10Scaled", + "15": "Mount2Retract", + "150": "RCIN11Scaled", + "151": "RCIN12Scaled", + "152": "RCIN13Scaled", + "153": "RCIN14Scaled", + "154": "RCIN15Scaled", + "155": "RCIN16Scaled", + "22": "SprayerPump", + "23": "SprayerSpinner", + "26": "GroundSteering", + "28": "Gripper", + "33": "Motor1", + "34": "Motor2", + "35": "Motor3", + "36": "Motor4", + "51": "RCIN1", + "52": "RCIN2", + "53": "RCIN3", + "54": "RCIN4", + "55": "RCIN5", + "56": "RCIN6", + "57": "RCIN7", + "58": "RCIN8", + "59": "RCIN9", + "6": "Mount1Yaw", + "60": "RCIN10", + "61": "RCIN11", + "62": "RCIN12", + "63": "RCIN13", + "64": "RCIN14", + "65": "RCIN15", + "66": "RCIN16", + "7": "Mount1Pitch", + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight", + "8": "Mount1Roll", + "88": "Winch", + "89": "Main Sail", + "9": "Mount1Retract", + "90": "CameraISO", + "91": "CameraAperture", + "92": "CameraFocus", + "93": "CameraShutterSpeed", + "94": "Script1", + "95": "Script2", + "96": "Script3", + "97": "Script4", + "98": "Script5", + "99": "Script6" + } + }, + "SERVO9_MAX": { + "Description": "maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Maximum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_MIN": { + "Description": "minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Minimum PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + }, + "SERVO9_REVERSED": { + "Description": "Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.", + "DisplayName": "Servo reverse", + "User": "Standard", + "Values": { + "0": "Normal", + "1": "Reversed" + } + }, + "SERVO9_TRIM": { + "Description": "Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.", + "DisplayName": "Trim PWM", + "Increment": "1", + "Range": { + "high": "2200", + "low": "800" + }, + "Units": "PWM", + "User": "Standard" + } + }, + "SERVO_BLH_": { + "SERVO_BLH_3DMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.", + "DisplayName": "BLHeli bitmask of 3D channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_AUTO": { + "Description": "If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors", + "DisplayName": "BLHeli pass-thru auto-enable for multicopter motors", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_BDMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.", + "DisplayName": "BLHeli bitmask of bi-directional dshot channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_DEBUG": { + "Description": "When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.", + "DisplayName": "BLHeli debug level", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SERVO_BLH_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)", + "DisplayName": "BLHeli Channel Bitmask", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_OTYPE": { + "Description": "When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.", + "DisplayName": "BLHeli output type override", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "OneShot", + "2": "OneShot125", + "3": "Brushed", + "4": "DShot150", + "5": "DShot300", + "6": "DShot600", + "7": "DShot1200" + } + }, + "SERVO_BLH_POLES": { + "Description": "This allows calculation of true RPM from ESC's eRPM. The default is 14.", + "DisplayName": "BLHeli Motor Poles", + "Range": { + "high": "127", + "low": "1" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_PORT": { + "Description": "This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.", + "DisplayName": "Control port", + "User": "Advanced", + "Values": { + "0": "Console", + "1": "Mavlink Serial Channel1", + "2": "Mavlink Serial Channel2", + "3": "Mavlink Serial Channel3", + "4": "Mavlink Serial Channel4", + "5": "Mavlink Serial Channel5" + } + }, + "SERVO_BLH_RVMASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel 17", + "17": "Channel 18", + "18": "Channel 19", + "19": "Channel 20", + "2": "Channel3", + "20": "Channel 21", + "21": "Channel 22", + "22": "Channel 23", + "23": "Channel 24", + "24": "Channel 25", + "25": "Channel 26", + "26": "Channel 27", + "27": "Channel 28", + "28": "Channel 29", + "29": "Channel 30", + "3": "Channel4", + "30": "Channel 31", + "31": "Channel 32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.", + "DisplayName": "BLHeli bitmask of reversed channels", + "RebootRequired": "True", + "User": "Advanced" + }, + "SERVO_BLH_TEST": { + "Description": "Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.", + "DisplayName": "BLHeli internal interface test", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "TestMotor1", + "2": "TestMotor2", + "3": "TestMotor3", + "4": "TestMotor4", + "5": "TestMotor5", + "6": "TestMotor6", + "7": "TestMotor7", + "8": "TestMotor8" + } + }, + "SERVO_BLH_TMOUT": { + "Description": "This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout", + "DisplayName": "BLHeli protocol timeout", + "Range": { + "high": "300", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "SERVO_BLH_TRATE": { + "Description": "This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests", + "DisplayName": "BLHeli telemetry rate", + "Range": { + "high": "500", + "low": "0" + }, + "Units": "Hz", + "User": "Standard" + } + }, + "SERVO_FTW_": { + "SERVO_FTW_MASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask specifying FETtec ESC output.", + "DisplayName": "Servo channel output bitmask", + "RebootRequired": "True", + "User": "Standard" + }, + "SERVO_FTW_POLES": { + "Description": "Number of motor electrical poles", + "DisplayName": "Nr. electrical poles", + "Range": { + "high": "50", + "low": "2" + }, + "User": "Standard" + }, + "SERVO_FTW_RVMASK": { + "Bitmask": { + "0": "SERVO1", + "1": "SERVO2", + "10": "SERVO11", + "11": "SERVO12", + "2": "SERVO3", + "3": "SERVO4", + "4": "SERVO5", + "5": "SERVO6", + "6": "SERVO7", + "7": "SERVO8", + "8": "SERVO9", + "9": "SERVO10" + }, + "Description": "Servo channel mask to reverse rotation of FETtec ESC outputs.", + "DisplayName": "Servo channel reverse rotation bitmask", + "User": "Standard" + } + }, + "SERVO_ROB_": { + "SERVO_ROB_POSMAX": { + "Description": "Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position max", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + }, + "SERVO_ROB_POSMIN": { + "Description": "Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095", + "DisplayName": "Robotis servo position min", + "Range": { + "high": "4095", + "low": "0" + }, + "User": "Standard" + } + }, + "SERVO_SBUS_": { + "SERVO_SBUS_RATE": { + "Description": "This sets the SBUS output frame rate in Hz.", + "DisplayName": "SBUS default output rate", + "Range": { + "high": "250", + "low": "25" + }, + "Units": "Hz", + "User": "Advanced" + } + }, + "SERVO_VOLZ_": { + "SERVO_VOLZ_MASK": { + "Bitmask": { + "0": "Channel1", + "1": "Channel2", + "10": "Channel11", + "11": "Channel12", + "12": "Channel13", + "13": "Channel14", + "14": "Channel15", + "15": "Channel16", + "16": "Channel17", + "17": "Channel18", + "18": "Channel19", + "19": "Channel20", + "2": "Channel3", + "20": "Channel21", + "21": "Channel22", + "22": "Channel23", + "23": "Channel24", + "24": "Channel25", + "25": "Channel26", + "26": "Channel27", + "28": "Channel29", + "29": "Channel30", + "3": "Channel4", + "30": "Channel31", + "31": "Channel32", + "4": "Channel5", + "5": "Channel6", + "6": "Channel7", + "7": "Channel8", + "8": "Channel9", + "9": "Channel10" + }, + "Description": "Enable of volz servo protocol to specific channels", + "DisplayName": "Channel Bitmask", + "User": "Standard" + }, + "SERVO_VOLZ_RANGE": { + "Description": "Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.", + "DisplayName": "Range of travel", + "Units": "deg" + } + }, + "SIM_": { + "SIM_ACC1_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 1 bias", + "User": "Advanced" + }, + "SIM_ACC1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 1 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC1_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 1 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 2 bias", + "User": "Advanced" + }, + "SIM_ACC2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 2 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC2_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 2 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 3 bias", + "User": "Advanced" + }, + "SIM_ACC3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 3 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC3_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 3 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 4 bias", + "User": "Advanced" + }, + "SIM_ACC4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 4 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC4_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_X": { + "Description": "bias of simulated accelerometer sensor (X-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Y": { + "Description": "bias of simulated accelerometer sensor (Y-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_BIAS_Z": { + "Description": "bias of simulated accelerometer sensor (Z-axis)", + "DisplayName": "Accel 5 bias", + "User": "Advanced" + }, + "SIM_ACC5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Accel 5 motor noise factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_X": { + "Description": "scaling factors applied to simulated accelerometer (X-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Y": { + "Description": "scaling factors applied to simulated accelerometer (Y-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACC5_SCAL_Z": { + "Description": "scaling factors applied to simulated accelerometer (Z-axis)", + "DisplayName": "Accel 4 scaling factor", + "User": "Advanced" + }, + "SIM_ACCEL1_FAIL": { + "Description": "Simulated failure of ACCEL1", + "DisplayName": "ACCEL1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL1 Failure" + } + }, + "SIM_ACCEL2_FAIL": { + "Description": "Simulated failure of ACCEL2", + "DisplayName": "ACCEL2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL2 Failure" + } + }, + "SIM_ACCEL3_FAIL": { + "Description": "Simulated failure of ACCEL3", + "DisplayName": "ACCEL3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL3 Failure" + } + }, + "SIM_ACCEL4_FAIL": { + "Description": "Simulated failure of ACCEL4", + "DisplayName": "ACCEL4 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL4 Failure" + } + }, + "SIM_ACCEL5_FAIL": { + "Description": "Simulated failure of ACCEL5", + "DisplayName": "ACCEL5 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "ACCEL5 Failure" + } + }, + "SIM_ACC_FAIL_MSK": { + "Description": "Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Accelerometer Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_ACC_FILE_RW": { + "Description": "Read and write accelerometer data to/from files", + "DisplayName": "Accelerometer data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_ADSB_ALT": { + "Description": "Simulated ADSB altitude of another aircraft", + "DisplayName": "ADSB altitude of another aircraft", + "Units": "m" + }, + "SIM_ADSB_COUNT": { + "Description": "Total number of ADSB simulated aircraft", + "DisplayName": "Number of ADSB aircrafts" + }, + "SIM_ADSB_RADIUS": { + "Description": "Simulated standard deviation of radius in ADSB of another aircraft", + "DisplayName": "ADSB radius stddev of another aircraft", + "Units": "m" + }, + "SIM_ADSB_TX": { + "Description": "ADSB transceiever enable and disable", + "DisplayName": "ADSB transmit enable", + "Values": { + "0": "Transceiever disable", + "1": "Transceiever enable" + } + }, + "SIM_ADSB_TYPES": { + "Bitmask": { + "0": "MAVLink", + "3": "SageTechMXS" + }, + "Description": "specifies which simulated ADSB types are active", + "DisplayName": "Simulated ADSB Type mask", + "User": "Advanced" + }, + "SIM_BARO_COUNT": { + "Description": "Number of simulated baros to create in SITL", + "DisplayName": "Baro count", + "Range": { + "high": "3", + "low": "0" + } + }, + "SIM_BATT_CAP_AH": { + "Description": "Simulated battery capacity", + "DisplayName": "Simulated battery capacity", + "Units": "Ah", + "User": "Advanced" + }, + "SIM_BATT_VOLTAGE": { + "Description": "Simulated battery (constant) voltage", + "DisplayName": "Simulated battery voltage", + "Units": "V", + "User": "Advanced" + }, + "SIM_BAUDLIMIT_EN": { + "Description": "SITL enable bandwidth limitting on telemetry ports with non-zero values", + "DisplayName": "Telemetry bandwidth limitting" + }, + "SIM_CAN_SRV_MSK": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "10": "Servo 11", + "11": "Servo 12", + "12": "Servo 13", + "13": "Servo 14", + "14": "Servo 15", + "15": "Servo 16", + "16": "Servo 17", + "17": "Servo 18", + "18": "Servo 19", + "19": "Servo 20", + "2": "Servo 3", + "20": "Servo 21", + "21": "Servo 22", + "22": "Servo 23", + "23": "Servo 24", + "24": "Servo 25", + "25": "Servo 26", + "26": "Servo 27", + "27": "Servo 28", + "28": "Servo 29", + "29": "Servo 30", + "3": "Servo 4", + "30": "Servo 31", + "31": "Servo 32", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8", + "8": "Servo 9", + "9": "Servo 10" + }, + "Description": "The set of actuators controlled externally by CAN SITL AP_Periph", + "DisplayName": "Mask of CAN servos/ESCs", + "User": "Advanced" + }, + "SIM_CAN_TYPE1": { + "Description": "transport type for first CAN interface", + "DisplayName": "transport type for first CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CAN_TYPE2": { + "Description": "transport type for second CAN interface", + "DisplayName": "transport type for second CAN interface", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MulticastUDP", + "2": "SocketCAN" + } + }, + "SIM_CLAMP_CH": { + "Description": "If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM", + "DisplayName": "Simulated Clamp Channel" + }, + "SIM_DRIFT_SPEED": { + "Description": "Gyro drift rate of change in degrees/second/minute", + "DisplayName": "Gyro drift speed" + }, + "SIM_DRIFT_TIME": { + "Description": "Gyro drift duration of one full drift cycle (period in minutes)", + "DisplayName": "Gyro drift time" + }, + "SIM_EFI_TYPE": { + "Description": "Different types of Electronic Fuel Injection (EFI) systems", + "DisplayName": "Type of Electronic Fuel Injection", + "Values": { + "0": "None", + "1": "MegaSquirt EFI system", + "2": "L\u00f6weheiser EFI system", + "8": "Hirth engines" + } + }, + "SIM_ENGINE_FAIL": { + "Bitmask": { + "0": "Servo 1", + "1": "Servo 2", + "2": "Servo 3", + "3": "Servo 4", + "4": "Servo 5", + "5": "Servo 6", + "6": "Servo 7", + "7": "Servo 8" + }, + "Description": "mask of motors which SIM_ENGINE_MUL will be applied to", + "DisplayName": "Engine Fail Mask" + }, + "SIM_ENGINE_MUL": { + "Description": "Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor", + "DisplayName": "Engine failure thrust scaler", + "Units": "ms" + }, + "SIM_ESC_ARM_RPM": { + "Description": "Simulated RPM when motors are armed", + "DisplayName": "ESC RPM when armed", + "User": "Advanced" + }, + "SIM_ESC_TELEM": { + "Description": "enable perfect simulated ESC telemetry", + "DisplayName": "Simulated ESC Telemetry", + "User": "Advanced" + }, + "SIM_FLOAT_EXCEPT": { + "Description": "If set, if a numerical error occurs SITL will die with a floating point exception.", + "DisplayName": "Generate floating point exceptions", + "User": "Advanced" + }, + "SIM_FLOW_DELAY": { + "Description": "Opflow data delay", + "DisplayName": "Opflow Delay", + "Units": "ms" + }, + "SIM_FLOW_ENABLE": { + "Description": "Enable simulated Optical Flow sensor", + "DisplayName": "Opflow Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_FLOW_POS_X": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Y": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_POS_Z": { + "Description": "XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)", + "DisplayName": "Opflow Pos", + "Units": "m" + }, + "SIM_FLOW_RATE": { + "Description": "Opflow Data Rate", + "DisplayName": "Opflow Rate", + "Units": "Hz" + }, + "SIM_FLOW_RND": { + "Description": "Optical Flow sensor measurement noise", + "DisplayName": "Opflow noise", + "Units": "rad/s" + }, + "SIM_GND_BEHAV": { + "Description": "Ground behavior of aircraft (tailsitter, no movement, forward only)", + "DisplayName": "Ground behavior" + }, + "SIM_GPS2_ACC": { + "Description": "GPS 2 Accuracy", + "DisplayName": "GPS 2 Accuracy", + "User": "Advanced" + }, + "SIM_GPS2_ALT_OFS": { + "Description": "GPS 2 Altitude Error", + "DisplayName": "GPS 2 Altitude Offset", + "Units": "m" + }, + "SIM_GPS2_BYTELOS": { + "Description": "Percent of bytes lost from GPS 2", + "DisplayName": "GPS 2 Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS2_DISABLE": { + "Description": "Disables GPS 2", + "DisplayName": "GPS 2 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS2_DRFTALT": { + "Description": "GPS 2 altitude drift error", + "DisplayName": "GPS 2 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_X": { + "Description": "Glitch offsets of simulated GPS 2 sensor (X-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Y": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Y-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_GLTCH_Z": { + "Description": "Glitch offsets of simulated GPS 2 sensor (Z-axis)", + "DisplayName": "GPS 2 Glitch", + "User": "Advanced" + }, + "SIM_GPS2_HDG": { + "Description": "Enable GPS2 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 2 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_HZ": { + "Description": "GPS 2 Update rate", + "DisplayName": "GPS 2 Hz", + "Units": "Hz" + }, + "SIM_GPS2_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS2_LAG_MS": { + "Description": "GPS 2 lag in ms", + "DisplayName": "GPS 2 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS2_LCKTIME": { + "Description": "Delay in seconds before GPS2 acquires lock", + "DisplayName": "GPS 2 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS2_NOISE": { + "Description": "Amplitude of the GPS2 altitude error", + "DisplayName": "GPS 2 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS2_NUMSATS": { + "Description": "Number of satellites GPS 2 has in view", + "DisplayName": "GPS 2 Num Satellites" + }, + "SIM_GPS2_POS_X": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Y": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_POS_Z": { + "Description": "GPS 2 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 2 Position", + "Units": "m" + }, + "SIM_GPS2_TYPE": { + "Description": "Sets the type of simulation used for GPS 2", + "DisplayName": "GPS 2 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS2_VERR_X": { + "Description": "GPS 2 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Y": { + "Description": "GPS 2 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS2_VERR_Z": { + "Description": "GPS 2 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 2 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_ACC": { + "Description": "GPS 1 Accuracy", + "DisplayName": "GPS 1 Accuracy", + "User": "Advanced" + }, + "SIM_GPS_ALT_OFS": { + "Description": "GPS 1 Altitude Error", + "DisplayName": "GPS 1 Altitude Offset", + "Units": "m" + }, + "SIM_GPS_BYTELOSS": { + "Description": "Percent of bytes lost from GPS 1", + "DisplayName": "GPS Byteloss", + "Units": "%", + "User": "Advanced" + }, + "SIM_GPS_DISABLE": { + "Description": "Disables GPS 1", + "DisplayName": "GPS 1 disable", + "User": "Advanced", + "Values": { + "0": "Enable", + "1": "GPS Disabled" + } + }, + "SIM_GPS_DRIFTALT": { + "Description": "GPS 1 altitude drift error", + "DisplayName": "GPS 1 Altitude Drift", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_X": { + "Description": "Glitch offsets of simulated GPS 1 sensor (X-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Y": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Y-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_GLITCH_Z": { + "Description": "Glitch offsets of simulated GPS 1 sensor (Z-axis)", + "DisplayName": "GPS 1 Glitch", + "User": "Advanced" + }, + "SIM_GPS_HDG": { + "Description": "Enable GPS1 output of NMEA heading HDT sentence or UBLOX_RELPOSNED", + "DisplayName": "GPS 1 Heading", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_HZ": { + "Description": "GPS 1 Update rate", + "DisplayName": "GPS 1 Hz", + "Units": "Hz" + }, + "SIM_GPS_JAM": { + "Description": "Enable simulated GPS jamming", + "DisplayName": "GPS jamming enable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GPS_LAG_MS": { + "Description": "GPS 1 lag", + "DisplayName": "GPS 1 Lag", + "Units": "ms", + "User": "Advanced" + }, + "SIM_GPS_LOCKTIME": { + "Description": "Delay in seconds before GPS1 acquires lock", + "DisplayName": "GPS 1 Lock Time", + "Units": "s", + "User": "Advanced" + }, + "SIM_GPS_LOG_NUM": { + "Description": "Log number for GPS:update_file()", + "DisplayName": "GPS Log Number" + }, + "SIM_GPS_NOISE": { + "Description": "Amplitude of the GPS1 altitude error", + "DisplayName": "GPS 1 Noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_GPS_NUMSATS": { + "Description": "Number of satellites GPS 1 has in view", + "DisplayName": "GPS 1 Num Satellites" + }, + "SIM_GPS_POS_X": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (X-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Y": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Y-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_POS_Z": { + "Description": "GPS 1 antenna phase center position relative to the body frame origin (Z-axis)", + "DisplayName": "GPS 1 Position", + "Units": "m" + }, + "SIM_GPS_TYPE": { + "Description": "Sets the type of simulation used for GPS 1", + "DisplayName": "GPS 1 type", + "User": "Advanced", + "Values": { + "0": "None", + "1": "UBlox", + "11": "Trimble", + "19": "MSP", + "5": "NMEA", + "6": "SBP", + "7": "File", + "8": "Nova", + "9": "SBP2" + } + }, + "SIM_GPS_VERR_X": { + "Description": "GPS 1 Velocity Error Offsets in NED (X-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Y": { + "Description": "GPS 1 Velocity Error Offsets in NED (Y-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GPS_VERR_Z": { + "Description": "GPS 1 Velocity Error Offsets in NED (Z-axis)", + "DisplayName": "GPS 1 Velocity Error", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_X": { + "Description": "First Gyro bias on X axis", + "DisplayName": "First Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Y": { + "Description": "First Gyro bias on Y axis", + "DisplayName": "First Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_BIAS_Z": { + "Description": "First Gyro bias on Z axis", + "DisplayName": "First Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR1_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 1 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR1_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 1 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_X": { + "Description": "Second Gyro bias on X axis", + "DisplayName": "Second Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Y": { + "Description": "Second Gyro bias on Y axis", + "DisplayName": "Second Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_BIAS_Z": { + "Description": "Second Gyro bias on Z axis", + "DisplayName": "Second Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR2_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 2 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR2_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 2 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_X": { + "Description": "Third Gyro bias on X axis", + "DisplayName": "Third Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Y": { + "Description": "Third Gyro bias on Y axis", + "DisplayName": "Third Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_BIAS_Z": { + "Description": "Third Gyro bias on Z axis", + "DisplayName": "Third Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR3_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 3 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR3_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 3 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_X": { + "Description": "Fourth Gyro bias on X axis", + "DisplayName": "Fourth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Y": { + "Description": "Fourth Gyro bias on Y axis", + "DisplayName": "Fourth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_BIAS_Z": { + "Description": "Fourth Gyro bias on Z axis", + "DisplayName": "Fourth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR4_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 4 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR4_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 4 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_X": { + "Description": "Fifth Gyro bias on X axis", + "DisplayName": "Fifth Gyro bias on X axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Y": { + "Description": "Fifth Gyro bias on Y axis", + "DisplayName": "Fifth Gyro bias on Y axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_BIAS_Z": { + "Description": "Fifth Gyro bias on Z axis", + "DisplayName": "Fifth Gyro bias on Z axis", + "Units": "rad/s", + "User": "Advanced" + }, + "SIM_GYR5_RND": { + "Description": "scaling factor for simulated vibration from motors", + "DisplayName": "Gyro 5 motor noise factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_X": { + "Description": "scaling factors applied to simulated gyroscope (X-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Y": { + "Description": "scaling factors applied to simulated gyroscope (Y-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR5_SCALE_Z": { + "Description": "scaling factors applied to simulated gyroscope (Z-axis)", + "DisplayName": "Gyro 5 scaling factor", + "User": "Advanced" + }, + "SIM_GYR_FAIL_MSK": { + "Description": "Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params", + "DisplayName": "Gyro Failure Mask", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Readings stopped" + } + }, + "SIM_GYR_FILE_RW": { + "Description": "Read and write gyro data to/from files", + "DisplayName": "Gyro data to/from files", + "Values": { + "0": "Stop writing data", + "1": "Read data from file", + "2": "Write data to a file", + "3": "Read data from file and stop on EOF" + } + }, + "SIM_IMUT_END": { + "Description": "Ending IMU temperature of a curve", + "DisplayName": "IMU temperature end" + }, + "SIM_IMUT_FIXED": { + "Description": "IMU fixed temperature by user", + "DisplayName": "IMU fixed temperature" + }, + "SIM_IMUT_START": { + "Description": "Starting IMU temperature of a curve", + "DisplayName": "IMU temperature start" + }, + "SIM_IMUT_TCONST": { + "Description": "IMU temperature time constant of the curve", + "DisplayName": "IMU temperature time constant" + }, + "SIM_IMU_COUNT": { + "Description": "Number of simulated IMUs to create", + "DisplayName": "IMU count" + }, + "SIM_IMU_POS_X": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Y": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_IMU_POS_Z": { + "Description": "XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)", + "DisplayName": "IMU Offsets", + "Units": "m" + }, + "SIM_INIT_ALT_OFS": { + "Description": "GPS initial alt offset from origin", + "DisplayName": "Initial Altitude Offset" + }, + "SIM_INIT_LAT_OFS": { + "Description": "GPS initial lat offset from origin", + "DisplayName": "Initial Latitude Offset" + }, + "SIM_INIT_LON_OFS": { + "Description": "GPS initial lon offset from origin", + "DisplayName": "Initial Longitude Offset" + }, + "SIM_INS_THR_MIN": { + "Description": "Minimum throttle for simulated ins noise", + "DisplayName": "Minimum throttle INS noise" + }, + "SIM_JSON_MASTER": { + "Description": "the instance number to take servos from", + "DisplayName": "JSON master instance" + }, + "SIM_LED_LAYOUT": { + "Description": "LED layout config value", + "DisplayName": "LED layout" + }, + "SIM_LOOP_DELAY": { + "Description": "Extra time delay per main loop", + "DisplayName": "Extra delay per main loop", + "Units": "us" + }, + "SIM_MAG1_DEVID": { + "Description": "Device ID of simulated compass 1", + "DisplayName": "MAG1 Device ID", + "User": "Advanced" + }, + "SIM_MAG1_FAIL": { + "Description": "Simulated failure of MAG1", + "DisplayName": "MAG1 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG1 Failure" + } + }, + "SIM_MAG1_ORIENT": { + "Description": "MAG1 external compass orientation", + "DisplayName": "MAG1 Orientation", + "User": "Advanced" + }, + "SIM_MAG1_SCALING": { + "Description": "Scale the compass 1 to simulate sensor scale factor errors", + "DisplayName": "MAG1 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG2_DEVID": { + "Description": "Device ID of simulated compass 2", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG2_FAIL": { + "Description": "Simulated failure of MAG2", + "DisplayName": "MAG2 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG2 Failure" + } + }, + "SIM_MAG2_ORIENT": { + "Description": "MAG2 external compass orientation", + "DisplayName": "MAG2 Orientation", + "User": "Advanced" + }, + "SIM_MAG2_SCALING": { + "Description": "Scale the compass 2 to simulate sensor scale factor errors", + "DisplayName": "MAG2 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG3_DEVID": { + "Description": "Device ID of simulated compass 3", + "DisplayName": "MAG3 Device ID", + "User": "Advanced" + }, + "SIM_MAG3_FAIL": { + "Description": "Simulated failure of MAG3", + "DisplayName": "MAG3 Failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "MAG3 Failure" + } + }, + "SIM_MAG3_ORIENT": { + "Description": "MAG3 external compass orientation", + "DisplayName": "MAG3 Orientation", + "User": "Advanced" + }, + "SIM_MAG3_SCALING": { + "Description": "Scale the compass 3 to simulate sensor scale factor errors", + "DisplayName": "MAG3 Scaling factor", + "User": "Advanced" + }, + "SIM_MAG4_DEVID": { + "Description": "Device ID of simulated compass 4", + "DisplayName": "MAG2 Device ID", + "User": "Advanced" + }, + "SIM_MAG5_DEVID": { + "Description": "Device ID of simulated compass 5", + "DisplayName": "MAG5 Device ID", + "User": "Advanced" + }, + "SIM_MAG6_DEVID": { + "Description": "Device ID of simulated compass 6", + "DisplayName": "MAG6 Device ID", + "User": "Advanced" + }, + "SIM_MAG7_DEVID": { + "Description": "Device ID of simulated compass 7", + "DisplayName": "MAG7 Device ID", + "User": "Advanced" + }, + "SIM_MAG8_DEVID": { + "Description": "Device ID of simulated compass 8", + "DisplayName": "MAG8 Device ID", + "User": "Advanced" + }, + "SIM_MAG_ALY_HGT": { + "Description": "Height above ground where anomally strength has decayed to 1/8 of the ground level value", + "DisplayName": "Magnetic anomaly height", + "Units": "m", + "User": "Advanced" + }, + "SIM_MAG_DELAY": { + "Description": "Magnetometer measurement delay", + "DisplayName": "Mag measurement delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_MAG_RND": { + "Description": "Scaling factor for simulated vibration from motors", + "DisplayName": "Mag motor noise factor", + "User": "Advanced" + }, + "SIM_MAG_SAVE_IDS": { + "Description": "This forces saving of compass devids on startup so that simulated compasses start as calibrated", + "DisplayName": "Save MAG devids on startup", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ODOM_ENABLE": { + "Description": "SITL odometry enabl", + "DisplayName": "Odometry enable", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_OH_MASK": { + "Description": "channels which are passed through to actual hardware when running sim on actual hardware", + "DisplayName": "SIM-on_hardware Output Enable Mask" + }, + "SIM_OH_RELAY_MSK": { + "Description": "Allow relay output operation when running SIM-on-hardware", + "DisplayName": "SIM-on_hardware Relay Enable Mask" + }, + "SIM_OPOS_ALT": { + "Description": "Specifies vehicle's startup altitude (AMSL)", + "DisplayName": "Original Position (Altitude)", + "User": "Advanced" + }, + "SIM_OPOS_HDG": { + "Description": "Specifies vehicle's startup heading (0-360)", + "DisplayName": "Original Position (Heading)", + "User": "Advanced" + }, + "SIM_OPOS_LAT": { + "Description": "Specifies vehicle's startup latitude", + "DisplayName": "Original Position (Latitude)", + "User": "Advanced" + }, + "SIM_OPOS_LNG": { + "Description": "Specifies vehicle's startup longitude", + "DisplayName": "Original Position (Longitude)", + "User": "Advanced" + }, + "SIM_OSD_COLUMNS": { + "Description": "Simulated OSD number of text columns", + "DisplayName": "Simulated OSD number of text columns", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_OSD_ROWS": { + "Description": "Simulated OSD number of text rows", + "DisplayName": "Simulated OSD number of text rows", + "Range": { + "high": "100", + "low": "10" + } + }, + "SIM_PIN_MASK": { + "Description": "SITL GPIO emulation", + "DisplayName": "GPIO emulation" + }, + "SIM_RATE_HZ": { + "Description": "SITL Loop rate", + "DisplayName": "Loop rate", + "Units": "Hz" + }, + "SIM_RC_CHANCOUNT": { + "Description": "SITL RC channel count", + "DisplayName": "RC channel count" + }, + "SIM_RC_FAIL": { + "Description": "Allows you to emulate rc failures in sim", + "DisplayName": "Simulated RC signal failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "No RC pusles", + "2": "All Channels neutral except Throttle is 950us" + } + }, + "SIM_SAIL_TYPE": { + "Description": "0: mainsail with sheet, 1: directly actuated wing", + "DisplayName": "Sailboat simulation sail type" + }, + "SIM_SHOVE_TIME": { + "Description": "Force to the vehicle over a period of time", + "DisplayName": "Time length for shove", + "Units": "ms" + }, + "SIM_SHOVE_X": { + "Description": "Acceleration of shove to vehicle in x axis", + "DisplayName": "Acceleration of shove x", + "Units": "m/s/s" + }, + "SIM_SHOVE_Y": { + "Description": "Acceleration of shove to vehicle in y axis", + "DisplayName": "Acceleration of shove y", + "Units": "m/s/s" + }, + "SIM_SHOVE_Z": { + "Description": "Acceleration of shove to vehicle in z axis", + "DisplayName": "Acceleration of shove z", + "Units": "m/s/s" + }, + "SIM_SONAR_GLITCH": { + "Description": "Probablility a sonar glitch would happen", + "DisplayName": "Sonar glitch probablility", + "Range": { + "high": "1", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SONAR_RND": { + "Description": "Scaling factor for simulated sonar noise", + "DisplayName": "Sonar noise factor", + "User": "Advanced" + }, + "SIM_SONAR_ROT": { + "Description": "Sonar rotation from rotations enumeration", + "DisplayName": "Sonar rotation" + }, + "SIM_SONAR_SCALE": { + "Description": "Sonar conversion scale from distance to voltage", + "DisplayName": "Sonar conversion scale", + "Units": "m/V" + }, + "SIM_SPEEDUP": { + "Description": "Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used", + "DisplayName": "Sim Speedup", + "Range": { + "high": "10", + "low": "1" + }, + "User": "Advanced " + }, + "SIM_TEMP_BFACTOR": { + "Description": "A pressure change with temperature that closely matches what has been observed with a ICM-20789", + "DisplayName": "Baro temperature factor", + "User": "Advanced" + }, + "SIM_TEMP_BRD_OFF": { + "Description": "Barometer board temperature offset from atmospheric temperature", + "DisplayName": "Baro temperature offset", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_START": { + "Description": "Baro start temperature", + "DisplayName": "Start temperature", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TEMP_TCONST": { + "Description": "Barometer warmup temperature time constant", + "DisplayName": "Warmup time constant", + "Units": "degC", + "User": "Advanced" + }, + "SIM_TERRAIN": { + "Description": "Enable using terrain for height", + "DisplayName": "Terrain Enable", + "Values": { + "0": "Disable", + "1": "Enabled" + } + }, + "SIM_THML_SCENARI": { + "Description": "Scenario for thermalling simulation, for soaring", + "DisplayName": "Thermal scenarios" + }, + "SIM_TIDE_DIR": { + "Description": "Tide direction wave is coming from", + "DisplayName": "Tide direction", + "Units": "deg" + }, + "SIM_TIDE_SPEED": { + "Description": "Tide speed in simulation", + "DisplayName": "Tide speed", + "Units": "m/s" + }, + "SIM_TIME_JITTER": { + "Description": "Upper limit of random jitter in loop time", + "DisplayName": "Loop time jitter", + "Units": "us", + "User": "Advanced" + }, + "SIM_TWIST_TIME": { + "Description": "Time that twist is applied on the vehicle", + "DisplayName": "Twist time", + "Units": "ms" + }, + "SIM_TWIST_X": { + "Description": "Rotational acceleration of twist x axis", + "DisplayName": "Twist x", + "Units": "rad/s/s" + }, + "SIM_TWIST_Y": { + "Description": "Rotational acceleration of twist y axis", + "DisplayName": "Twist y", + "Units": "rad/s/s" + }, + "SIM_TWIST_Z": { + "Description": "Rotational acceleration of twist z axis", + "DisplayName": "Twist z", + "Units": "rad/s/s" + }, + "SIM_UART_LOSS": { + "Description": "Sets percentage of outgoing byte loss on UARTs", + "DisplayName": "UART byte loss percentage", + "Units": "%", + "User": "Advanced" + }, + "SIM_VIB_MOT_HMNC": { + "Description": "Motor harmonics generated in SITL", + "DisplayName": "Motor harmonics" + }, + "SIM_VIB_MOT_MASK": { + "Description": "Motor mask, allowing external simulators to mark motors", + "DisplayName": "Motor mask" + }, + "SIM_VIB_MOT_MAX": { + "Description": "Max frequency to use as baseline for adding motor noise for the gyros and accels", + "DisplayName": "Max motor vibration frequency", + "Units": "Hz" + }, + "SIM_VIB_MOT_MULT": { + "Description": "Amplitude scaling of motor noise relative to gyro/accel noise", + "DisplayName": "Vibration motor scale" + }, + "SIM_VICON_FAIL": { + "Description": "SITL vicon failure", + "DisplayName": "SITL vicon failure", + "User": "Advanced", + "Values": { + "0": "Vicon Healthy", + "1": "Vicon Failed" + } + }, + "SIM_VICON_GLIT_X": { + "Description": "SITL vicon position glitch North", + "DisplayName": "SITL vicon position glitch North", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Y": { + "Description": "SITL vicon position glitch East", + "DisplayName": "SITL vicon position glitch East", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_GLIT_Z": { + "Description": "SITL vicon position glitch Down", + "DisplayName": "SITL vicon position glitch Down", + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_X": { + "Description": "SITL vicon position on vehicle in Forward direction", + "DisplayName": "SITL vicon position on vehicle in Forward direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Y": { + "Description": "SITL vicon position on vehicle in Right direction", + "DisplayName": "SITL vicon position on vehicle in Right direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_VICON_POS_Z": { + "Description": "SITL vicon position on vehicle in Down direction", + "DisplayName": "SITL vicon position on vehicle in Down direction", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced " + }, + "SIM_VICON_TMASK": { + "Bitmask": { + "0": "VISION_POSITION_ESTIMATE", + "1": "VISION_SPEED_ESTIMATE", + "2": "VICON_POSITION_ESTIMATE", + "3": "VISION_POSITION_DELTA", + "4": "ODOMETRY" + }, + "Description": "SITL vicon messages sent", + "DisplayName": "SITL vicon type mask", + "User": "Advanced" + }, + "SIM_VICON_VGLI_X": { + "Description": "SITL vicon velocity glitch North", + "DisplayName": "SITL vicon velocity glitch North", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Y": { + "Description": "SITL vicon velocity glitch East", + "DisplayName": "SITL vicon velocity glitch East", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_VGLI_Z": { + "Description": "SITL vicon velocity glitch Down", + "DisplayName": "SITL vicon velocity glitch Down", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_VICON_YAW": { + "Description": "SITL vicon yaw angle in earth frame", + "DisplayName": "SITL vicon yaw angle in earth frame", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_VICON_YAWERR": { + "Description": "SITL vicon yaw added to reported yaw sent to vehicle", + "DisplayName": "SITL vicon yaw error", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_WAVE_AMP": { + "Description": "Wave amplitude in SITL", + "DisplayName": "Wave amplitude", + "Units": "m" + }, + "SIM_WAVE_DIR": { + "Description": "Direction wave is coming from", + "DisplayName": "Wave direction", + "Units": "deg" + }, + "SIM_WAVE_ENABLE": { + "Description": "Wave enable and modes", + "DisplayName": "Wave enable", + "Values": { + "0": "disabled", + "1": "roll and pitch", + "2": "roll and pitch and heave" + } + }, + "SIM_WAVE_LENGTH": { + "Description": "Wave length in SITL", + "DisplayName": "Wave length", + "Units": "m" + }, + "SIM_WAVE_SPEED": { + "Description": "Wave speed in SITL", + "DisplayName": "Wave speed", + "Units": "m/s" + }, + "SIM_WIND_DIR": { + "Description": "Allows you to set wind direction (true deg) in sim", + "DisplayName": "Direction simulated wind is coming from", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_DIR_Z": { + "Description": "Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.", + "DisplayName": "Simulated wind vertical direction", + "Units": "deg", + "User": "Advanced" + }, + "SIM_WIND_SPD": { + "Description": "Allows you to emulate wind in sim", + "DisplayName": "Simulated Wind speed", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T": { + "Description": "Selects how wind varies from surface to WIND_T_ALT", + "DisplayName": "Wind Profile Type", + "User": "Advanced ", + "Values": { + "0": "square law", + "1": "none", + "2": "linear-see WIND_T_COEF" + } + }, + "SIM_WIND_TC": { + "Description": "this controls the time over which wind changes take effect", + "DisplayName": "Wind variation time constant", + "Units": "s", + "User": "Advanced" + }, + "SIM_WIND_TURB": { + "Description": "Allows you to emulate random wind variations in sim", + "DisplayName": "Simulated Wind variation", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_WIND_T_ALT": { + "Description": "Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level", + "DisplayName": "Full Wind Altitude", + "Units": "m", + "User": "Advanced" + }, + "SIM_WIND_T_COEF": { + "Description": "For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value", + "DisplayName": "Linear Wind Curve Coeff", + "User": "Advanced" + }, + "SIM_WOW_PIN": { + "Description": "SITL set this simulated pin to true if vehicle is on ground", + "DisplayName": "Weight on Wheels Pin", + "User": "Advanced" + } + }, + "SIM_ARSPD2_": { + "SIM_ARSPD2_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD2_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD2_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD2_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_ARSPD_": { + "SIM_ARSPD_FAIL": { + "Description": "Simulates Airspeed sensor 1 failure", + "DisplayName": "Airspeed sensor failure", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_ARSPD_FAILP": { + "Description": "Simulated airspeed sensor failure pressure", + "DisplayName": "Airspeed sensor failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_PITOT": { + "Description": "Simulated airspeed sensor pitot tube failure pressure", + "DisplayName": "Airspeed pitot tube failure pressure", + "Units": "Pa", + "User": "Advanced" + }, + "SIM_ARSPD_RATIO": { + "Description": "Simulated airspeed sensor ratio", + "DisplayName": "Airspeed ratios", + "User": "Advanced" + }, + "SIM_ARSPD_SIGN": { + "Description": "Simulated airspeed sensor with reversed pitot/static connections", + "DisplayName": "Airspeed signflip", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + } + }, + "SIM_BAR2_": { + "SIM_BAR2_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR2_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR2_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR2_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR2_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR2_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR2_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR2_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR2_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR2_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BAR3_": { + "SIM_BAR3_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BAR3_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BAR3_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BAR3_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BAR3_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BAR3_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BAR3_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BAR3_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BAR3_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BAR3_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_BARO_": { + "SIM_BARO_DELAY": { + "Description": "Barometer data time delay", + "DisplayName": "Barometer delay", + "Units": "ms", + "User": "Advanced" + }, + "SIM_BARO_DISABLE": { + "Description": "Disable barometer in SITL", + "DisplayName": "Barometer disable", + "User": "Advanced", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "SIM_BARO_DRIFT": { + "Description": "Barometer altitude drifts at this rate", + "DisplayName": "Barometer altitude drift", + "Units": "m/s", + "User": "Advanced" + }, + "SIM_BARO_FREEZE": { + "Description": "Freeze barometer to last recorded altitude", + "DisplayName": "Barometer freeze", + "User": "Advanced" + }, + "SIM_BARO_GLITCH": { + "Description": "Barometer glitch height in SITL", + "DisplayName": "Barometer glitch", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_RND": { + "Description": "Barometer noise in height", + "DisplayName": "Barometer noise", + "Units": "m", + "User": "Advanced" + }, + "SIM_BARO_WCF_BAK": { + "Description": "Barometer wind coefficient direction backward in SITL", + "DisplayName": "Wind coefficient backward", + "User": "Advanced" + }, + "SIM_BARO_WCF_DN": { + "Description": "Barometer wind coefficient direction down in SITL", + "DisplayName": "Wind coefficient down", + "User": "Advanced" + }, + "SIM_BARO_WCF_FWD": { + "Description": "Barometer wind coefficient direction forward in SITL", + "DisplayName": "Wind coefficient forward", + "User": "Advanced" + }, + "SIM_BARO_WCF_LFT": { + "Description": "Barometer wind coefficient direction left in SITL", + "DisplayName": "Wind coefficient left", + "User": "Advanced" + }, + "SIM_BARO_WCF_RGT": { + "Description": "Barometer wind coefficient direction right in SITL", + "DisplayName": "Wind coefficient right", + "User": "Advanced" + }, + "SIM_BARO_WCF_UP": { + "Description": "Barometer wind coefficient direction up in SITL", + "DisplayName": "Wind coefficient up", + "User": "Advanced" + } + }, + "SIM_GLD_": { + "SIM_GLD_BLN_BRST": { + "Description": "balloon burst height", + "DisplayName": "balloon burst height", + "Units": "m" + }, + "SIM_GLD_BLN_RATE": { + "Description": "balloon climb rate", + "DisplayName": "balloon climb rate", + "Units": "m/s" + } + }, + "SIM_GRPE_": { + "SIM_GRPE_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPE_PIN": { + "Description": "The pin number that the gripper emp is connected to. (start at 1)", + "DisplayName": "Gripper emp pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SIM_GRPS_": { + "SIM_GRPS_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the gripper servo simulation", + "DisplayName": "Gripper servo Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_GRPS_GRAB": { + "Description": "PWM value in microseconds sent to Gripper to initiate grabbing the cargo", + "DisplayName": "Gripper Grab PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_PIN": { + "Description": "The pin number that the gripper servo is connected to. (start at 1)", + "DisplayName": "Gripper servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_GRPS_RELEASE": { + "Description": "PWM value in microseconds sent to Gripper to release the cargo", + "DisplayName": "Gripper Release PWM", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "PWM", + "User": "Advanced" + }, + "SIM_GRPS_REVERSE": { + "Description": "Reverse the closing direction.", + "DisplayName": "Gripper close direction", + "User": "Advanced", + "Values": { + "0": "Normal", + "1": "Reverse" + } + } + }, + "SIM_PLD_": { + "SIM_PLD_ALT_LIMIT": { + "Description": "Precland device maximum range altitude", + "DisplayName": "Precland device alt range", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_DIST_LIMIT": { + "Description": "Precland device maximum lateral range", + "DisplayName": "Precland device lateral range", + "Range": { + "high": "100", + "low": "5" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Preland simulation", + "DisplayName": "Preland device Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_HEIGHT": { + "Description": "Precland device center's height above SITL origin. Assumes a 2x2m square as station base", + "DisplayName": "Precland device center's height SITL origin", + "Increment": "1", + "Range": { + "high": "10000", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_PLD_LAT": { + "Description": "Precland device center's latitude", + "DisplayName": "Precland device center's latitude", + "Increment": "0.000001", + "Range": { + "high": "90", + "low": "-90" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_LON": { + "Description": "Precland device center's longitude", + "DisplayName": "Precland device center's longitude", + "Increment": "0.000001", + "Range": { + "high": "180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + }, + "SIM_PLD_OPTIONS": { + "Bitmask": { + "0": "Enable target distance" + }, + "Description": "SIM_Precland extra options", + "DisplayName": "SIM_Precland extra options", + "User": "Advanced" + }, + "SIM_PLD_ORIENT": { + "Description": "Precland device orientation vector", + "DisplayName": "Precland device orientation", + "User": "Advanced", + "Values": { + "0": "Front", + "24": "Up", + "4": "Back" + } + }, + "SIM_PLD_RATE": { + "Description": "Precland device rate. e.g led patter refresh rate, RF message rate, etc.", + "DisplayName": "Precland device update rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "Hz", + "User": "Advanced" + }, + "SIM_PLD_SHIP": { + "Description": "This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters", + "DisplayName": "SIM_Precland follow ship", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_PLD_TYPE": { + "Description": "Precland device radiance type: it can be a cylinder, a cone, or a sphere.", + "DisplayName": "Precland device radiance type", + "User": "Advanced", + "Values": { + "0": "cylinder", + "1": "cone", + "2": "sphere" + } + }, + "SIM_PLD_YAW": { + "Description": "Precland device systems rotation from north", + "DisplayName": "Precland device systems rotation from north", + "Increment": "1", + "Range": { + "high": "+180", + "low": "-180" + }, + "Units": "deg", + "User": "Advanced" + } + }, + "SIM_RFL_": { + "SIM_RFL_OPTS": { + "Bitmask": { + "0": "Reset position on startup", + "1": "Swap first 4 and last 4 servos (for quadplane testing)", + "2": "Demix heli servos and send roll/pitch/collective/yaw", + "3": "Don't print frame rate stats" + }, + "Description": "Bitmask of FlightAxis options", + "DisplayName": "FlightAxis options", + "User": "Advanced" + } + }, + "SIM_SB_": { + "SIM_SB_ALT_TARG": { + "Description": "altitude target", + "DisplayName": "altitude target", + "Units": "m" + }, + "SIM_SB_ARM_LEN": { + "Description": "distance from center of mass to one motor", + "DisplayName": "arm length", + "Units": "m" + }, + "SIM_SB_CLMB_RT": { + "Description": "target climb rate", + "DisplayName": "target climb rate", + "Units": "m/s" + }, + "SIM_SB_COL": { + "Description": "center of lift position above CoG", + "DisplayName": "center of lift", + "Units": "m" + }, + "SIM_SB_DRAG_FWD": { + "Description": "drag on X axis", + "DisplayName": "drag in forward direction" + }, + "SIM_SB_DRAG_SIDE": { + "Description": "drag on Y axis", + "DisplayName": "drag in sidewards direction" + }, + "SIM_SB_DRAG_UP": { + "Description": "drag on Z axis", + "DisplayName": "drag in upward direction" + }, + "SIM_SB_FLR": { + "Description": "amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift", + "DisplayName": "free lift rate" + }, + "SIM_SB_HMASS": { + "Description": "mass of lifting gas", + "DisplayName": "helium mass", + "Units": "kg" + }, + "SIM_SB_MASS": { + "Description": "mass of blimp not including lifting gas", + "DisplayName": "mass", + "Units": "kg" + }, + "SIM_SB_MOI_PITCH": { + "Description": "moment of inertia in pitch", + "DisplayName": "moment of inertia in pitch" + }, + "SIM_SB_MOI_ROLL": { + "Description": "moment of inertia in roll", + "DisplayName": "moment of inertia in roll" + }, + "SIM_SB_MOI_YAW": { + "Description": "moment of inertia in yaw", + "DisplayName": "moment of inertia in yaw" + }, + "SIM_SB_MOT_ANG": { + "Description": "maximum motor tilt angle", + "DisplayName": "motor angle", + "Units": "deg" + }, + "SIM_SB_MOT_THST": { + "Description": "thrust at max throttle for one motor", + "DisplayName": "motor thrust", + "Units": "N" + }, + "SIM_SB_WVANE": { + "Description": "center of drag for weathervaning", + "DisplayName": "weathervaning offset", + "Units": "m" + }, + "SIM_SB_YAW_RT": { + "Description": "maximum yaw rate with full left throttle at target altitude", + "DisplayName": "yaw rate", + "Units": "deg/s" + } + }, + "SIM_SERVO_": { + "SIM_SERVO_DELAY": { + "Description": "servo delay", + "DisplayName": "servo delay", + "Units": "s" + }, + "SIM_SERVO_FILTER": { + "Description": "servo filter", + "DisplayName": "servo filter", + "Units": "Hz" + }, + "SIM_SERVO_SPEED": { + "Description": "servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit", + "DisplayName": "servo speed", + "Units": "s" + } + }, + "SIM_SLUP_": { + "SIM_SLUP_DRAG": { + "Description": "Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly", + "DisplayName": "Slung Payload drag coefficient", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_ENABLE": { + "Description": "Slung Payload Sim enable/disable", + "DisplayName": "Slung Payload Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SLUP_LINELEN": { + "Description": "Slung Payload line length in meters", + "DisplayName": "Slung Payload line length", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SIM_SLUP_SYSID": { + "Description": "Slung Payload MAVLink system id to distinguish it from others on the same network", + "DisplayName": "Slung Payload MAVLink system ID", + "Range": { + "high": "255", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SLUP_WEIGHT": { + "Description": "Slung Payload weight in kg", + "DisplayName": "Slung Payload weight", + "Range": { + "high": "15", + "low": "0" + }, + "Units": "kg", + "User": "Advanced" + } + }, + "SIM_SPR_": { + "SIM_SPR_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the Sprayer simulation", + "DisplayName": "Sprayer Sim enable/disable", + "User": "Advanced", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SIM_SPR_PUMP": { + "Description": "The pin number that the Sprayer pump is connected to. (start at 1)", + "DisplayName": "Sprayer pump pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + }, + "SIM_SPR_SPIN": { + "Description": "The pin number that the Sprayer spinner servo is connected to. (start at 1)", + "DisplayName": "Sprayer spinner servo pin", + "Range": { + "high": "15", + "low": "0" + }, + "User": "Advanced" + } + }, + "SPRAY_": { + "SPRAY_ENABLE": { + "Description": "Allows you to enable (1) or disable (0) the sprayer", + "DisplayName": "Sprayer enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "SPRAY_PUMP_MIN": { + "Description": "Minimum pump speed expressed as a percentage", + "DisplayName": "Pump speed minimum", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "SPRAY_PUMP_RATE": { + "Description": "Desired pump speed when travelling 1m/s expressed as a percentage", + "DisplayName": "Pump speed", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Standard" + }, + "SPRAY_SPEED_MIN": { + "Description": "Speed minimum at which we will begin spraying", + "DisplayName": "Speed minimum", + "Range": { + "high": "1000", + "low": "0" + }, + "Units": "cm/s", + "User": "Standard" + }, + "SPRAY_SPINNER": { + "Description": "Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)", + "DisplayName": "Spinner rotation speed", + "Range": { + "high": "2000", + "low": "1000" + }, + "Units": "ms", + "User": "Standard" + } + }, + "SR0_": { + "SR0_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR0_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR1_": { + "SR1_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR1_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR2_": { + "SR2_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR2_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR3_": { + "SR3_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR3_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR4_": { + "SR4_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR4_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR5_": { + "SR5_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR5_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SR6_": { + "SR6_ADSB": { + "Description": "MAVLink ADSB (AIS) stream rate", + "DisplayName": "ADSB stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA1": { + "Description": "MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING", + "DisplayName": "Extra data type 1 stream rate to ground station", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA2": { + "Description": "MAVLink Stream rate of VFR_HUD", + "DisplayName": "Extra data type 2 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXTRA3": { + "Description": "MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, BATTERY2, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY, and WHEEL_DISTANCE", + "DisplayName": "Extra data type 3 stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_EXT_STAT": { + "Description": "MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT", + "DisplayName": "Extended status stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_PARAMS": { + "Description": "MAVLink Stream rate of PARAM_VALUE", + "DisplayName": "Parameter stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_POSITION": { + "Description": "MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED", + "DisplayName": "Position stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_CTRL": { + "Description": "MAVLink Raw Control stream rate of SERVO_OUT", + "DisplayName": "Raw Control stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RAW_SENS": { + "Description": "MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED", + "DisplayName": "Raw sensor stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + }, + "SR6_RC_CHAN": { + "Description": "MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS", + "DisplayName": "RC Channel stream rate", + "Increment": "1", + "Range": { + "high": "50", + "low": "0" + }, + "RebootRequired": "True", + "Units": "Hz", + "User": "Advanced" + } + }, + "SRTL_": { + "SRTL_ACCURACY": { + "Description": "SmartRTL accuracy. The minimum distance between points.", + "DisplayName": "SmartRTL accuracy", + "Range": { + "high": "10", + "low": "0" + }, + "Units": "m", + "User": "Advanced" + }, + "SRTL_OPTIONS": { + "Bitmask": { + "2": "Ignore pilot yaw" + }, + "Description": "Bitmask of SmartRTL options.", + "DisplayName": "SmartRTL options", + "User": "Standard" + }, + "SRTL_POINTS": { + "Description": "SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.", + "DisplayName": "SmartRTL maximum number of points on path", + "Range": { + "high": "500", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + } + }, + "STAT": { + "STAT_BOOTCNT": { + "Description": "Number of times board has been booted", + "DisplayName": "Boot Count", + "ReadOnly": "True", + "User": "Standard" + }, + "STAT_FLTTIME": { + "Description": "Total FlightTime (seconds)", + "DisplayName": "Total FlightTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RESET": { + "Description": "Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)", + "DisplayName": "Statistics Reset Time", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + }, + "STAT_RUNTIME": { + "Description": "Total time autopilot has run", + "DisplayName": "Total RunTime", + "ReadOnly": "True", + "Units": "s", + "User": "Standard" + } + }, + "TEMP": { + "TEMP_LOG": { + "Description": "Enables temperature sensor logging", + "DisplayName": "Logging", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Log all instances", + "2": "Log only instances with sensor source set to None" + } + } + }, + "TEMP1_": { + "TEMP1_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP1_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP1_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP1_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP1_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP1_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP1_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP1_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP1_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP1_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP1_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP2_": { + "TEMP2_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP2_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP2_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP2_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP2_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP2_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP2_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP2_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP2_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP2_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP2_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP3_": { + "TEMP3_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP3_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP3_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP3_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP3_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP3_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP3_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP3_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP3_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP3_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP3_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP4_": { + "TEMP4_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP4_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP4_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP4_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP4_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP4_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP4_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP4_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP4_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP4_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP4_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP5_": { + "TEMP5_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP5_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP5_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP5_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP5_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP5_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP5_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP5_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP5_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP5_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP5_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP6_": { + "TEMP6_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP6_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP6_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP6_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP6_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP6_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP6_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP6_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP6_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP6_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP6_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP7_": { + "TEMP7_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP7_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP7_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP7_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP7_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP7_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP7_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP7_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP7_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP7_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP7_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP8_": { + "TEMP8_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP8_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP8_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP8_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP8_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP8_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP8_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP8_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP8_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP8_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP8_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TEMP9_": { + "TEMP9_A0": { + "Description": "a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 0th polynomial coefficient" + }, + "TEMP9_A1": { + "Description": "a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 1st polynomial coefficient" + }, + "TEMP9_A2": { + "Description": "a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 2nd polynomial coefficient" + }, + "TEMP9_A3": { + "Description": "a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 3rd polynomial coefficient" + }, + "TEMP9_A4": { + "Description": "a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 4th polynomial coefficient" + }, + "TEMP9_A5": { + "Description": "a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5", + "DisplayName": "Temperature sensor analog 5th polynomial coefficient" + }, + "TEMP9_ADDR": { + "Description": "Temperature sensor address, typically used for I2C address", + "DisplayName": "Temperature sensor address", + "Range": { + "high": "127", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_BUS": { + "Description": "Temperature sensor bus number, typically used to select from multiple I2C buses", + "DisplayName": "Temperature sensor bus", + "Range": { + "high": "3", + "low": "0" + }, + "RebootRequired": "True", + "User": "Advanced" + }, + "TEMP9_PIN": { + "Description": "Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for \"Analog pins\".", + "DisplayName": "Temperature sensor analog voltage sensing pin", + "User": "Standard", + "Values": { + "-1": "Disabled", + "100": "PX4-v1", + "13": "Pixhawk2_PM2/CubeOrange_PM2", + "14": "CubeOrange", + "16": "Durandal", + "2": "Pixhawk/Pixracer/Navio2/Pixhawk2_PM1", + "5": "Navigator" + } + }, + "TEMP9_SRC": { + "Description": "Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.", + "DisplayName": "Sensor Source", + "User": "Standard", + "Values": { + "0": "None", + "1": "ESC", + "2": "Motor", + "3": "Battery Index", + "4": "Battery ID/SerialNumber", + "5": "CAN based Pitot tube", + "6": "DroneCAN-out on AP_Periph" + } + }, + "TEMP9_SRC_ID": { + "Description": "Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.", + "DisplayName": "Sensor Source Identification" + }, + "TEMP9_TYPE": { + "Description": "Enables temperature sensors", + "DisplayName": "Temperature Sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "TSYS01", + "2": "MCP9600", + "3": "MAX31865", + "4": "TSYS03", + "5": "Analog", + "6": "DroneCAN", + "7": "MLX90614" + } + } + }, + "TRQ1_": { + "TRQ1_DE_PIN": { + "Description": "Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available", + "DisplayName": "Torqeedo DE pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "TRQ1_DIR_DELAY": { + "Description": "Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation", + "DisplayName": "Torqeedo Direction Change Delay", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "TRQ1_ONOFF_PIN": { + "Description": "Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available", + "DisplayName": "Torqeedo ON/Off pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "TRQ1_OPTIONS": { + "Bitmask": { + "0": "Log", + "1": "Send debug to GCS" + }, + "Description": "Torqeedo Options Bitmask", + "DisplayName": "Torqeedo Options", + "User": "Advanced" + }, + "TRQ1_POWER": { + "Description": "Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)", + "DisplayName": "Torqeedo Motor Power", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "TRQ1_SERVO_FN": { + "Description": "Torqeedo Servo Output Function", + "DisplayName": "Torqeedo Servo Output Function", + "Increment": "0.1", + "User": "Advanced", + "Values": { + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight" + } + }, + "TRQ1_SLEW_TIME": { + "Description": "Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit", + "DisplayName": "Torqeedo Throttle Slew Time", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "TRQ1_TYPE": { + "Description": "Torqeedo connection type", + "DisplayName": "Torqeedo connection type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Tiller", + "2": "Motor" + } + } + }, + "TRQ2_": { + "TRQ2_DE_PIN": { + "Description": "Pin number connected to RS485 to Serial converter's DE pin. -1 to use serial port's CTS pin if available", + "DisplayName": "Torqeedo DE pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "TRQ2_DIR_DELAY": { + "Description": "Torqeedo direction change delay. Output will remain at zero for this many seconds when transitioning between forward and backwards rotation", + "DisplayName": "Torqeedo Direction Change Delay", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "TRQ2_ONOFF_PIN": { + "Description": "Pin number connected to Torqeedo's on/off pin. -1 to use serial port's RTS pin if available", + "DisplayName": "Torqeedo ON/Off pin", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "TRQ2_OPTIONS": { + "Bitmask": { + "0": "Log", + "1": "Send debug to GCS" + }, + "Description": "Torqeedo Options Bitmask", + "DisplayName": "Torqeedo Options", + "User": "Advanced" + }, + "TRQ2_POWER": { + "Description": "Torqeedo motor power. Only applied when using motor connection type (e.g. TRQD_TYPE=2)", + "DisplayName": "Torqeedo Motor Power", + "Increment": "1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "%", + "User": "Advanced" + }, + "TRQ2_SERVO_FN": { + "Description": "Torqeedo Servo Output Function", + "DisplayName": "Torqeedo Servo Output Function", + "Increment": "0.1", + "User": "Advanced", + "Values": { + "70": "Throttle", + "73": "ThrottleLeft", + "74": "ThrottleRight" + } + }, + "TRQ2_SLEW_TIME": { + "Description": "Torqeedo slew rate specified as the minimum number of seconds required to increase the throttle from 0 to 100%. Higher values cause a slower response, lower values cause a faster response. A value of zero disables the limit", + "DisplayName": "Torqeedo Throttle Slew Time", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "s", + "User": "Advanced" + }, + "TRQ2_TYPE": { + "Description": "Torqeedo connection type", + "DisplayName": "Torqeedo connection type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Tiller", + "2": "Motor" + } + } + }, + "VEHICLE": { + "FLTMODE_GCSBLOCK": { + "Bitmask": { + "0": "Manual", + "1": "Acro", + "10": "Guided", + "11": "Dock", + "2": "Steering", + "3": "Loiter", + "4": "Follow", + "5": "Simple", + "6": "Circle", + "7": "Auto", + "8": "RTL", + "9": "SmartRTL" + }, + "Description": "Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.", + "DisplayName": "Flight mode block from GCS", + "User": "Standard" + } + }, + "VISO": { + "VISO_DELAY_MS": { + "Description": "Visual odometry sensor delay relative to inertial measurements", + "DisplayName": "Visual odometry sensor delay", + "Range": { + "high": "250", + "low": "0" + }, + "Units": "ms", + "User": "Advanced" + }, + "VISO_ORIENT": { + "Description": "Visual odometery camera orientation", + "DisplayName": "Visual odometery camera orientation", + "User": "Advanced", + "Values": { + "0": "Forward", + "2": "Right", + "24": "Up", + "25": "Down", + "4": "Back", + "6": "Left" + } + }, + "VISO_POS_M_NSE": { + "Description": "Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry position measurement noise ", + "Range": { + "high": "10.0", + "low": "0.1" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_X": { + "Description": "X position of the camera in body frame. Positive X is forward of the origin.", + "DisplayName": "Visual odometry camera X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Y": { + "Description": "Y position of the camera in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Visual odometry camera Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_POS_Z": { + "Description": "Z position of the camera in body frame. Positive Z is down from the origin.", + "DisplayName": "Visual odometry camera Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Advanced" + }, + "VISO_QUAL_MIN": { + "Description": "Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown", + "DisplayName": "Visual odometry minimum quality", + "Range": { + "high": "100", + "low": "-1" + }, + "Units": "%", + "User": "Advanced" + }, + "VISO_SCALE": { + "Description": "Visual odometry scaling factor applied to position estimates from sensor", + "DisplayName": "Visual odometry scaling factor", + "User": "Advanced" + }, + "VISO_TYPE": { + "Description": "Visual odometry camera connection type", + "DisplayName": "Visual odometry camera connection type", + "RebootRequired": "True", + "User": "Advanced", + "Values": { + "0": "None", + "1": "MAVLink", + "2": "IntelT265", + "3": "VOXL(ModalAI)" + } + }, + "VISO_VEL_M_NSE": { + "Description": "Visual odometry velocity measurement noise in m/s", + "DisplayName": "Visual odometry velocity measurement noise", + "Range": { + "high": "5.0", + "low": "0.05" + }, + "Units": "m/s", + "User": "Advanced" + }, + "VISO_YAW_M_NSE": { + "Description": "Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)", + "DisplayName": "Visual odometry yaw measurement noise", + "Range": { + "high": "1.0", + "low": "0.05" + }, + "Units": "rad", + "User": "Advanced" + } + }, + "VTX_": { + "VTX_BAND": { + "Description": "Video Transmitter Band", + "DisplayName": "Video Transmitter Band", + "User": "Standard", + "Values": { + "0": "Band A", + "1": "Band B", + "10": "3G3 Band B", + "2": "Band E", + "3": "Airwave", + "4": "RaceBand", + "5": "Low RaceBand", + "6": "1G3 Band A", + "7": "1G3 Band B", + "8": "Band X", + "9": "3G3 Band A" + } + }, + "VTX_CHANNEL": { + "Description": "Video Transmitter Channel", + "DisplayName": "Video Transmitter Channel", + "Range": { + "high": "7", + "low": "0" + }, + "User": "Standard" + }, + "VTX_ENABLE": { + "Description": "Toggles the Video Transmitter on and off", + "DisplayName": "Is the Video Transmitter enabled or not", + "Values": { + "0": "Disable", + "1": "Enable" + } + }, + "VTX_FREQ": { + "Description": "Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL", + "DisplayName": "Video Transmitter Frequency", + "Range": { + "high": "6000", + "low": "1000" + }, + "ReadOnly": "True", + "User": "Standard" + }, + "VTX_MAX_POWER": { + "Description": "Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.", + "DisplayName": "Video Transmitter Max Power Level", + "Range": { + "high": "1000", + "low": "25" + } + }, + "VTX_OPTIONS": { + "Bitmask": { + "0": "Pitmode", + "1": "Pitmode until armed", + "2": "Pitmode when disarmed", + "3": "Unlocked", + "4": "Add leading zero byte to requests", + "5": "Use 1 stop-bit in SmartAudio", + "6": "Ignore CRC in SmartAudio", + "7": "Ignore status updates in CRSF and blindly set VTX options" + }, + "Description": "Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.", + "DisplayName": "Video Transmitter Options", + "User": "Advanced" + }, + "VTX_POWER": { + "Description": "Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level", + "DisplayName": "Video Transmitter Power Level", + "Range": { + "high": "1000", + "low": "1" + } + } + }, + "WENC": { + "WENC2_CPR": { + "Description": "WheelEncoder 2 counts per full revolution of the wheel", + "DisplayName": "WheelEncoder 2 counts per revolution", + "Increment": "1", + "User": "Standard" + }, + "WENC2_PINA": { + "Description": "Second Encoder Input Pin A", + "DisplayName": "Second Encoder Input Pin A", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WENC2_PINB": { + "Description": "Second Encoder Input Pin B", + "DisplayName": "Second Encoder Input Pin B", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WENC2_POS_X": { + "Description": "X position of the center of the second wheel in body frame. Positive X is forward of the origin.", + "DisplayName": "Wheel2's X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC2_POS_Y": { + "Description": "Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Wheel2's Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC2_POS_Z": { + "Description": "Z position of the center of the second wheel in body frame. Positive Z is down from the origin.", + "DisplayName": "Wheel2's Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC2_RADIUS": { + "Description": "Wheel2's radius", + "DisplayName": "Wheel2's radius", + "Increment": "0.001", + "Units": "m", + "User": "Standard" + }, + "WENC2_TYPE": { + "Description": "What type of WheelEncoder sensor is connected", + "DisplayName": "Second WheelEncoder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Quadrature", + "10": "SITL Quadrature" + } + }, + "WENC_CPR": { + "Description": "WheelEncoder counts per full revolution of the wheel", + "DisplayName": "WheelEncoder counts per revolution", + "Increment": "1", + "User": "Standard" + }, + "WENC_PINA": { + "Description": "Input Pin A", + "DisplayName": "Input Pin A", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WENC_PINB": { + "Description": "Input Pin B", + "DisplayName": "Input Pin B", + "User": "Standard", + "Values": { + "-1": "Disabled", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WENC_POS_X": { + "Description": "X position of the center of the wheel in body frame. Positive X is forward of the origin.", + "DisplayName": "Wheel's X position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC_POS_Y": { + "Description": "Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.", + "DisplayName": "Wheel's Y position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC_POS_Z": { + "Description": "Z position of the center of the wheel in body frame. Positive Z is down from the origin.", + "DisplayName": "Wheel's Z position offset", + "Increment": "0.01", + "Range": { + "high": "5", + "low": "-5" + }, + "Units": "m", + "User": "Standard" + }, + "WENC_RADIUS": { + "Description": "Wheel radius", + "DisplayName": "Wheel radius", + "Increment": "0.001", + "Units": "m", + "User": "Standard" + }, + "WENC_TYPE": { + "Description": "What type of WheelEncoder is connected", + "DisplayName": "WheelEncoder type", + "User": "Standard", + "Values": { + "0": "None", + "1": "Quadrature", + "10": "SITL Quadrature" + } + } + }, + "WNDVN_": { + "WNDVN_CAL": { + "Description": "Start wind vane calibration by setting this to 1 or 2", + "DisplayName": "Wind vane calibration start", + "User": "Standard", + "Values": { + "0": "None", + "1": "Calibrate direction", + "2": "Calibrate speed" + } + }, + "WNDVN_DIR_DZ": { + "Description": "Wind vane deadzone when using analog sensor", + "DisplayName": "Wind vane deadzone when using analog sensor", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "WNDVN_DIR_FILT": { + "Description": "apparent Wind vane direction low pass filter frequency, a value of -1 disables filter", + "DisplayName": "apparent Wind vane direction low pass filter frequency", + "Units": "Hz", + "User": "Standard" + }, + "WNDVN_DIR_OFS": { + "Description": "Angle offset when analog windvane is indicating a headwind, ie 0 degress relative to vehicle", + "DisplayName": "Wind vane headwind offset", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "WNDVN_DIR_PIN": { + "Description": "Analog input pin to read as wind vane direction", + "DisplayName": "Wind vane analog voltage pin for direction", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WNDVN_DIR_V_MAX": { + "Description": "Maximum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "Wind vane voltage maximum", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "WNDVN_DIR_V_MIN": { + "Description": "Minimum voltage supplied by analog wind vane. When using pin 103, the maximum value of the parameter is 3.3V.", + "DisplayName": "Wind vane voltage minimum", + "Increment": "0.01", + "Range": { + "high": "5.0", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "WNDVN_SPEED_FILT": { + "Description": "apparent Wind speed low pass filter frequency, a value of -1 disables filter", + "DisplayName": "apparent wind speed low pass filter frequency", + "Units": "Hz", + "User": "Standard" + }, + "WNDVN_SPEED_MIN": { + "Description": "Wind vane direction will be ignored when apparent wind speeds are below this value (if wind speed sensor is present). If the apparent wind is consistently below this value the vane will not work", + "DisplayName": "Wind vane cut off wind speed", + "Increment": "0.1", + "Range": { + "high": "5", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + }, + "WNDVN_SPEED_OFS": { + "Description": "Wind sensor analog voltage offset at zero wind speed", + "DisplayName": "Wind speed sensor analog voltage offset", + "Increment": "0.01", + "Range": { + "high": "3.3", + "low": "0" + }, + "Units": "V", + "User": "Standard" + }, + "WNDVN_SPEED_PIN": { + "Description": "Wind speed analog speed input pin for Modern Devices Wind Sensor rev. p", + "DisplayName": "Wind vane speed sensor analog pin", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WNDVN_SPEED_TYPE": { + "Description": "Wind speed sensor type", + "DisplayName": "Wind speed sensor Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Airspeed library", + "10": "SITL true", + "11": "SITL apparent", + "2": "Modern Devices Wind Sensor", + "3": "RPM library", + "4": "NMEA" + } + }, + "WNDVN_TEMP_PIN": { + "Description": "Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings", + "DisplayName": "Wind vane speed sensor analog temp pin", + "User": "Standard", + "Values": { + "103": "Pixhawk SBUS", + "11": "Pixracer", + "13": "Pixhawk ADC4", + "14": "Pixhawk ADC3", + "15": "Pixhawk ADC6/Pixhawk2 ADC", + "50": "AUX1", + "51": "AUX2", + "52": "AUX3", + "53": "AUX4", + "54": "AUX5", + "55": "AUX6" + } + }, + "WNDVN_TRUE_FILT": { + "Description": "True speed and direction low pass filter frequency, a value of -1 disables filter", + "DisplayName": "True speed and direction low pass filter frequency", + "Units": "Hz", + "User": "Standard" + }, + "WNDVN_TYPE": { + "Description": "Wind Vane type", + "DisplayName": "Wind Vane Type", + "RebootRequired": "True", + "User": "Standard", + "Values": { + "0": "None", + "1": "Heading when armed", + "10": "SITL true", + "11": "SITL apparent", + "2": "RC input offset heading when armed", + "3": "Analog", + "4": "NMEA" + } + } + }, + "WP_": { + "WP_ACCEL": { + "Description": "Waypoint acceleration. If zero then ATC_ACCEL_MAX is used", + "DisplayName": "Waypoint acceleration", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s/s", + "User": "Standard" + }, + "WP_JERK": { + "Description": "Waypoint jerk (change in acceleration). If zero then jerk is same as acceleration", + "DisplayName": "Waypoint jerk", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s/s/s", + "User": "Standard" + }, + "WP_RADIUS": { + "Description": "The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint.", + "DisplayName": "Waypoint radius", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m", + "User": "Standard" + }, + "WP_SPEED": { + "Description": "Waypoint speed default", + "DisplayName": "Waypoint speed default", + "Increment": "0.1", + "Range": { + "high": "100", + "low": "0" + }, + "Units": "m/s", + "User": "Standard" + } + }, + "WP_PIVOT_": { + "WP_PIVOT_ANGLE": { + "Description": "Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. This parameter should be greater than 5 degrees for pivot turns to work.", + "DisplayName": "Pivot Angle", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg", + "User": "Standard" + }, + "WP_PIVOT_DELAY": { + "Description": "Vehicle waits this many seconds after completing a pivot turn before proceeding", + "DisplayName": "Pivot Delay", + "Increment": "0.1", + "Range": { + "high": "60", + "low": "0" + }, + "Units": "s", + "User": "Standard" + }, + "WP_PIVOT_RATE": { + "Description": "Turn rate during pivot turns", + "DisplayName": "Pivot Turn Rate", + "Increment": "1", + "Range": { + "high": "360", + "low": "0" + }, + "Units": "deg/s", + "User": "Standard" + } + }, + "WRC": { + "WRC2_RATE_D": { + "Description": "Wheel rate control D gain. Compensates for short-term change in desired rate vs actual", + "DisplayName": "Wheel rate control D gain", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC2_RATE_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the target", + "DisplayName": "Wheel rate Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Advanced" + }, + "WRC2_RATE_FF": { + "Description": "Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)", + "DisplayName": "Wheel rate control feed forward gain", + "Range": { + "high": "2.000", + "low": "0.100" + }, + "User": "Standard" + }, + "WRC2_RATE_FILT": { + "Description": "Wheel rate control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Wheel rate control filter frequency", + "Range": { + "high": "100.000", + "low": "1.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC2_RATE_FLTD": { + "Description": "Wheel rate control derivative frequency in Hz", + "DisplayName": "Wheel rate control derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC2_RATE_FLTE": { + "Description": "Wheel rate control error frequency in Hz", + "DisplayName": "Wheel rate control error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC2_RATE_FLTT": { + "Description": "Wheel rate control target frequency in Hz", + "DisplayName": "Wheel rate control target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC2_RATE_I": { + "Description": "Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual", + "DisplayName": "Wheel rate control I gain", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC2_RATE_IMAX": { + "Description": "Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate", + "DisplayName": "Wheel rate control I gain maximum", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC2_RATE_NEF": { + "Description": "Wheel rate Error notch filter index", + "DisplayName": "Wheel rate Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "WRC2_RATE_NTF": { + "Description": "Wheel rate Target notch filter index", + "DisplayName": "Wheel rate Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "WRC2_RATE_P": { + "Description": "Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)", + "DisplayName": "Wheel rate control P gain", + "Range": { + "high": "2.000", + "low": "0.100" + }, + "User": "Standard" + }, + "WRC2_RATE_PDMX": { + "Description": "Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Wheel rate control PD sum maximum", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "WRC2_RATE_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Wheel rate slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + }, + "WRC_ENABLE": { + "Description": "Enable or disable wheel rate control", + "DisplayName": "Wheel rate control enable/disable", + "User": "Standard", + "Values": { + "0": "Disabled", + "1": "Enabled" + } + }, + "WRC_RATE_D": { + "Description": "Wheel rate control D gain. Compensates for short-term change in desired rate vs actual", + "DisplayName": "Wheel rate control D gain", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC_RATE_D_FF": { + "Description": "FF D Gain which produces an output that is proportional to the rate of change of the error", + "DisplayName": "Wheel rate Derivative FeedForward Gain", + "Increment": "0.001", + "Range": { + "high": "0.400", + "low": "0.000" + }, + "User": "Advanced" + }, + "WRC_RATE_FF": { + "Description": "Wheel rate control feed forward gain. Desired rate (in radians/sec) is multiplied by this constant and output to output (in the range -1 to +1)", + "DisplayName": "Wheel rate control feed forward gain", + "Range": { + "high": "2.000", + "low": "0.100" + }, + "User": "Standard" + }, + "WRC_RATE_FILT": { + "Description": "Wheel rate control input filter. Lower values reduce noise but add delay.", + "DisplayName": "Wheel rate control filter frequency", + "Range": { + "high": "100.000", + "low": "1.000" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC_RATE_FLTD": { + "Description": "Wheel rate control derivative frequency in Hz", + "DisplayName": "Wheel rate control derivative frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC_RATE_FLTE": { + "Description": "Wheel rate control error frequency in Hz", + "DisplayName": "Wheel rate control error frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC_RATE_FLTT": { + "Description": "Wheel rate control target frequency in Hz", + "DisplayName": "Wheel rate control target frequency in Hz", + "Increment": "1", + "Range": { + "high": "50", + "low": "1" + }, + "Units": "Hz", + "User": "Standard" + }, + "WRC_RATE_I": { + "Description": "Wheel rate control I gain. Corrects long term error between the desired rate (in rad/s) and actual", + "DisplayName": "Wheel rate control I gain", + "Range": { + "high": "2.000", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC_RATE_IMAX": { + "Description": "Wheel rate control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate", + "DisplayName": "Wheel rate control I gain maximum", + "Range": { + "high": "1.000", + "low": "0.000" + }, + "User": "Standard" + }, + "WRC_RATE_MAX": { + "Description": "Wheel max rotation rate", + "DisplayName": "Wheel max rotation rate", + "Range": { + "high": "200", + "low": "0" + }, + "Units": "rad/s", + "User": "Standard" + }, + "WRC_RATE_NEF": { + "Description": "Wheel rate Error notch filter index", + "DisplayName": "Wheel rate Error notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "WRC_RATE_NTF": { + "Description": "Wheel rate Target notch filter index", + "DisplayName": "Wheel rate Target notch filter index", + "Range": { + "high": "8", + "low": "1" + }, + "User": "Advanced" + }, + "WRC_RATE_P": { + "Description": "Wheel rate control P gain. Converts rate error (in radians/sec) to output (in the range -1 to +1)", + "DisplayName": "Wheel rate control P gain", + "Range": { + "high": "2.000", + "low": "0.100" + }, + "User": "Standard" + }, + "WRC_RATE_PDMX": { + "Description": "Wheel rate control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output", + "DisplayName": "Wheel rate control PD sum maximum", + "Range": { + "high": "1.000", + "low": "0.000" + } + }, + "WRC_RATE_SMAX": { + "Description": "Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.", + "DisplayName": "Wheel rate slew rate limit", + "Increment": "0.5", + "Range": { + "high": "200", + "low": "0" + }, + "User": "Advanced" + } + }, + "json": { + "version": 0 + } +} \ No newline at end of file diff --git a/Rover-4.6/apm.pdef.xml b/Rover-4.6/apm.pdef.xml new file mode 100644 index 0000000..a87160b --- /dev/null +++ b/Rover-4.6/apm.pdef.xml @@ -0,0 +1,33108 @@ + + + + + + + + + + Fast Attitude + Medium Attitude + GPS + System Performance + Throttle + Navigation Tuning + IMU + Mission Commands + Battery Monitor + Rangefinder + Compass + Camera + Steering + RC Input-Output + Raw IMU + Video Stabilization + Optical Flow + + 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Throttle,5:Navigation Tuning,7:IMU,8:Mission Commands,9:Battery Monitor,10:Rangefinder,11:Compass,12:Camera,13:Steering,14:RC Input-Output,19:Raw IMU,20:Video Stabilization,21:Optical Flow + + + + + + Manual + Acro + Steering + Hold + Loiter + Follow + Simple + Dock + Circle + Auto + RTL + SmartRTL + Guided + + + + 1 255 + + + 1 255 + 1 + + + s + seconds + 0 30 + 1 + + + + Steering + Throttle + Pitch + Left Wheel + Right Wheel + Sailboat Heel + Velocity North + Velocity East + + 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel,6:Velocity North,7:Velocity East + + + + Disabled + APM TriggerPin0 + APM TriggerPin1 + APM TriggerPin2 + APM TriggerPin3 + APM TriggerPin4 + APM TriggerPin5 + APM TriggerPin6 + APM TriggerPin7 + APM TriggerPin8 + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + m/s/s + meters per square second + 0 20 + 0.1 + + + m/s + meters per second + 0 100 + 0.1 + + + % + percent + 0 100 + 1 + + + + Default + Two Paddles Input + Direction reversed when backing up + Direction unchanged when backing up + + + + + Nothing + RTL + Hold + SmartRTL or RTL + SmartRTL or Hold + Terminate + + + + s + seconds + 1 100 + 0.5 + + + + Disabled + Enabled + Enabled Continue with Mission in Auto + + + + 910 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+ seconds + + + km + kilometers + + + + Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost) + Enable AFS for all autonomous modes (not just AUTO) + + 0: Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost), 1: Enable AFS for all autonomous modes (not just AUTO) + + + s + seconds + + + + + 0.0 1.0 + .01 + + + + Disabled + Use GPS for DCM position + Use GPS for DCM position and height + + + + 0.1 0.4 + .01 + + + 0.1 0.4 + .01 + + + 0 127 + m/s + meters per second + 1 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + rad + radians + -0.1745 +0.1745 + 0.01 + + + + None + Yaw45 + Yaw90 + Yaw135 + Yaw180 + Yaw225 + Yaw270 + Yaw315 + Roll180 + Yaw45Roll180 + Yaw90Roll180 + Yaw135Roll180 + Pitch180 + Yaw225Roll180 + Yaw270Roll180 + Yaw315Roll180 + Roll90 + Yaw45Roll90 + Yaw90Roll90 + Yaw135Roll90 + Roll270 + Yaw45Roll270 + Yaw90Roll270 + Yaw135Roll270 + Pitch90 + Pitch270 + Yaw90Pitch180 + Yaw270Pitch180 + Pitch90Roll90 + Pitch90Roll180 + Pitch90Roll270 + Pitch180Roll90 + Pitch180Roll270 + Pitch270Roll90 + Pitch270Roll180 + Pitch270Roll270 + Yaw90Pitch180Roll90 + Yaw270Roll90 + Yaw293Pitch68Roll180 + Pitch315 + Pitch315Roll90 + Roll45 + Roll315 + Custom 4.1 and older + Custom 1 + Custom 2 + + + + 0.001 0.5 + .01 + + + 0 10 + 1 + + + + Disabled + Enable EKF2 + Enable EKF3 + ExternalAHRS + + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + -180 180 + deg + degrees + 1 + + + + DisableDCMFallbackFW + DisableDCMFallbackVTOL + DontDisableAirspeedUsingEKF + + 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF + + + + + + None + NMEA AIVDM message + + True + + + 1 100 + + + s + seconds + 1 2000 + + + + Log all AIVDM messages + Log only unsupported AIVDM messages + Log decoded messages + + 0:Log all AIVDM messages,1:Log only unsupported AIVDM messages,2:Log decoded messages + + + + + + Disabled + minimum PWM when disarmed + 0 PWM when disarmed + + + + m/s/s + meters per square second + 0.25 3.0 + + + + Disabled + ArmingOnly + ArmOrDisarm + + + + + Land + VTOL Land + DO_LAND_START + Takeoff + VTOL Takeoff + Rallypoint + RTL + + 0:Land,1:VTOL Land,2:DO_LAND_START,3:Takeoff,4:VTOL Takeoff,5:Rallypoint,6:RTL + + + + All + Barometer + Compass + GPS lock + INS + Parameters + RC Channels + Board voltage + Battery Level + Logging Available + Hardware safety switch + GPS Configuration + System + Mission + Rangefinder + Camera + AuxAuth + VisualOdometry + FFT + + 0:All,1:Barometer,2:Compass,3:GPS lock,4:INS,5:Parameters,6:RC Channels,7:Board voltage,8:Battery Level,10:Logging Available,11:Hardware safety switch,12:GPS Configuration,13:System,14:Mission,15:Rangefinder,16:Camera,17:AuxAuth,18:VisualOdometry,19:FFT + + + + Disable prearm display + Do not send status text on state change + + 0:Disable prearm display,1:Do not send status text on state change + + + mGauss + milligauss + 0 500 + + + + Crash Dump arming check active + Crash Dump arming check deactivated + + + + + + + Disable + Enable + + + + + Normal + Swapped + Auto Detect + + + + + FirstSensor + 2ndSensor + + + + + SpeedMismatchDisable + AllowSpeedMismatchRecovery + DisableVoltageCorrection + UseEkf3Consistency + ReportOffset + + 0:SpeedMismatchDisable, 1:AllowSpeedMismatchRecovery, 2:DisableVoltageCorrection, 3:UseEkf3Consistency, 4:ReportOffset + + + m/s + meters per second + + + m/s + meters per second + + + 0.0 10.0 + + + 0.0 10.0 + % + percent + + + + + + None + I2C-MS4525D0 + Analog + I2C-MS5525 + I2C-MS5525 (0x76) + I2C-MS5525 (0x77) + I2C-SDP3X + I2C-DLVR-5in + DroneCAN + I2C-DLVR-10in + I2C-DLVR-20in + I2C-DLVR-30in + I2C-DLVR-60in + NMEA water speed + MSP + ASP5033 + ExternalAHRS + SITL + + + + + DoNotUse + Use + UseWhenZeroThrottle + + + + 0.1 + + + 0.1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + Normal + Swapped + Auto Detect + + + + + Disable + Enable + + + + + + + Bus0 + Bus1 + Bus2 + + True + + + True + + + + + + None + I2C-MS4525D0 + Analog + I2C-MS5525 + I2C-MS5525 (0x76) + I2C-MS5525 (0x77) + I2C-SDP3X + I2C-DLVR-5in + DroneCAN + I2C-DLVR-10in + I2C-DLVR-20in + I2C-DLVR-30in + I2C-DLVR-60in + NMEA water speed + MSP + ASP5033 + ExternalAHRS + SITL + + + + + DoNotUse + Use + UseWhenZeroThrottle + + + + 0.1 + + + 0.1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + + + + Normal + Swapped + Auto Detect + + + + + Disable + Enable + + + + + + + Bus0 + Bus1 + Bus2 + + True + + + True + + + + + 0.000 2.000 + 0.001 + + + 0.000 2.000 + 0.001 + + + 0.000 1.000 + 0.01 + + + 0.000 0.400 + 0.001 + + + 0.000 3.000 + 0.001 + + + 0.000 100.000 + 0.1 + Hz + hertz + + + 0.000 100.000 + 0.1 + Hz + hertz + + + 0.000 100.000 + 0.1 + Hz + hertz + + + 0.000 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True + + + degC + degrees Celsius + 1 + True + + + m + meters + 0.1 + + + + FirstBaro + 2ndBaro + 3rdBaro + + + + + Disabled + Bus0 + Bus1 + Bus6 + + + + Pa + pascal + 1 + True + True + + + Pa + pascal + 1 + True + True + + + % + percent + 0 100 + 1 + + + + BMP085 + BMP280 + MS5611 + MS5607 + MS5637 + FBM320 + DPS280 + LPS25H + Keller + MS5837 + BMP388 + SPL06 + MSP + BMP581 + + 0:BMP085,1:BMP280,2:MS5611,3:MS5607,4:MS5637,5:FBM320,6:DPS280,7:LPS25H,8:Keller,9:MS5837,10:BMP388,11:SPL06,12:MSP,13:BMP581 + + + True + + + True + + + True + + + m + meters + 0.1 + True + + + m + meters + 1 + 0 5000 + + + + Treat MS5611 as MS5607 + + 0:Treat MS5611 as MS5607 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Enabled + + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + -1.0 1.0 + 0.05 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + Disabled + Analog Voltage Only + Analog Voltage and Current + Solo + Bebop + SMBus-Generic + DroneCAN-BatteryInfo + ESC + Sum Of Selected Monitors + FuelFlow + FuelLevelPWM + SMBUS-SUI3 + SMBUS-SUI6 + NeoDesign + SMBus-Maxell + Generator-Elec + Generator-Fuel + Rotoye + MPPT + INA2XX + LTC2946 + Torqeedo + FuelLevelAnalog + Synthetic Current and Analog Voltage + INA239_SPI + EFI + AD7091R5 + Scripting + + True + + + mAh + milliampere hour + 50 + + + + + s + seconds + 1 + 0 120 + + + + Raw Voltage + Sag Compensated Voltage + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + + None + RTL + Hold + SmartRTL + SmartRTL or Hold + Terminate + + + + V + volt + 0.1 + + + mAh + milliampere hour + 50 + + + + Ignore DroneCAN SoC + MPPT reports input voltage and current + MPPT Powered off when disarmed + MPPT Powered on when armed + MPPT Powered off at boot + MPPT Powered on at boot + Send resistance compensated voltage to GCS + Allow DroneCAN InfoAux to be from a different CAN node + Sum monitor measures minimum voltage instead of average + + 0:Ignore DroneCAN SoC, 1:MPPT reports input voltage and current, 2:MPPT Powered off when disarmed, 3:MPPT Powered on when armed, 4:MPPT Powered off at boot, 5:MPPT Powered on at boot, 6:Send resistance compensated voltage to GCS, 7:Allow DroneCAN InfoAux to be from a different CAN node, 9:Sum monitor measures minimum voltage instead of average + + + 0 10 + 1 + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + CubeOrange_PM2/Navigator + Pixhawk2_PM2 + CubeOrange + Durandal + PX4-v1 + + True + + + + + A/V + ampere per volt + + + V + volt + + + V + volt + + + 0 3 + True + + + 0 127 + True + + + + monitor 1 + monitor 2 + monitor 3 + monitor 4 + monitor 5 + monitor 6 + monitor 7 + monitor 8 + monitor 9 + + 0:monitor 1, 1:monitor 2, 2:monitor 3, 3:monitor 4, 4:monitor 5, 5:monitor 6, 6:monitor 7, 7:monitor 8, 8:monitor 9 + + + .1 10 + + + 0.01 10 + V + volt + + + 0.01 10 + + + -1 1 + Hz + hertz + True + + + + Disabled + Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 + Navigator + Pixhawk2_PM2/CubeOrange_PM2 + CubeOrange + Durandal + PX4-v1 + + + + 0 10 + + + 0 10 + + + 0 10 + + + 0 10 + + + 7 100 + + + 0 3 + True + + + 0 127 + True + + + 1 400 + A + ampere + + + 0.0001 0.01 + Ohm + Ohm + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + + + + None + Pozyx + Marvelmind + Nooploop + SITL + + + + deg + degrees + 0.000001 + -90 90 + + + deg + degrees + 0.000001 + -180 180 + + + m + meters + 1 + 0 10000 + + + deg + degrees + 1 + -180 +180 + + + + + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + True + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + True + + Disabled + Enabled + Auto + RS-485 Driver enable RTS pin + + + + + Disabled + Enabled + + True + + + + Disabled + 50Hz + 75Hz + 100Hz + 150Hz + 200Hz + 250Hz + 300Hz + + True + + + -8388608 8388607 + + + + Output1 + Output2 + Output3 + Output4 + Output5 + Output6 + Output7 + Output8 + Output9 + Output10 + Output11 + Output12 + Output13 + Output14 + + 0:Output1,1:Output2,2:Output3,3:Output4,4:Output5,5:Output6,6:Output7,7:Output8,8:Output9,9:Output10,10:Output11,11:Output12,12:Output13,13:Output14 + True + + + -1 80 + degC + degrees Celsius + + + + AUTO + PX4V1 + Pixhawk + Cube/Pixhawk2 + Pixracer + PixhawkMini + Pixhawk2Slim + Intel Aero FC + Pixhawk Pro + AUAV2.1 + PCNC1 + MINDPXV2 + SP01 + CUAVv5/FMUV5 + VRX BRAIN51 + VRX BRAIN52 + VRX BRAIN52E + VRX UBRAIN51 + VRX UBRAIN52 + VRX CORE10 + VRX BRAIN54 + PX4 FMUV6 + PX4 OLDDRIVERS + + True + + + + Disabled + Enabled + EnableNoFWUpdate + + True + + + + ActiveForSafetyDisable + ActiveForSafetyEnable + ActiveWhenArmed + Force safety on when the aircraft disarms + + 0:ActiveForSafetyDisable,1:ActiveForSafetyEnable,2:ActiveWhenArmed,3:Force safety on when the aircraft disarms + + + V + volt + 4.0 5.5 + 0.1 + + + V + volt + 3.3 12.0 + 0.1 + + + 0 32 + 1 + + + + 3.3V + 5V + + + + + Enable hardware watchdog + Disable MAVftp + Enable set of internal parameters + Enable Debug Pins + Unlock flash on reboot + Write protect firmware flash on reboot + Write protect bootloader flash on reboot + Skip board validation + Disable board arming gpio output change on arm/disarm + + 0:Enable hardware watchdog, 1:Disable MAVftp, 2:Enable set of internal parameters, 3:Enable Debug Pins, 4:Unlock flash on reboot, 5:Write protect firmware flash on reboot, 6:Write protect bootloader flash on reboot, 7:Skip board validation, 8:Disable board arming gpio output change on arm/disarm + + + 0 10000 + ms + milliseconds + + + 1 500 + 1 + + + 0 1 + 0.1 + + + 0 100 + 1 + + + 0 10 + 1 + True + + + 0 20 + degC + degrees Celsius + + + 0 64 + True + + + 0 64 + True + + + + StandardFW + DshotFW + + True + + + + + + None + CYRF6936 + CC2500 + BK2425 + + + + + Auto + DSM2 + DSMX + + + + 0 4 + + + + NotDisabled + Disabled + + + + 0 16 + + + 0 16 + + + + Disabled + Enabled + + + + 1 8 + + + + Disabled + MinChannel + MidChannel + MaxChannel + MinChannelCW + MidChannelCW + MaxChannelCW + + + + + Mode1 + Mode2 + + + + + Disabled + TestChan1 + TestChan2 + TestChan3 + TestChan4 + TestChan5 + TestChan6 + TestChan7 + TestChan8 + + + + 0 16 + + + 0 16 + + + 1 8 + + + 0 40 + + + 0 120 + + + 0 31 + + + + + + GPS + MAVLINK_SYSTEM_TIME + HW + + 0:GPS,1:MAVLINK_SYSTEM_TIME,2:HW + + + -720 +840 + + + + + + Disabled + Enabled + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + + Disabled + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + + + + 0 3600 + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + PWM Input + InvertInput + + 0:PWM Input,1:InvertInput + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + deg + degrees + 0 180 + + + + Always + Only when in AUTO + + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + None + Servo + Relay + GoPro in Solo Gimbal + Mount (Siyi/Topotek/Viewpro/Xacti) + MAVLink + MAVLinkCamV2 + Scripting + + + + s + seconds + 0 5 + + + PWM + PWM in microseconds + 1000 2000 + + + PWM + PWM in microseconds + 1000 2000 + + + m + meters + 0 1000 + + + + Low + High + + + + s + seconds + 0 10 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + True + + + + TriggerLow + TriggerHigh + + + + + Recording Starts at arming and stops at disarming + + 0:Recording Starts at arming and stops at disarming + + + + + deg + degrees + 0 360 + + + deg + degrees + 0 180 + + + + + + Disabled + RunCam Split Micro/RunCam with UART + RunCam Split + RunCam Split4 4k + RunCam Hybrid/RunCam Thumb Pro + Runcam 2 4k + + + + + Power Button + WiFi Button + Change Mode + 5-Key OSD + Settings Access + DisplayPort + Start Recording + Stop Recording + + 0:Power Button,1:WiFi Button,2:Change Mode,3:5-Key OSD,4:Settings Access,5:DisplayPort,6:Start Recording,7:Stop Recording + + + + + + + + + + Stick yaw right + Stick roll right + 3-position switch + 2-position switch + Autorecording enabled + + 0:Stick yaw right,1:Stick roll right,2:3-position switch,3:2-position switch,4:Autorecording enabled + + + + + 0 4 + + Log None + Log Error + Log Warning and below + Log Info and below + Log Everything + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + 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Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + Disabled + DroneCAN + PiccoloCAN + EFI_NWPMU + USD1 + KDECAN + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + Disabled + USD1 + Scripting + Benewake + Scripting2 + TOFSenseP + NanoRadar + + True + + + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + Hz + hertz + 1 500 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + EnableFlexDebug + + 0:ClearDNADatabase,1:IgnoreDNANodeConflicts,2:EnableCanfd,3:IgnoreDNANodeUnhealthy,4:SendServoAsPWM,5:SendGNSS,6:UseHimarkServo,7:HobbyWingESC,8:EnableStats,9:EnableFlexDebug + + + 1 200 + Hz + hertz + + + 0 18 + + + 1024 16384 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 0 200 + Hz + hertz + + + + Disabled + Enabled + + True + + + 0 127 + True + + + 0 100 + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + True + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 0 127 + True + + + 0 100 + True + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + True + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + 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Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16 + + + Hz + hertz + 1 500 + + + 0 255 + + + Hz + hertz + 1 500 + + + + + 1 125 + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32 + + + + ESC 1 + ESC 2 + ESC 3 + ESC 4 + ESC 5 + ESC 6 + ESC 7 + ESC 8 + ESC 9 + ESC 10 + ESC 11 + ESC 12 + ESC 13 + ESC 14 + ESC 15 + ESC 16 + ESC 17 + ESC 18 + ESC 19 + ESC 20 + ESC 21 + ESC 22 + ESC 23 + ESC 24 + ESC 25 + ESC 26 + ESC 27 + ESC 28 + ESC 29 + ESC 30 + ESC 31 + ESC 32 + + 0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16, 16: ESC 17, 17: ESC 18, 18: ESC 19, 19: ESC 20, 20: ESC 21, 21: ESC 22, 22: ESC 23, 23: ESC 24, 24: ESC 25, 25: ESC 26, 26: ESC 27, 27: ESC 28, 28: ESC 29, 29: ESC 30, 30: ESC 31, 31: ESC 32 + + + 1 200 + Hz + hertz + + + + ClearDNADatabase + IgnoreDNANodeConflicts + EnableCanfd + IgnoreDNANodeUnhealthy + SendServoAsPWM + SendGNSS + UseHimarkServo + HobbyWingESC + EnableStats + 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seconds + True + + + 0 10 + m + meters + + + + Land Vertically (Not strict) + Retry Landing(Normal Strictness) + Do not land (just Hover) (Very Strict) + + + + 0 10 + 1 + + + 0 20 + s + seconds + + + + Go to the last location where landing target was detected + Go towards the approximate location of the detected landing target + + + + 0 5 + m + meters + + + 0 50 + m + meters + + + + Moving Landing Target + Allow Precision Landing after manual reposition + Maintain high speed in final descent + + 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Maintain high speed in final descent + + + + Forward + Back + Down + + True + + + + + + Off + On + + + + Hz + hertz + 0 20 + + + + + + None + LightwareSF40c + MAVLink + TeraRangerTower + RangeFinder + RPLidarA2 + TeraRangerTowerEvo + LightwareSF45B + SITL + AirSimSITL + CygbotD1 + DroneCAN + Scripting + LD06 + MR72_CAN + + True + + + + Default + Upside Down + + + + deg + degrees + -180 180 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + m + meters + 0 500 + + + m + meters + 0 500 + + + 0 127 + 1 + + + + + 0 65535 + + + + + + None + LightwareSF40c + MAVLink + TeraRangerTower + RangeFinder + RPLidarA2 + TeraRangerTowerEvo + LightwareSF45B + SITL + AirSimSITL + CygbotD1 + DroneCAN + Scripting + LD06 + MR72_CAN + + True + + + + Default + Upside Down + + + + deg + degrees + -180 180 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + m + meters + 0 500 + + + m + meters + 0 500 + + + 0 127 + 1 + + + + + 0 65535 + + + + + + None + LightwareSF40c + MAVLink + TeraRangerTower + RangeFinder + RPLidarA2 + TeraRangerTowerEvo + LightwareSF45B + SITL + AirSimSITL + CygbotD1 + DroneCAN + Scripting + LD06 + MR72_CAN + + True + + + + Default + Upside Down + + + + deg + degrees + -180 180 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + m + meters + 0 500 + + + m + meters + 0 500 + + + 0 127 + 1 + + + + + 0 65535 + + + + + + None + LightwareSF40c + MAVLink + TeraRangerTower + RangeFinder + RPLidarA2 + TeraRangerTowerEvo + LightwareSF45B + SITL + AirSimSITL + CygbotD1 + DroneCAN + Scripting + LD06 + MR72_CAN + + True + + + + Default + Upside Down + + + + deg + degrees + -180 180 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + deg + degrees + 0 360 + + + deg + degrees + 0 127 + + + m + meters + 0 500 + + + m + meters + 0 500 + + + 0 127 + 1 + + + + + 0 65535 + + + + + 0.500 2.000 + + + 0.1 6.0 + 0.1 + + + 0.00 1.00 + 0.01 + + + 0.00 1.00 + 0.001 + + + 0 4500 + 10 + cm/s/s + centimeters per square second + + + 0 100 + Hz + hertz + + + 0 100 + Hz + hertz + + + 0 6 + 0.01 + + + + + + + km + kilometers + 0.1 + + + + DoNotIncludeHome + IncludeHome + + + + + + 0.0 120.0 + s + seconds + + + + Ignore RC Receiver + Ignore MAVLink Overrides + Ignore Receiver Failsafe bit but allow other RC failsafes if setup + FPort Pad + Log RC input bytes + Arming check throttle for 0 input + Skip the arming check for neutral Roll/Pitch/Yaw sticks + Allow Switch reverse + Use passthrough for CRSF telemetry + Suppress CRSF mode/rate message for ELRS systems + Enable multiple receiver support + Use Link Quality for RSSI with CRSF + Annotate CRSF flight mode with * on disarm + Use 420kbaud for ELRS protocol + + 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol + + + + All + PPM + IBUS + SBUS + SBUS_NI + DSM + SUMD + SRXL + SRXL2 + CRSF + ST24 + FPORT + FPORT2 + FastSBUS + DroneCAN + Ghost + MAVRadio + + 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost,16:MAVRadio + + + 0.5 10.0 + s + seconds + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + PWM + PWM in microseconds + 0 200 + + + + Do Nothing + ACRO Mode + AUTO Mode + Arm/Emergency Motor Stop + ArmDisarm (4.1 and lower) + ArmDisarm (4.2 and higher) + Auto Mission Reset + Battery MPPT Enable + CIRCLE Mode + Calibrate Compasses + Camera Auto Focus + Camera Image Tracking + Camera Lens + Camera Manual Focus + Camera Mode Toggle + Camera Record Video + Camera Trigger + Camera Zoom + Clear Waypoints + Compass Learn + Disable Airspeed Use + Disarm + EKF Source Set + FFT Tune + FOLLOW Mode + Fence Enable + Flap + GPS Disable + GPS Disable Yaw + GUIDED Mode + Gripper Release + HOLD Mode + KillIMU1 + KillIMU2 + KillIMU3 + LOITER Mode + LearnCruise Speed + Lost Rover Sound + MANUAL Mode + MainSail + Motor Emergency Stop + Mount LRF enable + Mount Lock + Mount1 Pitch + Mount1 Roll + Mount1 Yaw + Mount2 Pitch + Mount2 Roll + Mount2 Yaw + Pause Stream Logging + Pitch + Proximity Avoidance Enable + RC Override Enable + RTL + Relay1 On/Off + Relay2 On/Off + Relay3 On/Off + Relay4 On/Off + Relay5 On/Off + Relay6 On/Off + Retract Mount1 + Retract Mount2 + Roll + RunCam Control + RunCam OSD Control + SMARTRTL Mode + STEERING Mode + Sailboat Tack + Sailboat motoring 3pos + Save Trim (4.1 and lower) + Save WP + Scripting1 + Scripting2 + Scripting3 + Scripting4 + Scripting5 + Scripting6 + Scripting7 + Scripting8 + Set steering trim to current servo and RC + Simple Mode + SwitchExternalAHRS + Torqeedo Clear Err + VTX Power + VisoOdom Align + Walking Height + Windvane home heading direction offset + + + + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + 1 16 + 1 + True + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Relay + Camera + Bushed motor reverse 1 throttle or throttle-left or omni motor 1 + Bushed motor reverse 2 throttle-right or omni motor 2 + Bushed motor reverse 3 omni motor 3 + Bushed motor reverse 4 omni motor 4 + + + + + Disabled + BB Blue GP0 pin 4 + AUXOUT1 + AUXOUT2 + AUXOUT3 + AUXOUT4 + AUXOUT5 + AUXOUT6 + BB Blue GP0 pin 3 + BB Blue GP0 pin 6 + BB Blue GP0 pin 5 + BBBMini Pin P8.13 + MainOut1 + MainOut2 + MainOut3 + MainOut4 + MainOut5 + MainOut6 + MainOut7 + MainOut8 + DroneCAN Hardpoint ID 0 + DroneCAN Hardpoint ID 1 + DroneCAN Hardpoint ID 2 + DroneCAN Hardpoint ID 3 + DroneCAN Hardpoint ID 4 + DroneCAN Hardpoint ID 5 + DroneCAN Hardpoint ID 6 + DroneCAN Hardpoint ID 7 + DroneCAN Hardpoint ID 8 + DroneCAN Hardpoint ID 9 + DroneCAN Hardpoint ID 10 + DroneCAN Hardpoint ID 11 + DroneCAN Hardpoint ID 12 + DroneCAN Hardpoint ID 13 + DroneCAN Hardpoint ID 14 + DroneCAN Hardpoint ID 15 + + + + + Off + On + NoChange + + + + + Normal + Inverted + + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Analog + MaxbotixI2C + LidarLite-I2C + PWM + BBB-PRU + LightWareI2C + LightWareSerial + Bebop + MAVLink + USD1_Serial + LeddarOne + MaxbotixSerial + TeraRangerI2C + LidarLiteV3-I2C + VL53L0X or VL53L1X + NMEA + WASP-LRF + BenewakeTF02 + Benewake-Serial + LidarLightV3HP + PWM + BlueRoboticsPing + DroneCAN + BenewakeTFminiPlus-I2C + LanbaoPSK-CM8JL65-CC5 + BenewakeTF03 + VL53L1X-ShortRange + LeddarVu8-Serial + HC-SR04 + GYUS42v2 + MSP + USD1_CAN + Benewake_CAN + TeraRangerSerial + Lua_Scripting + NoopLoop_TOFSense + NoopLoop_TOFSense_CAN + NRA24_CAN + NoopLoop_TOFSenseF_I2C + JRE_Serial + Ainstein_LR_D1 + RDS02UF + SITL + + + + + Not Used + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + m/V + meters per volt + 0.001 + + + V + volt + 0.001 + + + + Linear + Inverted + Hyperbolic + + + + cm + centimeters + 1 + + + cm + centimeters + 1 + + + + Not Used + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + PX4 FMU Relay1 + PX4 FMU Relay2 + PX4IO Relay1 + PX4IO Relay2 + PX4IO ACC1 + PX4IO ACC2 + + + + + No + Yes + + + + m + meters + 0 32767 + + + cm + centimeters + 5 127 + 1 + + + 0 127 + 1 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + m + meters + -5 5 + 0.01 + + + + Forward + Forward-Right + Right + Back-Right + Back + Back-Left + Left + Forward-Left + Up + Down + + + + 0 255 + + + 0 255 + + + 0 10000 + + + 0 255 + + + -1 255 + + + + Low Speed + High Speed + + + + 0 65535 + + + 0 65535 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + None + Not Used + GPIO + EFI + Harmonic Notch + ESC Telemetry Motors Bitmask + Generator + DroneCAN + + + + 0.001 + + + 1 + + + 1 + + + 0.1 + + + + Disabled + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16 + + + 0 10 + 1 + + + -1 10 + 1 + + + + + + Disabled + AnalogPin + RCChannelPwmValue + ReceiverProtocol + PWMInputPin + TelemetryRadioRSSI + + + + + V5 Nano + Pixracer + Pixhawk ADC4 + Pixhawk ADC3 + Pixhawk ADC6/Pixhawk2 ADC + AUX1 + AUX2 + AUX3 + AUX4 + AUX5 + AUX6 + Pixhawk SBUS + + + + V + volt + 0.01 + 0 5.0 + + + V + volt + 0.01 + 0 5.0 + + + 0 16 + + + PWM + PWM in microseconds + 0 2000 + + + PWM + PWM in microseconds + 0 2000 + + + + + + Disable + Enable + + True + + + deg + degrees + 0 90 + 1 + + + deg + degrees + 0 90 + 1 + + + deg + degrees + 0 90 + 1 + + + deg + degrees + 0 90 + 1 + + + deg + degrees + 0 90 + 1 + + + m/s + meters per second + 0 5 + 0.1 + + + m + meters + 5 25 + 1 + + + m + meters + 0 20 + 1 + + + + + + Disabled + ShowSlips + ShowOverruns + + + + 50 400 + True + Hz + hertz + + + + Enable per-task perf info + + 0:Enable per-task perf info + + + + + + None + Lua Scripts + + True + + + 1000 1000000 + 10000 + + + 1024 1048576 + 1024 + True + + + + No Scripts to run message if all scripts have stopped + Runtime messages for memory usage and execution time + Suppress logging scripts to dataflash + log runtime memory usage and execution time + Disable pre-arm check + Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + 0: No Scripts to run message if all scripts have stopped, 1: Runtime messages for memory usage and execution time, 2: Suppress logging scripts to dataflash, 3: log runtime memory usage and execution time, 4: Disable pre-arm check, 5: Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm + + + + + + + + + + + + + + + + ROMFS + APM/scripts + + 0:ROMFS, 1:APM/scripts + True + + + + + + + + Normal + IO Priority + Storage Priority + UART Priority + I2C Priority + SPI Priority + Timer Priority + Main Priority + Boost Priority + + True + + + + Disabled + Enabled + + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + MAVLink1 + MAVLink2 + + True + + + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + True + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + + Disabled + Serial0 + Serial1 + Serial2 + Serial3 + Serial4 + Serial5 + Serial6 + + + + 0 120 + s + seconds + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + True + + None + MAVLink1 + MAVLink2 + Frsky D + Frsky SPort + GPS + Alexmos Gimbal Serial + Gimbal + Rangefinder + FrSky SPort Passthrough (OpenTX) + Lidar360 + Beacon + Volz servo out + SBus servo out + ESC Telemetry + Devo Telemetry + OpticalFlow + RobotisServo + NMEA Output + WindVane + SLCAN + RCIN + EFI Serial + LTM + RunCam + HottTelem + Scripting + Crossfire VTX + Generator + Winch + MSP + DJI FPV + AirSpeed + ADSB + AHRS + SmartAudio + FETtecOneWire + Torqeedo + AIS + CoDevESC + DisplayPort + MAVLink High Latency + IRC Tramp + DDS XRCE + IMUDATA + PPP + + + + + 1200 + 2400 + 4800 + 9600 + 19200 + 38400 + 57600 + 111100 + 115200 + 230400 + 256000 + 460800 + 500000 + 921600 + 1500000 + 2000000 + + + + + InvertRX + InvertTX + HalfDuplex + SwapTXRX + RX_PullDown + RX_PullUp + TX_PullDown + TX_PullUp + RX_NoDMA + TX_NoDMA + Don't forward mavlink to/from + DisableFIFO + Ignore Streamrate + + 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate + True + + + + + 25 400 + Hz + hertz + + + + 1Khz + loop-rate + double loop-rate + triple loop-rate + quadruple loop rate + + + + + None + BLHeli32/Kiss/AM32 + BLHeli_S/BlueJay + BLHeli32/AM32/Kiss+EDT + BLHeli_S/BlueJay+EDT + + + + + Servo 1 + Servo 2 + Servo 3 + Servo 4 + Servo 5 + Servo 6 + Servo 7 + Servo 8 + Servo 9 + Servo 10 + Servo 11 + Servo 12 + Servo 13 + Servo 14 + Servo 15 + Servo 16 + Servo 17 + Servo 18 + Servo 19 + Servo 20 + Servo 21 + Servo 22 + Servo 23 + Servo 24 + Servo 25 + Servo 26 + Servo 27 + Servo 28 + Servo 29 + Servo 30 + Servo 31 + Servo 32 + + 0:Servo 1, 1:Servo 2, 2:Servo 3, 3:Servo 4, 4:Servo 5, 5:Servo 6, 6:Servo 7, 7:Servo 8, 8:Servo 9, 9:Servo 10, 10:Servo 11, 11:Servo 12, 12:Servo 13, 13:Servo 14, 14:Servo 15, 15:Servo 16, 16:Servo 17, 17:Servo 18, 18:Servo 19, 19:Servo 20, 20:Servo 21, 21:Servo 22, 22:Servo 23, 23:Servo 24, 24:Servo 25, 25:Servo 26, 26:Servo 27, 27:Servo 28, 28:Servo 29, 29:Servo 30, 30:Servo 31, 31:Servo 32 + True + + + + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + SRCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + 0:RCIN1Scaled, 1:RCIN2Scaled, 2:RCIN3Scaled, 3:RCIN4Scaled, 4:RCIN5Scaled, 5:RCIN6Scaled, 6:RCIN7Scaled, 7:RCIN8Scaled, 8:RCIN9Scaled, 9:RCIN10Scaled, 10:RCIN11Scaled, 11:SRCIN12Scaled, 12:RCIN13Scaled, 13:RCIN14Scaled, 14:RCIN15Scaled, 15:RCIN16Scaled + + + + Disabled + Enabled + + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + 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RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + PWM + PWM in microseconds + 800 2200 + 1 + + + + Normal + Reversed + + + + + GPIO + Disabled + RCPassThru + Mount1Yaw + Mount1Pitch + Mount1Roll + Mount1Retract + CameraTrigger + Mount2Yaw + Mount2Pitch + Mount2Roll + Mount2Retract + SprayerPump + SprayerSpinner + GroundSteering + Gripper + Motor1 + Motor2 + Motor3 + Motor4 + RCIN1 + RCIN2 + RCIN3 + RCIN4 + RCIN5 + RCIN6 + RCIN7 + RCIN8 + RCIN9 + RCIN10 + RCIN11 + RCIN12 + RCIN13 + RCIN14 + RCIN15 + RCIN16 + Throttle + ThrottleLeft + ThrottleRight + Winch + Main Sail + CameraISO + CameraAperture + CameraFocus + CameraShutterSpeed + Script1 + Script2 + Script3 + Script4 + Script5 + Script6 + Script7 + Script8 + Script9 + Script10 + Script11 + Script12 + Script13 + Script14 + Script15 + Script16 + NeoPixel1 + NeoPixel2 + NeoPixel3 + NeoPixel4 + WingSailElevator + ProfiLED1 + ProfiLED2 + ProfiLED3 + ProfiLEDClock + Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + 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Winch Clutch + SERVOn_MIN + SERVOn_TRIM + SERVOn_MAX + SailMastRotation + Alarm + Alarm Inverted + RCIN1Scaled + RCIN2Scaled + RCIN3Scaled + RCIN4Scaled + RCIN5Scaled + RCIN6Scaled + RCIN7Scaled + RCIN8Scaled + RCIN9Scaled + RCIN10Scaled + RCIN11Scaled + RCIN12Scaled + RCIN13Scaled + RCIN14Scaled + RCIN15Scaled + RCIN16Scaled + + True + + + + + + Channel1 + Channel2 + Channel3 + Channel4 + Channel5 + Channel6 + Channel7 + Channel8 + Channel9 + Channel10 + Channel11 + Channel12 + Channel13 + Channel14 + Channel15 + Channel16 + Channel 17 + Channel 18 + Channel 19 + Channel 20 + Channel 21 + Channel 22 + Channel 23 + Channel 24 + Channel 25 + Channel 26 + Channel 27 + Channel 28 + Channel 29 + Channel 30 + Channel 31 + Channel 32 + + 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: 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